Double-gantry crane cooperative operation control method

Abstract

The application provides a double-gantry-crane cooperative operation control method, and belongs to the technical field of gantry crane hoisting construction. Real-time collection is performed on the trolley, crown block and hook movement track data, hook load data and equipment state data of two gantry cranes, according to the collected real-time data, the movement compensation amount of the two gantry cranes is calculated, including the displacement synchronous compensation amount of the No. 1 gantry crane, the speed synchronous compensation amount of the No. 2 gantry crane and the feed-forward speed compensation amount of the No. 2 gantry crane for overcoming the beam inertia, then according to the obtained movement compensation amount, specific control data is generated, including the generation of the space movement vector of the No. 1 gantry crane, the cooperative movement target amplitude of the No. 2 gantry crane and the cooperative movement control data of the No. 2 gantry crane, then the generated control data is used to control the two gantry cranes to perform corresponding actions, and the new state after the execution is continuously collected, thereby forming real-time closed-loop feedback.

Description

Technical Field

[0001] This invention belongs to the field of gantry crane hoisting and construction technology, and specifically relates to a method for controlling the coordinated operation of two gantry cranes. Background Technology

[0002] As the scale and difficulty of engineering construction increase, when using gantry cranes to lift long beams, one gantry crane is no longer sufficient to meet the on-site construction requirements, and two or even more gantry cranes need to be used in coordination.

[0003] The following problems exist in the coordinated operation of traditional double gantry cranes:

[0004] 1. Relying on manual operation via walkie-talkie results in low synchronization accuracy and can easily lead to uneven stress on the beam.

[0005] 2. Lack of real-time dynamic monitoring leads to high spatial obstacle avoidance risks and makes it difficult to detect safety hazards in a timely manner;

[0006] 3. Due to the inherent limitations of the equipment, it is difficult for the operating parameters of the two gantry cranes to remain completely consistent.

[0007] 4. Environmental interference has a significant impact, and there is a lack of effective redundant security mechanisms.

[0008] Therefore, it is necessary to develop and research a control method for the coordinated operation of two gantry cranes to solve the prominent problems of poor synchronization, difficulty in coordination, low efficiency, and high safety risks in the traditional operation method. Summary of the Invention

[0009] The purpose of this invention is to solve a series of problems existing in the operation of existing double gantry cranes, and to provide a control method for the coordinated operation of double gantry cranes. This method can effectively ensure the synchronization accuracy of the coordinated operation of double gantry cranes, and significantly improve the efficiency and safety of the coordinated operation.

[0010] The technical objective of this invention is achieved through the following technical solution.

[0011] A method for controlling the coordinated operation of two gantry cranes includes the following steps:

[0012] Step 1: Real-time collection of motion trajectory data, hook load data, and equipment status data of the two gantry cranes' trolleys, overhead cranes, and hooks;

[0013] Step 2: Based on the real-time data collected in Step 1, calculate the motion compensation of the two gantry cranes: including the displacement synchronization compensation of gantry crane No. 1, the speed synchronization compensation of gantry crane No. 2, and the feedforward speed compensation of gantry crane No. 2 to overcome the inertia of the beam.

[0014] Step 3: Based on the motion compensation amount obtained in Step 2, and in conjunction with the safety constraints, generate specific control data, including the following steps:

[0015] Step 3.1: Based on the synchronous construction movement requirements of the double gantry cranes, and based on the state information of gantry crane No. 1 and the displacement synchronous compensation amount obtained in step 2, the displacement synchronous compensation amount obtained in step 2 is decomposed into X-axis, Y-axis and Z-axis components. The X-axis represents the gantry crane's trolley travel, the Y-axis represents the gantry crane's overhead crane travel, and the Z-axis represents the gantry crane's hook lifting and lowering. At the same time, the set hook stability constraint conditions are satisfied to generate the spatial motion vector of gantry crane No. 1.

