Trolley walking mechanism of portal hoist and accurate position control method of trolley walking mechanism

Abstract

The gantry hoist trolley walking mechanism mainly comprises a first guide rail, the first guide rail is arranged at the top of a hydraulic dam, and a cart walking mechanism moves left and right on the first guide rail; a second guide rail is mounted at the top of the cart traveling mechanism; the trolley traveling mechanism moves back and forth along the second guide rail and measures displacement through a photoelectric sensor; a gyroscope is installed on a grabbing beam at the lower end of the trolley walking mechanism and used for measuring the attitude angle of the stoplog door. The trolley walking mechanism comprises a trolley body, and idler wheels are installed on the front portion and the rear portion of the trolley body, located on the second guide rail and driven by a trolley motor. A trolley motor is controlled through a position controller and a stoplog gate posture controller, position control over a trolley walking mechanism is achieved, and the grabbing beam is right suspended at the target position. According to the portal hoist trolley walking mechanism and the accurate position control method thereof, accurate position control and stable operation of the trolley walking mechanism can be achieved.

Description

Technical Field

[0001] The present invention relates to a gantry hoist for a hydropower station, in particular to a trolley traveling mechanism of the gantry hoist and a method for precise position control thereof. Background Art

[0002] In order to solve the ecological security problems in the river basins such as the Yangtze River, Jinsha River, and Yellow River in China, it is necessary to carry out the ecological dispatching work of hydropower stations under multiple factors such as flow rate, water temperature, and flood control in the river basins. When using the traditional moving trolley traveling mechanism for hoisting operations, due to the gravitational action of the grab beam and the multi-layer flap gate, the load-bearing capacity of the trolley traveling mechanism is relatively low, and at the same time, the swing amplitude is relatively large during the movement process. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a trolley traveling mechanism of a gantry hoist and a method for precise position control thereof, which improve the load-bearing capacity and precise guiding ability of the trolley traveling mechanism of the gantry hoist for a hydropower station; under environmental factors such as the swing of the grab beam and the multi-layer flap gate, the position accuracy of the trolley traveling mechanism is improved by using a precise position control algorithm, the multi-layer flap gate is inserted into the slot, the operation efficiency of the gantry hoist for a hydropower station is improved, the application demonstration of intelligent technology in the water conservancy and electric power industries is realized, and it has practical significance for solving the key technical problems in the water conservancy and electric power industries.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is as follows:

[0005] A trolley traveling mechanism of a gantry hoist includes a first guide rail, the first guide rail is arranged on the top of a hydraulic dam, and a trolley traveling mechanism moves left and right on the first guide rail; a second guide rail is installed on the top of the trolley traveling mechanism, and the trolley traveling mechanism moves back and forth along the second guide rail and measures the displacement through a photoelectric sensor; a gyroscope is installed on the grab beam at the lower end of the trolley traveling mechanism, and the gyroscope is used to measure the attitude angle of the multi-layer flap gate.

[0006] The trolley traveling mechanism includes a trolley main body, rollers are installed at the front and back of the trolley main body, the rollers are located on the second guide rail and are driven by a trolley motor.

[0007] The trolley motor is controlled by a position controller and a multi-layer flap gate attitude controller to realize the position control of the trolley traveling mechanism, so that the grab beam is exactly suspended at the target position.

[0008] Limit blocks with springs are installed at both ends of the top of the gantry crossbeam of the trolley traveling mechanism, and the limit blocks are aligned with the second guide rail and limit the trolley traveling mechanism to run to the extreme positions at both ends.

[0009] A rack is arranged in parallel on the outside of the second guide rail, the corresponding roller is coaxial with a gear, and the gear meshes with the rack to form a gear-rack device.

[0010] The trolley body is a solid steel structure in the shape of a cuboid.

[0011] A trolley motor is installed at the front end of the trolley body, and the output end of the trolley motor is fixedly connected to the input end of the reducer; a support seat is installed at the bottom of the reducer, and a reducer support arm is installed at the upper end; the other ends of the support seat and the reducer support arm are both fixed on the trolley body.

