The invention relates to the technical field of crane control, and discloses an unmanned crane positioning control method. A crane PLC is internally provided with a positioning function block with input and output parameters, a crane frequency converter driving motor is controlled to perform positioning operation through the output parameters, and the process is as follows, positioning starting stage, acceleration stage, deceleration stage and shutdown stage; in the positioning starting stage, the positioning function block receives a starting instruction, a target position, a crane current position and a motor speed which are given by a PLC or an upper computer, and a preset crane maximum speed Vmax, a preset crane minimum speed Vmin, a preset deceleration distance Slimit, a preset wheelsize and a preset positioning window range, and outputs a real-time starting speed Vo until the crane reaches the minimum speed Vmin; in the acceleration stage, the real-time acceleration speed Vo1 isoutput according to the acceleration performance am of a frequency converter and the initial speed Vm1 in the crane acceleration stage; in the deceleration stage, when the difference value between the current position and the target position of the crane is smaller than the set deceleration distance Slimit, the real-time deceleration speed Vo2 is output according to the initial speed Vm2 and thedeceleration a2 in the deceleration stage; and in the shutdown stage, when the positioning window range is entered, the output speed is 0, and a motor band-type brake is shut down.

    本发明涉及行车控制技术领域,公开一种无人起重机定位控制方法,起重机PLC内置具备输入输出参数的定位功能块,通过输出参数控制起重机变频器驱动电机定位运行,过程如下:定位启动:定位功能块接收PLC或上位机给定的启动指令、目标位置、起重机当前位置、电机速度及预设的起重机最大速度Vmax、最小速度Vmin、减速距离Slimit、车轮尺寸、定位窗口范围,输出实时启动速度Vo,至起重机达最小速度Vmin;加速阶段:按变频器加速性能am与起重机加速阶段初始速度Vm1输出实时加速速度Vo1;减速阶段:起重机当前位置与目标位置差值小于设定的减速距离Slimit时,据减速阶段初始速度Vm2与减速度a2输出实时减速速度Vo2;停机阶段:进入定位窗口范围时,输出速度0,电机抱闸停机。


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    Title :

    Unmanned crane positioning control method


    Additional title:

    无人起重机定位控制方法


    Contributors:
    LIAO JIHONG (author) / XU HAI (author) / ZHENG YI (author) / ZHA BO (author)

    Publication date :

    2021-01-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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