CN-121990469-A - Novel deviation rectifying control system of large shipbuilding door machine cart

CN121990469ACN 121990469 ACN121990469 ACN 121990469ACN-121990469-A

Abstract

The invention discloses a novel deviation rectifying control system for a large shipbuilding portal crane cart, which relates to the technical field of intelligent control and comprises a speed detection module, an offset detection module, a controller module and a cart running mechanism, wherein the speed detection module is configured to detect the running speed of the cart running mechanism, the movement detection module comprises an offset position detection module and an offset angle detection module and is configured to select the offset position detection module or the offset angle detection module according to signals fed back by the controller module, and the cart running mechanism is configured to execute deviation rectifying movement according to the signals fed back by the controller module. The invention has the characteristics of self-adaptive selection of the optimal deviation rectifying strategy under different load and speed conditions, full-working-condition self-adaptive capacity and high-precision and reliability deviation rectifying of the shipbuilding gantry crane.

Inventors

HAN HONGAN
ZHANG WEI
ZHANG SHUXIA
WANG KAI
JING QIANCHENG
GU ZHENHUI

Assignees

江苏卫华海洋重工有限公司

Dates

Publication Date: 20260508
Application Date: 20260303

Claims (10)

1. The novel correction control system for the large shipbuilding portal crane cart comprises a speed detection module, an offset detection module, a controller module and a cart running mechanism, wherein the controller module is respectively in communication connection with the speed detection module, the offset detection module and the cart running mechanism, and is characterized in that: the speed detection module is configured to detect an operating speed of the cart operating mechanism ; The controller module is configured to generate a selection signal of the offset detection module according to the signal fed back by the speed detection module; The offset detection module comprises an offset position detection module and an offset angle detection module, is configured to select the offset position detection module or the offset angle detection module according to signals fed back by the controller module, and is configured to detect offset displacement of flexible legs of the cart The deflection angle detection module is configured to detect the deflection angle of the flexible leg of the cart ; The controller module is further configured to generate an execution signal of the cart running mechanism according to the signal fed back by the offset detection module; The cart operation mechanism is configured to execute deviation rectifying movement according to signals fed back by the controller module.
2. The novel deviation rectifying control system for large shipbuilding portal crane according to claim 1, wherein the specific step of generating the deviation detecting module selection signal by the controller module is as follows: receiving the running speed of a cart running gear Calculating the control system error brought by the offset position detection module under the speed according to the formula (1) and the formula (2) And control system errors caused by the offset angle detection module Judging the system error Error from the system Selecting a corresponding offset detection module; Formula (1); formula (2); Wherein the method comprises the steps of And The speed of the offset position detection module and the offset angle detection module is respectively The system error in the time of the start of the process, Is a scale parameter, a constant greater than 0, For the decay parameter a constant greater than 0, As a result of the inherent systematic errors of the system, Is a constant of curvature parameter greater than 0, For the optimal operating speed corresponding to the minimum error of the offset angle detection module, Is the minimum systematic error.
3. The novel deviation rectifying control system for large shipbuilding portal crane as claimed in claim 2, wherein the systematic error of the deviation position detecting module in the formula (1) is With the running speed of the cart running mechanism Is decreased by an increase in (a).
4. A novel deviation rectifying control system for a large shipbuilding portal crane cart according to claim 2 or 3, characterized in that: The control system further includes a gravity detection module configured to detect a mass of the cart running gear hoist ; The controller module is configured to generate a selection signal of the offset detection module according to a signal fed back by the gravity detection module; Inherent systematic error in said equation (1) The mass of the hoisting device and the mass of the hoisting device of the cart running mechanism Related mass of hoist for running gear of cart The larger the inherent systematic error Smaller systematic errors at the same speed The smaller.
5. The novel deviation rectifying control system for large shipbuilding portal crane as claimed in claim 2, wherein the systematic error of the deviation angle detection module in the formula (2) is With the running speed of the cart running mechanism The increase in (1) decreases before increases.
6. The novel deviation rectifying control system for the large shipbuilding portal crane cart according to claim 2 or 5, wherein the novel deviation rectifying control system is characterized in that: The control system further includes a gravity detection module configured to detect a mass of the cart running gear hoist ; The controller module is configured to generate a selection signal of the offset detection module according to a signal fed back by the gravity detection module; minimum systematic error in the equation (2) The mass of the hoisting device and the mass of the hoisting device of the cart running mechanism Related mass of hoist for running gear of cart The larger the minimum systematic error The larger the systematic error at the same speed The larger.
7. The novel deviation rectifying control system for large shipbuilding door motor cart according to any one of claims 2-6, characterized in that, Determining systematic error of offset position detection module Systematic error with offset angle detection module Selecting a corresponding offset detection module, further comprising: When (when) Selecting an offset angle detection module; When (when) When the offset position detection module is selected.
8. The novel correction control system for the large shipbuilding portal crane cart of claim 1, wherein the specific steps of the controller module generating cart operation mechanism execution signals are as follows: Receiving the offset displacement S of the flexible leg of the cart fed back by the offset position detection module, or receiving the offset angle of the flexible leg of the cart fed back by the offset angle detection module Calculating the offset displacement Wherein Is the base distance of a large shipbuilding door machine; and controlling the cart running mechanism to reversely rectify and move along the original running path, wherein the rectify and move quantity is the offset and move quantity S.
9. The novel deviation rectifying control system for the large shipbuilding portal crane according to any one of claims 1 to 8, wherein the control method of the control system comprises the following steps: Step S100, obtaining the running speed of the cart running mechanism in real time And the mass of the hoisting device of the cart running mechanism ; Step S200, according to the running speed of the cart running mechanism And the hoisting object quantity of the cart running mechanism Calculating the system errors respectively brought by the offset position detector and the offset angle detector Systematic errors ; Step S300, judging the systematic error Error from the system Selecting a corresponding offset detector to obtain the offset displacement S of the flexible leg of the cart; And S400, controlling the cart running mechanism to reversely rectify and move along the original running path according to the offset displacement S of the flexible legs of the cart, wherein the value of the reverse rectification movement quantity is the same as the offset displacement S.
10. The novel deviation rectifying control system for large shipbuilding portal crane as claimed in claim 9, wherein, The step S300 further includes: step S310 when When the deflection angle detector is selected, the deflection angle of the flexible leg of the cart is obtained ; Step S311, calculating the offset displacement of the flexible leg of the cart Wherein Is the base distance of a large shipbuilding door machine; step S320 when And selecting an offset position detector to acquire the offset displacement S of the flexibility of the cart.