[0012] The axle is composed of a support shaft and a transmission shaft; a trolley axle is installed at the front end of the trolley traveling mechanism, and a trolley axle is installed at the rear end of the trolley traveling mechanism; the roller is connected to the transmission shaft in a mating manner; the left end of the coupling is connected to the support shaft, and the right end of the coupling is connected to the transmission shaft.

[0013] The input end above the left of the reducer is connected to the trolley motor shaft, and the output end below is connected to the transmission shaft.

[0014] The roller is connected to the transmission shaft in a mating manner, bearings are distributed on both the left and right sides of the roller, the inner ring of the bearing is key-connected to the transmission shaft, the bearing component is located inside the bearing box, and a bearing end cover is installed outside the bearing box.

[0015] A method for precisely controlling the position of a trolley traveling mechanism of a gantry hoist, establishing a Z-axis and Y-axis motion coordinate system for the trolley traveling mechanism, installing a gyroscope on the grab beam; installing an optoelectronic sensor on the top of the gantry beam of the trolley traveling mechanism; under the action of gravity and the grab beam, the laminated gate generates a swing attitude angle; the optoelectronic sensor measures the displacement of the trolley traveling mechanism, establishes the motion equation of the trolley, calculates the transfer function according to the motion equation, and proposes a control strategy.

[0016] A method for precisely controlling the position of a trolley traveling mechanism of a gantry hoist specifically includes the following steps:

[0017] Step S1: Construct the motion equation of the trolley traveling mechanism:

[0018]

[0019] In the formula: m p is the mass of the trolley, X is the displacement of the trolley, l is the length of the rope, is the attitude angle of the grab beam; g is the acceleration due to gravity;

[0020] Step S2: Establish the transfer function of the laminated gate attitude controller, and the expression of the transfer function relationship of the laminated gate attitude controller:

[0021]

[0022] In the formula, Φ(s) is the attitude angle displacement transfer function of the grab beam, X(s) is the trolley traveling displacement transfer function, and s is the Laplace complex variable;

[0023] Step S3: Use the trolley motor and the reducer as the transmission mechanism. The mathematical model of this transmission mechanism is as follows:

[0024] v = R / i * n;

[0025] In the formula, R is the radius of the roller, i is the transmission ratio of the reducer, n is the rotational speed of the trolley motor; v is the movement speed of the trolley.

[0026] Step S4: Adjust the movement speed of the trolley running mechanism by controlling the rotational speed of the trolley motor to achieve the trajectory tracking control of the trolley running mechanism.

[0027] Obtain the transfer function relationship expression between the movement displacement of the trolley running mechanism and the rotational speed of the trolley motor from Step S3:

[0028]

[0029] In the formula, X(s) is the transfer function of the trolley movement displacement, and n is the transfer function of the rotational speed of the trolley motor.

[0030] The closed-loop system control logic of the trolley running mechanism: On the basis of the traditional PID controller, add a laminated gate attitude controller. Considering the operation of the trolley running mechanism and the swing of the grab beam comprehensively, when the grab beam lags slightly behind the trolley, the trolley speed should be appropriately reduced to reduce the swing angle; when the grab beam is slightly ahead of the trolley, drive the trolley to accelerate and increase the trolley speed to reduce the swing angle so that the grab beam is exactly suspended at the target position.

[0031] The control logic of the trolley motor: The photoelectric encoder is installed on the trolley motor, and the collected position information is measured and fed back to the upper computer. After passing through the position adjustment controller, a smooth drive current waveform is generated, and the current of each phase of the trolley motor is detected. The control of the trolley motor is realized through the current adjustment circuit and the power control circuit.

[0032] The present invention provides a trolley running mechanism of a gantry hoist and its precise position control method, having the following technical effects:

[0033] 1) The trolley running mechanism adopts a combined device of a roller guide rail mechanism and a gear rack mechanism. The roller guide rail mechanism is mainly used to bear the load of the grab beam and the laminated gate, and the gear rack mechanism is mainly used to drive and control the movement of the trolley, improving the precise guiding ability and bearing capacity of the trolley running mechanism.

