Izicelo Zokufaka Ikhodi/Imishini Yokubamba
Isifaki khodi Semishini Yokubamba
Ikesi lesicelo lokulawula ukulungisa okuvumelanayo kwemishini yokuphakamisa i-crane yesicabha esikhulu esisekelwe ku-fieldbus ye-Canopen.
eyodwa. Ukukhethekile kwemishini yokuphakamisa i-door crane:
Izidingo zokuphepha zemishini yokuphakamisa u-crane emnyango ziya ngokuya zigqama, futhi umqondo wokuphepha kuqala uba ngobaluleke kakhulu ekulawuleni. Ngokwemithethonqubo, okhrayini bezicabha ababanzi abangaphezulu kwamamitha angu-40 kumele bafakwe ukulawula okuhambisanayo kwe-dual-track synchronous ukuze kuvinjelwe amathrekhi akabili kwesokunxele nakwesokudla. Ingozi yesondo lomshini womnyango ihambe kakhulu futhi idla ithrekhi noma imbala. Ngenxa yezidingo zokuphepha, amasondo e-double track angakwesokunxele nangakwesokudla omshini womnyango adinga ukulawulwa ezindaweni eziningi. Impendulo ethembekile yejubane, indawo kanye nolunye ulwazi luhlobene ngokuqondile nokuphepha nokuthembeka kokulawula. Ubunjalo bendawo yemishini yokuphakamisa i-crane bunquma ubunjalo bokukhethwa kwalezi zinzwa zesignali kanye nokudluliselwa:
1. Endaweni yokusebenza eyinkimbinkimbi esizeni, iziguquli zefrikhwensi, izinjini ezinkulu kanye nezinhlelo zokuphakela amandla kagesi aphezulu naphansi, izintambo zesiginali zivame ukuhlelwa ndawonye nezintambo zikagesi, futhi ukuphazamiseka kukagesi esizeni kubi kakhulu.
2. Ukuhamba kwemishini, ibanga elide elihambayo, kunzima ukuphansi.
3. Ibanga lokudlulisa isignali lide, futhi ukuphepha nokuthembeka kwedatha yesignali kuphezulu.
4. Ukulawula okuvumelanayo kudinga ukudluliselwa kwesignali ngesikhathi sangempela esiphezulu nokwethembekile.
5. Eziningi zazo zisetshenziswa ngaphandle, ezinezidingo eziphezulu zezinga lokuvikela nezinga lokushisa, kodwa izinga eliphansi lokuqeqeshwa kwabasebenzi, kanye nezidingo eziphakeme zokubekezelela umkhiqizo.
ezimbili. Ukubaluleka kwenani eliphelele lesishumeki se-multi-turn ekusetshenzisweni kwempahla yokuphakamisa u-crane emnyango:
Kukhona ama-potentiometer, ama-proximity switches, izifaki khodi ezikhuphukayo, izishumeki eziphelele zokujika okukodwa, izishumeki eziphelele zokujika okuningi, njll. ekusetshenzisweni kwezinzwa zokuma zokhreyini beminyango. Uma kuqhathaniswa, ukwethembeka kwama-potentiometers kuphansi , Ukunemba okungalungile, indawo efile ekusetshenzisweni kwe-angle; Amaswishi e-Proximity, ama-ultrasonic switch, njll. amasiginali wephoyinti elilodwa kuphela kodwa awaqhubeki; Isiginali yokufaka ikhodi ekhulayo yokulwa nokuphazamiseka ayilungile, isignali ayikwazi ukudluliselwa kude, futhi indawo yokuhluleka kwamandla iyalahleka; Isifaki khodi esiphelele sejika elilodwa Singasebenza kuphela ngaphakathi kwamadigri angu-360. Uma i-engeli yokulinganisa inwetshwa ngokushintsha isivinini, ukunemba kuzoba kubi. Uma isetshenziswa ngokuqondile embuthanweni owodwa ukuze kuzuzwe ukulawulwa kwe-multi-lap ngokusebenzisa inkumbulo, ngemva kokuhluleka kwamandla, izolahlekelwa isikhundla sayo ngenxa yomoya, ukuslayida noma ukunyakaza kokwenziwa. Isifaki khodi esinama-multi-turn anenani eliphelele kuphela esingasetshenziswa ngokuphephile kumishini yokuphakamisa yomshini womnyango. Akuthintwa i-jitter yokucisha kukagesi. Ingasebenza ngamabanga amade namajika amaningi. I-digitalization egcwele yangaphakathi, i-anti-interference, nesignali nayo ingabonakala. Ukudluliselwa okuphephile kwebanga elide. Ngakho-ke, ngokombono wokuphepha kwemishini yokuphakamisa izicabha, inani eliphelele le-multi-turn encoder iyinketho engenakugwenywa.