Description

Novel deviation rectifying control system of large shipbuilding door machine cart Technical Field The invention relates to the technical field of intelligent control, in particular to a novel deviation rectifying control system for a large shipbuilding portal crane cart. Background The portal crane (also called portal crane for short) is used as key lifting equipment in factories, yards, ports and other places, and the stability of a cart running mechanism directly determines the operation safety and efficiency. In heavy-load and high-speed application scenes such as large shipbuilding door machines, the driving wheels on two sides of the large vehicle are easy to run out of synchronization, namely the phenomenon of deviation, due to factors such as uneven track, motor characteristic difference, transmission abrasion and the like. Serious deviation can cause rail biting, structural deformation and even derailment accidents, so that the construction of an automatic deviation correcting system with high precision and high reliability is important. At present, the technical core of the deviation rectifying control system is to accurately detect the deviation amount, and then the frequency converter is driven by the Programmable Logic Controller (PLC) to carry out speed regulation compensation on motors at two sides. The existing deviation rectifying detection system mainly relies on two sensor technologies of position detection and angle detection. A position detector (e.g., a laser displacement sensor or absolute encoder) obtains the run-out by measuring the lateral displacement between the leg and the rail or the number of wheel rotations. The method has the advantages of quick response and mature technology, but is easily interfered by factors such as track surface pollution, mechanical damage, wheel slip and the like, and has the inherent defects of large measurement error and weak anti-interference capability. The angle detector (such as a laser angle sensor or an inclination angle sensor) reflects the deviation trend by monitoring the torsional deformation angle of the main beam or the supporting leg, has the advantages of high precision and strong environment interference resistance, but the measurement result is easily interfered by static factors such as downwarping of the main beam structure caused by hoisting load, is complex to install, and needs to introduce secondary errors through geometric conversion. In summary, both single position detection and angle detection have inherent application boundaries and performance bottlenecks, such as insufficient reliability of the position detector under complex track conditions, and poor adaptability of the angle detector in heavy-duty dynamic scenarios. The existing research focuses on algorithm optimization of a single sensor, but ignores the fact that the dynamic operation working condition of the crane is complex and changeable. The single detection mode is maintained, so that the correction system is difficult to maintain the optimal performance all the time in the full working condition range. Therefore, it is necessary to design a novel deviation rectifying control system for a large shipbuilding portal crane with precision, reliability and adaptability. Disclosure of Invention The invention aims to provide a novel correction control system for a large shipbuilding portal crane cart, which aims to solve the problems in the background technology. In order to solve the technical problems, the invention provides the technical scheme that the novel deviation rectifying control system for the large shipbuilding portal crane cart comprises a speed detection module, a deviation detection module, a controller module and a cart running mechanism, wherein the controller module is respectively in communication connection with the speed detection module, the deviation detection module and the cart running mechanism; the speed detection module is configured to detect an operating speed of the cart operating mechanism ; The controller module is configured to generate a selection signal of the offset detection module according to the signal fed back by the speed detection module; The offset detection module comprises an offset position detection module and an offset angle detection module, is configured to select the offset position detection module or the offset angle detection module according to signals fed back by the controller module, and is configured to detect offset displacement of flexible legs of the cart The deflection angle detection module is configured to detect the deflection angle of the flexible leg of the cart; The controller module is further configured to generate an execution signal of the cart running mechanism according to the signal fed back by the offset detection module; The cart operation mechanism is configured to execute deviation rectifying movement according to signals fed back by the controller module. According to the above technic