[0034] 2) Under the action of the traditional PID controller, combined with the use of a laminated gate attitude controller, using the double-loop control algorithm, under the swing of the grab beam and the laminated gate, the precise position control of the trolley running mechanism on the gantry beam can be realized, and the operation task of accurately entering the grab beam and the laminated gate into the laminated gate slot can be completed.

[0035] 3) The trolley driving motor is equipped with an optical encoder to real-time feedback the trolley displacement information. Combining with the use of a dual-loop controller algorithm, the three-phase current of the trolley driving motor is detected, regulated, and power-controlled, constituting an accurate control system for the swing of the grab beam and the laminated beam gate, improving the precise positioning ability of the grab beam and the laminated beam gate.

[0036] 4) Through the trolley traveling mechanism of the gantry hoist and its precise position control, it provides the key technology for realizing the intelligence and unmanned operation of the gantry hoist. Brief Description of the Drawings

[0037] The present invention will be further described below in conjunction with the drawings and embodiments:

[0038] Figure 1 It is a schematic installation structure diagram of the present invention.

[0039] Figure 2 It is a schematic structure diagram of the trolley traveling mechanism in the present invention.

[0040] Figure 3 For Figure 2 a partial enlarged schematic diagram at the roller in

[0041] Figure 4 It is a sectional view of the trolley traveling mechanism at the roller in the present invention.

[0042] Figure 5 It is a motion schematic diagram of the trolley traveling mechanism in the present invention.

[0043] Figure 6 It is a schematic diagram of the precise positioning dual-loop control system for the grab beam and the laminated beam gate in the present invention.

[0044] Figure 7 It is a control block diagram of the trolley driving motor in the present invention.

[0045] In the figure: the first guide rail 1, the laminated beam gate slot 2, the gantry traveling mechanism 3, the trolley traveling mechanism 4, the grab beam 5, the gyroscope 6, the optical sensor 7, the limit block 301, the second guide rail 302, the trolley motor 401, the reducer 402, the reducer support arm 409, the coupling 404, the support seat 410, the gear rack device 403, the roller 405, the bearing 406, the bearing box 407, the bearing end cover 408, the support shaft 411, the transmission shaft 412. Detailed Embodiment

[0046] As Figure 1-7As shown in the figure, a trolley traveling mechanism for a gantry hoist includes a first guide rail 1 provided on the top of a hydraulic dam. The trolley traveling mechanism 3 moves left and right on the first guide rail 1. On the top of the gantry crossbeam of the trolley traveling mechanism 3, second guide rails 302 are respectively installed on the left and right sides. Four spring-loaded limit blocks 301 are installed on the front and back sides of the top of the gantry crossbeam and are aligned with the second guide rails 302. The limit blocks 301 limit the trolley traveling mechanism 4 when it runs to the extreme positions at both ends. The trolley traveling mechanism 4 is arranged on the top of the trolley traveling mechanism 3 and can move back and forth along the trolley traveling mechanism 3.

[0047] The trolley traveling mechanism 4 includes a trolley body, which is a rectangular solid steel structure. Axles are correspondingly installed at the front and back ends of the trolley body. The axles are composed of a support shaft 411 and a transmission shaft 412. The rollers 405 are connected in cooperation with the transmission shaft 412. The rollers 405 are located on the second guide rails 302 and can move back and forth along the second guide rails 302. The rollers 405 and the second guide rails 302 can bear heavy loads, improving the heavy-load bearing capacity of the trolley traveling mechanism 4 and playing a supporting role for the trolley traveling mechanism 4.

[0048] On the outside of each second guide rail 302, a rack is fixed. The corresponding rollers 405 are coaxial with a gear, and the gear meshes with the rack to form a gear-rack device 403. The gear-rack device 403 can achieve precise guidance, improve the transmission efficiency, and increase the movement smoothness of the whole device.