[0016] Step 3.2: Based on the spatial motion vector of gantry crane No. 1, generate the target amplitude of the cooperative motion of gantry crane No. 2;

[0017] Step 3.3: Using the speed synchronization compensation amount of the No. 2 gantry crane and the feedforward speed compensation amount of the No. 2 gantry crane to overcome the inertia of the beam obtained in Step 2, generate the cooperative motion control data of the No. 2 gantry crane;

[0018] Step 4: Send the control data generated in Step 3 to the controllers of the two gantry cranes to drive the trolley motor, overhead crane motor and winch motor of the two gantry cranes to perform precise actions, and continuously collect the new status after execution to form a real-time closed-loop feedback.

[0019] In the above technical solution, the motion trajectory data of the gantry crane's trolley, overhead crane, and hook are provided by the RTK-GNSS Beidou positioning system; the hook load data of the gantry crane is collected in real time by force sensors installed at the hook position; the equipment status data includes trolley and overhead crane travel feedback data and hook lifting height feedback data. Among them, the trolley and overhead crane travel feedback data are provided by the encoders of the trolley and overhead crane's travel motors, and the hook lifting height feedback data is provided by the operating data of the winch on the overhead crane.

[0020] In the above technical solution, the displacement synchronous compensation amount of gantry crane No. 1 The calculation method is as follows, based on the spatiotemporal coupling algorithm: ;

[0021] in, k 11 This represents the gain coefficient of the load difference of gantry crane No. 1 on its displacement compensation, where the load difference refers to the real-time load of gantry crane No. 1. Rated load planned for coordinated operation with double gantry cranes The difference; k 12 This represents the spatiotemporal coupling gain coefficient for the coordinated operation of two gantry cranes; This represents the time difference, which is the difference between the trigger time of the No. 1 gantry crane's action and the trigger time of the No. 2 gantry crane's action. This indicates the pre-set uniform operating speed when two gantry cranes are operating in tandem.

[0022] In the above technical solution, the speed synchronization compensation amount of gantry crane No. 2 The calculation method is as follows:

[0023] ;

[0024] in, Let be the speed synchronization compensation amount of gantry crane No. 2 at time t. This is the proportional gain coefficient. Let be the position error of gantry crane No. 2 at time t. The definite integral gain coefficient, The integral of the position error of gantry crane No. 2. The differential gain coefficient, The change rate of position error of gantry crane No. 2.

[0025] In the above technical solution, the feedforward velocity compensation amount for overcoming the inertia of the No. 2 gantry crane is... The calculation method is as follows:

[0026] ;

[0027] in, Let t be the actual speed of gantry crane No. 1. For acceleration compensation gain coefficient, Let be the acceleration of gantry crane No. 1 at time t. This refers to the system response delay time. This is the compensation gain coefficient for the position error of gantry crane No. 2. for The coordinated planning position of gantry crane No. 2 at time 2020. Let t be the actual position of gantry crane No. 2.

[0028] In the above technical solution, the set stability constraint condition for the hook is: the hook height change rate is less than the set threshold.

[0029] In the above technical solution, the spatial motion vector of gantry crane No. 1 is generated as follows:

[0030] ;

[0031] in, This is an acceleration compensation term; This shows the real-time position of gantry crane No. 1 on the X-axis. This shows the real-time position of gantry crane No. 1 on the Y-axis. This represents the real-time height of gantry crane No. 1 on the Z-axis. For compensation coefficient, Let X be the acceleration of gantry crane No. 1 along the X-axis. Let be the acceleration of gantry crane No. 1 on the Y-axis. Let be the acceleration of gantry crane No. 1 on the Z-axis.

[0032] In the above technical solution, the target amplitude for generating the coordinated motion of gantry crane No. 2 is: ;

[0033] in, Let L be the target amplitude of the coordinated movement of gantry crane No. 2, and L be the length of the beam being hoisted. The spatial attitude angle of gantry crane No. 1 This is the flexible deformation compensation angle of the beam.

[0034] In the above technical solution, in step 3.3, the coordinated motion control data of gantry crane No. 2 is as follows: .

[0035] In the above technical solution, during the motion control process, the central processing unit analyzes the actual difference between the key states of the two gantry cranes and compares it with the threshold set by the collaborative planning to determine whether it exceeds the allowable threshold.