Isincomo sohlelo lokusebenza lwe-Canopen absolute encoder emishinini yokuphakamisa crane emnyango
I-CAN-bus (ControllerAreaNetwork) inethiwekhi yendawo yesilawuli, okungelinye lamabhasi enkundla evulekile asetshenziswa kakhulu emhlabeni. Njengendlela yokulawula ukuxhumana kwenethiwekhi ekude enobuchwepheshe obuthuthukile, ukwethembeka okuphezulu, imisebenzi ephelele kanye nezindleko ezifanele, i-CAN-bus isetshenziswe kabanzi ezinhlelweni ezihlukahlukene zokulawula okuzenzakalelayo. Isibonelo, i-CAN-bus inezinzuzo ezingenakuqhathaniswa emikhakheni ehlukahlukene efana ne-automotive electronics, imishini ezenzakalelayo, izakhiwo ezihlakaniphile, amasistimu kagesi, ukuqapha ezokuphepha, imikhumbi nokuthunyelwa kwemikhumbi, ukulawula ikheshi, ukuphepha komlilo, okokusebenza kwezokwelapha, njll., ikakhulukazi uma kuyimanje ekukhanyeni. I-Can-Bus iyindinganiso yesiginali ethandwayo yezitimela ezihamba ngesivinini esiphezulu namandla omoya. Ibhasi leCAN liyathuthukiswa futhi ligcinwe ngezindleko eziphansi, ukusetshenziswa kwamabhasi aphezulu, ibanga elide lokuthutha (kufika ku-10Km), izinga lokuhamba ngesivinini esikhulu (kufika ku- I-1Mbps), uhlaka oluyizingcweti eziningi ngokuya kuqala, kanye nokwethenjwa Indlela yokutholwa kwephutha nokucubungula inxephezela ngokugcwele ukusetshenziswa kwamabhasi aphansi kwenethiwekhi ye-RS-485, isakhiwo se-single-master-slave, futhi akukho ukushiyeka kokutholwa kwephutha lehadiwe, okuvumela abasebenzisi ukuthi bakhe isistimu yokulawula ibhasi yasensimini ezinzile futhi ephumelelayo, okuholela enanini eliphezulu langempela. Ezimweni eziqinile zohlelo lokusebenza ezifana nemishini yokuphakamisa, i-Can-bus inokwethenjelwa kokutholwa kwephutha lesiginali kanye nendlela yokucubungula, futhi isengakwazi ukudlulisa idatha kahle esimweni sokugxambukela okuqinile kanye nesisekelo esingathembekile, kanye nokuzihlola kwephutha layo lehadiwe, I-multi-master. isiteshi singase singasebenzi ukuze kuqinisekiswe ukuphepha kwemishini yokulawula.
I-Canopen iyiphrothokholi evulekile esekelwe ebhasini le-CAN-bhasi futhi ephethwe yi-CiA Association. Isetshenziswa kakhulu embonini yezimoto, imishini yezimboni, izakhiwo ezihlakaniphile, imishini yezokwelapha, imishini yasolwandle, imishini yaselabhorethri nezinkambu zocwaningo. Ukucaciswa kwe-Canopen kuvumela imilayezo ukuthi idluliselwe ngokusakaza. , Iphinde isekele ukuthumela nokuthola idatha iphuzu-kuya-iphuzu, futhi abasebenzisi bangakwazi ukuphatha inethiwekhi, ukudluliswa kwedatha nokunye ukusebenza ngesichazamazwi sento ye-Canopen. Ikakhulukazi, i-Canopen inezici zokungaphazamisi kanye nesicelo sesiteshi se-multi-master, esingakha isipele sangempela sokuphindaphinda umsebenzi esiteshini futhi ibone ukulawula okuphephile.
Uma kuqhathaniswa namanye amafomu esignali, ukudluliswa kwedatha ye-Canopen kunokwethenjelwa, ukonga, futhi kuphephe kakhudlwana (ukubika iphutha lesisetshenziswa). Ukuqhathaniswa kwalezi zici nezinye izinto eziphumayo: Isignali ephumayo ehambisanayo-izingxenye zamandla eziningi zilimala kalula, izintambo eziningi eziyinhloko ziphuka kalula futhi izindleko zekhebula ziphezulu; Isignali ye-SSI ephumayo ebizwa nge-synchronous serial signal, uma ibanga lilide noma liphazamisekile, isignali Ukubambezeleka kubangele ukuthi iwashi nesignali yedatha ingasavunyelaniswa, futhi kwenzeka ukweqa kwedatha; Izidingo zebhasi ze-Profibus-DP ze-signal-grounding kanye nekhebula ziphezulu, izindleko ziphezulu kakhulu, isiteshi esikhulu asikhetheki, futhi uma isango lokuxhuma ibhasi noma isiteshi esikhulu sehluleka, Ibangela ukukhubazeka kwalo lonke uhlelo nokunye. Ukusetshenziswa okungenhla kumishini yokuphakamisa kungase kubulale ngezinye izikhathi. Ngakho-ke, kungashiwo ukuthi isignali ye-Canopen inokwethenjelwa kakhulu, iyonga kakhulu futhi iphephile uma isetshenziselwa ukuphakamisa imishini.