[0049] A trolley motor 401 is installed at the front end of the trolley body. The trolley motor 401 is fixedly connected to the input end of a reducer 402. A support seat is installed at the bottom of the reducer 402, and a reducer support arm 409 is installed at the upper right end. The other end of the reducer support arm 409 is fixed to the right-side frame of the trolley. The trolley motor 401 is the power source of the trolley traveling mechanism. The reducer can reduce the motor speed. The reducer force arm 409 provides torque support for the deceleration of the reducer. The input end of the reducer 402 is connected to the output shaft of the trolley motor 401 at the upper left, and the lower right end is connected to the transmission shaft 412. The reducer 402 realizes the power transmission function from the input shaft of the trolley motor to the output transmission shaft 412.

[0050] Bearings 406 are installed on the left and right sides of the rollers 405. The bearings 406 are installed inside a bearing housing 407, and a bearing end cover 408 is fixedly connected to the bearing housing 407. The bearings 406 support the transmission shaft 412, maintain the rotational accuracy, and bear the load. The bearing housing 407 plays a role in sealing and protecting the bearings and other components.

[0051] A method for precise position control of the trolley traveling mechanism of a gantry hoist. A Z-axis and a Y-axis motion coordinate system are established for the trolley traveling mechanism 4. A gyroscope 6 is installed on the gripper beam 5. The gyroscope 6 is an angular motion detection device that measures the attitude angle of the laminated beam gate. An optoelectronic sensor 7 is installed on the top of the gantry crossbeam of the trolley traveling mechanism 3. Under the action of gravity and the gripper beam 5, a swinging attitude angle is generated, and the optoelectronic sensor 7 measures the displacement of the trolley traveling mechanism 4, establishes the motion equation of the trolley, calculates the transfer function according to the motion equation, and proposes a control strategy.

[0052] A method for precise position control of the trolley traveling mechanism of a gantry hoist. Based on the traditional PID controller, a swing angle controller is added. Considering the operation of the trolley traveling mechanism 4 and the swing of the gripper beam comprehensively, when the gripper beam 5 lags slightly behind the trolley traveling mechanism 4, the speed of the trolley traveling mechanism 4 should be appropriately reduced to reduce the swing angle; when the gripper beam 5 is slightly ahead of the trolley traveling mechanism 4, the trolley traveling mechanism 4 is driven to accelerate and the speed of the trolley traveling mechanism 4 is increased to reduce the swing angle, so that the gripper beam 5 is exactly suspended at the target position. Through the closed-loop control system, the interference of the laminated beam gate swing on the trolley traveling mechanism 4 is reduced.

[0053] The photoelectric encoder measures the collected position information and feeds it back to the upper computer. Through the position adjustment controller algorithm, the generation of a smooth driving three-phase current waveform is achieved. The current of each phase of the trolley motor 401 is detected, and the control of the trolley motor 401 is realized through the current adjustment circuit and the power control circuit, and finally the precise position control of the trolley traveling mechanism 4 is realized.

[0054] A method for precise position control of the trolley traveling mechanism of a gantry hoist realizes precise position control by real-time measuring the actual displacement of the trolley traveling mechanism 4 and the attitude angle of the laminated beam gate. The specific steps are as follows:

[0055] Step S1: The motion equation of the trolley traveling mechanism 4:

[0056]

[0057] In the formula: m p is the mass of the trolley, X is the displacement of the trolley, l is the length of the rope, is the attitude angle of the gripper beam; g is the acceleration due to gravity;

[0058] Step S2: The precise position control system for the motion of the trolley traveling mechanism 4 realizes precise position control by establishing the transfer function of the laminated beam gate attitude controller and reducing the interference of the load. The transfer function of the laminated beam gate attitude controller:

[0059]

[0060] Where, Φ(s) is the attitude angle displacement transfer function of the grab beam 5, X(s) is the traveling displacement transfer function of the trolley, and s is the Laplace complex variable;

[0061] Step S3: Use the trolley motor 401 and the reducer 402 as the transmission mechanism. The output end of the trolley motor 401 is connected to the input shaft of the reducer 402, and the output shaft of the reducer 402 is connected to the transmission shaft 412 of the roller 405. The motion equation of this transmission mechanism is:

[0062] v = R / i * n;

[0063] Where, R is the radius of the roller, i is the transmission ratio of the reducer, and n is the rotational speed of the trolley motor 401;

[0064] Step S4: Adjust the speed of the trolley traveling mechanism 4 by controlling the rotational speed of the trolley motor 401 to achieve the trajectory tracking control of the trolley traveling mechanism 4.