[0036] The key states include: spatial position, motion state, and load state;

[0037] Spatial location: horizontal distance between the hooks of the two gantry cranes, and height difference between the hooks of the two gantry cranes;

[0038] Motion status: The synchronization deviation of the travel speed of the trolley, the travel speed of the overhead crane, and the lifting speed of the hook of the two gantry cranes;

[0039] Load conditions: Loads on the hooks of the two gantry cranes;

[0040] If the actual difference between the above-mentioned critical states of the two gantry cranes exceeds the set threshold, protective adjustments will be made.

[0041] The advantages and beneficial effects of this invention are:

[0042] This invention designs a control method for the collaborative operation of two gantry cranes based on trajectory compensation and spatiotemporal coupling algorithms, which can effectively ensure the synchronization accuracy of the collaborative operation of two gantry cranes and greatly improve the operation efficiency and safety of the collaborative operation of two gantry cranes.

[0043] This invention achieves a closed-loop safety protection system for the entire process of lifting the gantry crane, and has a safety early warning function. During motion control, the central processing unit analyzes the actual difference in the critical states between the two gantry cranes and compares it with the threshold set by the collaborative planning to determine whether it exceeds the allowable threshold. If the actual difference in the critical states between the two gantry cranes exceeds the set threshold, protective adjustments are made. Attached Figure Description

[0044] Figure 1 This is a flowchart of the double gantry crane collaborative operation control method of the present invention. Detailed Implementation

[0045] The present invention will be further described in detail below with reference to specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention, nor do they restrict the scope of protection of the invention.

[0046] This invention provides a method for controlling the coordinated operation of two gantry cranes, see appendix. Figure 1 Specifically, it includes the following steps:

[0047] Step 1: Install sensor modules on the two gantry cranes according to the preset working conditions, and collect motion trajectory data, hook load data and equipment status data of the two gantry cranes, trolley, and hook in real time through multi-source sensor fusion technology.

[0048] The gantry crane includes a main frame, which consists of a top beam and legs on both sides of the top beam. Each leg has a traveling mechanism driven by a high-precision servo motor at its bottom, called a trolley. Tracks are laid on the construction site, and the trolley travels on the tracks, enabling the entire gantry crane to move. A crane that moves along the main beam is installed on the top beam. The winch on the crane is connected to the hook, and the crane drives the hoisted beam (hereinafter referred to as the beam) to move along the top beam of the gantry crane. The hoisting hook is raised and lowered by the winch.

[0049] The motion trajectory data of the gantry crane, overhead crane, and hook are provided by the RTK-GNSS BeiDou positioning system. Specifically, the RTK-GNSS BeiDou positioning system includes a GNSS base station, a rover, a receiving antenna, and a data acquisition box. The GNSS base station and data acquisition box are fixedly installed next to the gantry crane (at a fixed point outside the work area). The GNSS base station is the source of accuracy and reference for the entire RTK system. Preferably, there are two GNSS base stations, which are redundant to effectively ensure the stability and reliability of the differential signal source. The rover is installed on the gantry crane, overhead crane, and hook, and each rover is connected to an independent antenna, outputting the absolute position information of the antenna.

[0050] The hook load data is obtained by installing a force sensor (range 200 tons, accuracy ±0.1%FS) at the hook location to collect the load status of the hook in real time.

[0051] Equipment status data includes trolley and overhead crane travel feedback data and hook lifting height feedback data. The trolley and overhead crane travel feedback data is provided by the encoders of their travel motors, while the hook lifting height feedback data is provided by the operating data of the winch on the overhead crane.

[0052] Step 2: Based on the real-time data collected in Step 1, calculate the motion compensation for the two gantry cranes, including the displacement synchronization compensation for gantry crane No. 1. Speed ​​synchronization compensation of No. 2 gantry crane And the feedforward velocity compensation for overcoming the inertia of the beam by the No. 2 gantry crane. .