[0065] From step S3, the transfer function between the motion displacement of the trolley traveling mechanism 4 and the rotational speed of the trolley motor 401 can be obtained:

[0066]

[0067] Where, X(s) is the traveling displacement transfer function of the trolley, and ns is the rotational speed transfer function of the trolley motor;

[0068] Step S5: The closed-loop system control logic of the trolley traveling mechanism 4: On the basis of the traditional PID controller, add a laminated beam door attitude controller. Considering the operation of the trolley traveling mechanism 4 and the swing of the grab beam 5 comprehensively, when the grab beam 5 lags slightly behind the trolley traveling mechanism 4, the trolley speed should be appropriately reduced to reduce the swing angle; when the grab beam 5 is slightly ahead of the trolley traveling mechanism 4, drive the trolley traveling mechanism 4 to accelerate and increase the trolley movement speed to reduce the swing angle so that the grab beam 5 is exactly suspended at the target position.

[0069] Step S6: The control logic of the trolley motor 401: The photoelectric encoder is installed on the trolley motor 401, and the collected position information is measured and fed back to the upper computer. After passing through the position regulator, a smooth drive current waveform is generated, and the current of each phase of the trolley motor 401 is detected. Finally, the control of the trolley motor 401 is realized through the current regulation circuit and the power control circuit.

Claims

1. A trolley travel mechanism for a gate hoist, characterized in that: The invention comprises a first guide rail (1), the first guide rail (1) being arranged on the top of a hydraulic dam, a trolley travel mechanism (3) moving left and right on the first guide rail (1); a second guide rail (302) being installed on the top of the trolley travel mechanism (3), a trolley travel mechanism (4) moving forward and backward along the second guide rail (302) and measuring the displacement by a photoelectric sensor (7); a gyroscope (6) being installed on a grab beam (5) at the lower end of the trolley travel mechanism (4), the gyroscope (6) being used to measure the attitude angle of a stop beam door; The trolley travel mechanism (4) comprises a trolley body, and rollers (405) are installed at the front and rear of the trolley body. The rollers (405) are located on the second guide rail (302) and driven by the trolley motor (401); The trolley motor (401) is controlled by a position controller and a stopcock door attitude controller to achieve position control of the trolley travel mechanism (4) so ​​that the grab beam (5) is suspended exactly at the target position.

2. The trolley travel mechanism of a gate hoist according to claim 1, characterized in that: Limit blocks (301) with springs are installed at both ends of the top of the gantry crossbeam of the trolley traveling mechanism (3); the limit blocks (301) are directly opposite to the second guide rail (302) and limit the movement of the trolley traveling mechanism (4) to the extreme positions at both ends.

3. The trolley travel mechanism of a gate hoist according to claim 2 is characterized in that: A rack is arranged in parallel on the outer side of the second guide rail (302), and the corresponding roller (405) is coaxial with the gear, and the gear and the rack are meshed to form a gear rack device (403).

4. A trolley travel mechanism for a gate hoist according to claim 3, characterized in that: The trolley body is a rectangular solid steel structure.

5. The traveling mechanism of the trolley of the gate hoist according to claim 4 is characterized in that: A trolley motor (401) is installed at the front end of the trolley body, and the output end of the trolley motor (401) is fixedly connected to the input end of the reducer (402); a support seat (410) is installed at the bottom of the reducer (402), and a reducer support arm (409) is installed at the upper end; the other ends of the support seat (410) and the reducer support arm (409) are both fixed on the trolley body.