[0053] Displacement synchronization compensation of gantry crane No. 1 The calculation method is as follows, based on the spatiotemporal coupling algorithm: ;

[0054] in, k 11 This represents the gain coefficient of the load difference of gantry crane No. 1 on its displacement compensation, where the load difference refers to the real-time load of gantry crane No. 1. Rated load planned for coordinated operation with double gantry cranes The difference (i.e.) ); k 12 This represents the spatiotemporal coupling gain coefficient for the coordinated operation of two gantry cranes; This represents the time difference, which is the difference between the trigger time of the No. 1 gantry crane's action and the trigger time of the No. 2 gantry crane's action. This refers to the preset uniform operating speed when two gantry cranes operate in tandem. Spatiotemporal coupling is a chain reaction of "time difference → speed → spatial displacement," meaning the time difference between the two cranes' movements accumulates into a spatial displacement deviation through synchronized speeds. This deviation needs to be addressed by… k 12 Calculate the compensation amount to offset the loss.

[0055] Speed ​​synchronization compensation of gantry crane No. 2 The calculation method is as follows:

[0056] ;

[0057] in, Let be the speed synchronization compensation amount of gantry crane No. 2 at time t. This is the proportional gain coefficient. Let be the position error of gantry crane No. 2 at time t. The definite integral gain coefficient, The integral of the position error of gantry crane No. 2. The differential gain coefficient, This represents the rate of change of position error for gantry crane No. 2; additionally, it should be noted that: The unit is / s, then It has the dimension of velocity; The unit is: / s 2 ,but It has the dimension of velocity; If the unit is dimensionless, then It has the dimension of velocity.

[0058] Feedforward velocity compensation for overcoming beam inertia of gantry crane No. 2 The calculation method is as follows:

[0059] ;

[0060] in, Let t be the actual speed of gantry crane No. 1. For acceleration compensation gain coefficient, Let be the acceleration of gantry crane No. 1 at time t. This refers to the system response delay time. This is the compensation gain coefficient for the position error of gantry crane No. 2. for The coordinated planning position of gantry crane No. 2 at time 2020. Let t be the actual position of gantry crane No. 2.

[0061] Step 3: Based on the motion compensation amount obtained in Step 2 Based on safety constraints, specific control data is generated.

[0062] Step 3 includes the following steps:

[0063] Step 3.1: Based on the synchronous construction movement requirements of the double gantry cranes (e.g., synchronous translation and lifting movements), and using the status information of gantry crane No. 1 and the displacement synchronous compensation amount obtained in step 2, Generate the spatial motion vector of gantry crane No. 1.

[0064] Specifically, the displacement synchronization compensation amount obtained in step 2 It is decomposed into X-axis, Y-axis and Z-axis components. The X-axis represents the travel of the gantry crane's main trolley, the Y-axis represents the travel of the gantry crane's overhead crane, and the Z-axis represents the lifting and lowering of the gantry crane's hook. At the same time, the hook height is kept dynamically stable and meets the set constraint condition: the rate of change of hook height is less than the set threshold.

[0065] The spatial motion vector of gantry crane No. 1 is generated as follows:

[0066] ;

[0067] in, This is an acceleration compensation term; This represents the real-time position of gantry crane No. 1 on the X-axis (i.e., the real-time position of the gantry crane No. 1 trolley as it travels). This represents the real-time position of gantry crane No. 1 on the Y-axis (i.e., the real-time position of the gantry crane No. 1 as it travels). This represents the real-time height of gantry crane No. 1 on the Z-axis (i.e., the real-time lifting position of the hook of gantry crane No. 1). This is a compensation coefficient, with dimensions in the square of time. This coefficient is used to proactively compensate for dynamic trajectory tracking errors caused by the gantry crane's own inertia. This is the acceleration of gantry crane No. 1 on the X-axis (i.e., the acceleration of the gantry crane No. 1 traveling trolley). This is the acceleration of gantry crane No. 1 on the Y-axis (i.e., the travel acceleration of gantry crane No. 1). This is the acceleration of gantry crane No. 1 on the Z-axis (i.e., the lifting acceleration of the hook of gantry crane No. 1).

[0068] Step 3.2: Based on the spatial motion vector of gantry crane No. 1, generate the target amplitude of the cooperative motion of gantry crane No. 2.