6. A trolley travel mechanism for a gate hoist according to claim 5, characterized in that: An axle is installed at the front end of the trolley walking mechanism (4), and an axle is installed at the rear end of the trolley walking mechanism (4); the axle is composed of a supporting shaft (411) and a transmission shaft (412) connected together; the roller (405) is cooperatively connected to the transmission shaft (412); the left end of the coupling (404) is connected to the supporting shaft (411), and the right end of the coupling (404) is connected to the transmission shaft (412).

7. The trolley travel mechanism of a gate hoist according to claim 6, characterized in that: The upper left input end of the reducer (402) is connected to the motor shaft of the trolley, and the lower output end is connected to the transmission shaft (412).

8. The trolley travel mechanism of a gate hoist according to claim 7, characterized in that: The roller (405) is connected to the transmission shaft (412) in cooperation, the bearings (406) are distributed on the left and right sides of the roller (405), the inner ring of the bearing (406) is key-connected to the transmission shaft (412), the bearing (406) component is located inside the bearing box (407), and the bearing end cover (408) is installed outside the bearing box (407).

9. The method for accurately controlling the position of the trolley travel mechanism of a gate hoist according to claim 8, characterized in that: A Z-axis and Y-axis motion coordinate system is established for the trolley travel mechanism (4), and a gyroscope (6) is installed on the grab beam (5); a photoelectric sensor (7) is installed on the top of the door frame crossbeam of the trolley travel mechanism (3); under the action of gravity and the grab beam (5), the stacked beam door generates a swinging attitude angle; the photoelectric sensor (7) measures the displacement of the trolley travel mechanism (4), establishes the motion equation of the trolley, calculates the transfer function based on the motion equation, and proposes a control strategy.

10. The method for accurately controlling the position of the trolley travel mechanism of a gate hoist according to claim 9, specifically comprising the following steps: Step S1: Construct the motion equation of the trolley walking mechanism (4): Where: m p is the mass of the trolley, X is the displacement of the trolley, l is the length of the rope, is the attitude angle of the grab beam; g is the acceleration due to gravity; Step S2: Establish the transfer function of the stopcock door attitude controller. The transfer function relationship expression of the stopcock door attitude controller is: Where Φ(s) is the attitude angular displacement transfer function of the grab beam (5), X(s) is the displacement transfer function of the trolley, and s is the Laplace complex variable; Step S3: Using the trolley motor (401) and the reducer (402) as a transmission mechanism, the mathematical model of the transmission mechanism is: v = R / i * n; Wherein, R is the roller radius, i is the transmission ratio of the reducer, n is the rotation speed of the trolley motor (401); v is the movement speed of the trolley; Step S4: adjusting the movement speed of the trolley travel mechanism (4) by controlling the rotation speed of the trolley motor (401) to achieve trajectory tracking control of the trolley travel mechanism (4); The transfer function relationship expression between the motion displacement of the trolley walking mechanism (4) and the rotation speed of the trolley motor (401) is obtained by step S3: In the formula, X(s) is the displacement transfer function of the trolley, and n(s) is the rotation speed transfer function of the trolley motor; Step S5: closed-loop system control logic of the trolley travel mechanism (4): on the basis of the traditional PID controller, a stop beam door attitude controller is added, and the operation of the trolley travel mechanism (4) and the swing of the grab beam (5) are comprehensively considered. When the grab beam (5) lags slightly behind the trolley (4), the trolley speed and the swing angle should be appropriately reduced; when the grab beam (5) is slightly ahead of the trolley (4), the trolley (4) is driven to accelerate and increase the trolley speed to reduce the swing angle so that the grab beam (5) is just suspended at the target position; Step S6: Control logic of the trolley motor (401): The photoelectric encoder is installed on the trolley motor (401), and the collected position information is measured and fed back to the host computer. After passing through the position adjustment controller, the smooth driving current waveform is generated, and the current detection is performed on each phase current of the trolley motor (401). The trolley motor (401) is controlled through the current adjustment circuit and the power control circuit.

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