[0069] The target amplitude for the coordinated motion of gantry crane No. 2 is: ;

[0070] in, Let L be the target amplitude of the coordinated movement of gantry crane No. 2, and L be the length of the beam being hoisted. This refers to the spatial attitude angles of gantry crane No. 1 (such as the direction angle of movement of the lifting point and the current attitude angle of the beam). This is the flexible deformation compensation angle of the beam.

[0071] Step 3.3: Apply the speed synchronization compensation amount of gantry crane No. 2 obtained in Step 2. And the feedforward velocity compensation for overcoming the inertia of the beam of the No. 2 gantry crane Generate the coordinated motion control data for gantry crane No. 2.

[0072] The coordinated motion control data for gantry crane No. 2 are as follows: .

[0073] Step 4: Send the control data generated in Step 3 to the controllers of the two gantry cranes to drive the trolley motor, overhead crane motor and winch motor of the two gantry cranes to perform precise actions. Each sensor module continuously collects the new status after execution to form real-time closed-loop feedback, and then returns to Step 2.

[0074] Furthermore, during motion control, the central processing unit analyzes the actual difference in critical states between the two gantry cranes and compares it with the threshold set by the collaborative planning to determine whether it exceeds the allowable threshold.

[0075] Specifically, the key states include: spatial position, motion state, and load state.

[0076] Spatial location: horizontal distance between the hooks of the two gantry cranes, and height difference between the hooks of the two gantry cranes.

[0077] Motion status: The speed of the trolley travel, overhead crane travel, and hook lifting of the two gantry cranes is out of sync.

[0078] Load condition: The load on the hooks of the two gantry cranes.

[0079] If the actual difference between the above-mentioned critical states of the two gantry cranes exceeds the set threshold, protective adjustments will be made, such as a multi-level protection mechanism of alarm / speed reduction / shutdown.

[0080] Furthermore, the central controller is equipped with a relevant HMI interactive terminal, as well as operating devices such as a handle and an emergency stop button to meet the needs of manual intervention.

[0081] The present invention has been described above by way of example. It should be noted that any simple modifications, alterations or other equivalent substitutions that can be made by those skilled in the art without creative effort without departing from the core of the present invention fall within the protection scope of the present invention.

Claims

1. A twin gantry crane cooperative operation control method, characterized by, The method comprises the following steps: Step 1: Real-time acquisition of the movement trajectory data, hook load data and equipment state data of the two gantry cranes; Step 2: According to the real-time data collected in step 1, the movement compensation amount of the two gantry cranes is calculated, including the displacement synchronization compensation amount of the No. 1 gantry crane, the speed synchronization compensation amount of the No. 2 gantry crane and the feed-forward speed compensation amount of the No. 2 gantry crane to overcome the inertia of the beam body; Step 3: According to the movement compensation amount obtained in step 2, specific control data is generated in combination with safety constraints, including the following steps: Step 3.1: According to the synchronous construction movement needs of the double-gantry crane, based on the state information of the No. 1 gantry crane and the displacement synchronization compensation amount obtained in step 2, the displacement synchronization compensation amount obtained in step 2 is decomposed into X-axis, Y-axis and Z-axis components, X-axis represents the gantry crane walking, Y-axis represents the gantry crane walking, and Z-axis represents the hook lifting of the gantry crane; At the same time, the set hook stability constraint condition is met, and the spatial movement vector of the No. 1 gantry crane is generated; Step 3.2: Based on the spatial movement vector of the No. 1 gantry crane, the cooperative movement target amplitude of the No. 2 gantry crane is generated; Step 3.3: The speed synchronization compensation amount of the No. 2 gantry crane and the feed-forward speed compensation amount of the No. 2 gantry crane to overcome the inertia of the beam body obtained in step 2 are applied to generate the cooperative movement control data of the No. 2 gantry crane; Step 4: The control data generated in step 3 is sent to the controllers of the two gantry cranes respectively to drive the gantry motor, trolley motor and winch motor of the two gantry cranes to move accurately, and the new state after execution is continuously collected to form a real-time closed-loop feedback.

2. The dual gantry crane cooperative operation control method of claim 1, wherein: The movement trajectory data of the gantry crane, trolley and hook is provided by the RTK-GNSS Beidou positioning system; The hook load data of the gantry crane is collected in real time by installing a force sensor at the hook position to collect the load state of the hook; The equipment state data includes the walking feedback data of the gantry and trolley and the lifting height feedback data of the hook, wherein the walking feedback data of the gantry and trolley is provided by the walking motor encoder of the gantry and trolley, and the lifting height feedback data of the hook is provided by the running data of the winch on the trolley.

3. The dual gantry crane coordinated operation control method of claim 1, wherein: The displacement synchronous compensation amount of the No. 1 gantry crane According to the space-time coupling algorithm, the calculation method is as follows: ; wherein, k 11 represents the gain coefficient of the load difference of No. 1 gantry crane to its displacement compensation, the load difference refers to the real-time load difference of No. 1 gantry crane and the rated load of the double-gantry crane cooperative operation planning; ; k 12 represents the space-time coupling gain coefficient of the double-gantry crane cooperative operation; represents the time difference, which is the difference between the action triggering time of No. 1 gantry crane and the action triggering time of No. 2 gantry crane; represents the preset unified action speed of the double-gantry crane cooperative operation.

4. The dual gantry crane coordinated operation control method according to claim 3, characterized in that: The speed synchronization compensation amount of the No. 2 gantry crane The calculation method is: ； wherein, is the velocity synchronization compensation amount of No. 2 gantry crane at time t, is the proportional gain coefficient, is the position error of No. 2 gantry crane at time t, is the definite integral gain coefficient, is the position error integral of No. 2 gantry crane, is the differential gain coefficient, is the position error rate of change of No. 2 gantry crane.

5. The dual gantry crane coordinated operation control method according to claim 4, characterized in that: The feedforward speed compensation amount of the gantry crane No. 2 for overcoming the inertia of the beam body The calculation method is: ； wherein, is the actual speed of the No. 1 gantry crane at time t, is the acceleration compensation gain coefficient, is the acceleration of the No. 1 gantry crane at time t, is the system response delay time, is the compensation gain coefficient of the position error of the No. 2 gantry crane, is is the cooperative planning position of the No. 2 gantry crane at time t, is the actual position of the No. 2 gantry crane at time t.

6. The dual gantry crane coordinated operation control method of claim 1, wherein: The set hook stability constraint condition is that the hook height change rate is less than a set threshold value.

7. The dual gantry crane coordinated operation control method of claim 1, wherein: The spatial movement vector of the No. 1 gantry crane is generated as follows: ； wherein, is an acceleration compensation term; is a real-time position of the No. 1 gantry crane in the X axis, is a real-time position of the No. 1 gantry crane in the Y axis, is a real-time height of the No. 1 gantry crane in the Z axis, is a compensation coefficient, is an acceleration of the No. 1 gantry crane in the X axis, is an acceleration of the No. 1 gantry crane in the Y axis, is an acceleration of the No. 1 gantry crane in the Z axis.

8. The dual gantry crane coordinated operation control method according to claim 7, characterized in that: The target amplitude of the coordinated motion of the No. 2 gantry crane is: ; wherein, is the target amplitude of the coordinated motion of the gantry crane No. 2, L is the length of the hoisted beam body, is the spatial attitude angle of the gantry crane No. 1, is the flexible deformation compensation angle of the beam body.

9. The dual gantry crane coordinated operation control method of claim 1, wherein: In the movement control process, the central processor analyzes the actual difference of the key states between the two gantry cranes, compares it with the threshold value set in the cooperative planning, and determines whether it exceeds the allowed threshold value; The key states include: spatial position, movement state and load state; Spatial position: horizontal distance between the hooks of the two gantry cranes, height difference between the hooks of the two gantry cranes; Movement state: speed synchronization deviation of the gantry walking, trolley walking and hook lifting of the two gantry cranes; Load state: load of the hooks of the two gantry cranes; If the actual difference of the above key states between the two gantry cranes exceeds the set threshold value, protective adjustment is performed.

Images