Isishumeki esiphelele se-Gertech Canopen, ngenxa yokuphuma kwayo kwesiginali yesivinini esikhulu, esimisweni somsebenzi, ungasetha inani le-engeli eliphelele lesishumeki sekhodi kanye nenani lejubane eliguquguqukayo ukuze likhiphe ndawonye, isibonelo, amabhayithi amabili okuqala akhipha i-engeli Yenani eliphelele (amaningi iyajika), indawo, ibhayithi yesithathu ikhipha inani lesivinini, bese ibhayithi yesine ikhipha inani lokusheshisa (kuyakhetheka). Lokhu kusiza kakhulu lapho imishini yokuphakamisa isebenzisa iziguquli zemvamisa. Inani lesivinini lingaba Njengempendulo yokulawulwa kwesivinini sokuguqulwa kwemvamisa, futhi inani lesikhundla lingasetshenziswa njengokuma okunembile nokulawula ukuvumelanisa, futhi lingaba nokulawulwa kwe-loop evaliwe kabili yejubane nendawo, ukuze kubonakale ukuma okunembayo, ukuvumelanisa. control, anti-sway yokupaka, ukulawulwa kwendawo ephephile, ukuvikela ukushayisana, ukuvikela ukuphepha kwesivinini, njll. yesilawuli esamukelayo. Amapharamitha wesilawuli esisekelayo angasethwa ngemva kwesilawuli esiyinhloko. Uma uhlelo lwesilawuli esiyinhloko sehluleka, isilawuli esiyisipele singathatha okokugcina Ukuvikelwa kokuphepha nokulawulwa kwezinto zokusebenza zokuphakamisa kungenziwa.
Injini enkulu yemishini yokuphakamisa u-crane emnyango iqalwa futhi isetshenziswe ngaphandle. Ikhebula lesignali yesishumeki lide, elilingana nothi olude. Ukuvikelwa kokukhuphuka nokweqile kwesiphetho sesiginali yensimu kubaluleke kakhulu. Esikhathini esedlule, izifaki khodi zesignali ezifanayo noma izifaki khodi ezikhulayo zazisetshenziswa. , Kunezintambo eziningi eziyinhloko zesignali, futhi ukuvikelwa kokukhuphuka kwe-overvoltage yesiteshi ngasinye kunzima ukukufeza (i-voltage yokuqhuma ekhiqizwa ukuqala kwenjini enkulu noma ukushaywa kombani), futhi ngokuvamile isignali yesifaki khodi inokushisa kwembobo; futhi isignali ye-SSI iwuchungechunge loxhumano lokuvumelanisa, njengokwengeza isivikelo se-Wave Surge, ukubambezeleka kokudlulisela isignali kubhubhisa ukuvumelanisa futhi isignali ayizinzile. Isiginali ye-Canopen iwukudluliswa kwesivinini esiphezulu kwe-asynchronous noma okusakazwayo, okunganawo umthelela omkhulu ekufakweni kwesivikeli sokuhlinza. Ngakho-ke, uma isishumeki se-Canopen nesilawuli esamukelayo zengezwa kusivikeli se-surge overvoltage, singasetshenziswa ngokuphepha kakhulu.
Isilawuli se-Canopen PFC
Ngenxa yemvelo ethuthukisiwe nokuphepha kwamasignali e-Canopen, abakhiqizi abaningi be-PLC nabakhiqizi bezilawuli bengeze izixhumanisi ze-Canopen ukuze bazuze ukulawula kwe-Canopen, njenge-Schneider, GE, Beckhoff, B&R, njll. Isilawuli se-PFC se-Gemple siyisilawuli esincane esisekelwe ku-interface ye-Canopen , okufaka phakathi iyunithi ye-CPU engu-32-bit, isibonisi sekristalu ewuketshezi kanye nesixhumi esibonakalayo somshini womuntu wokusetha izinkinobho, ukushintshwa kwamaphoyinti angu-24 I-I/O kanye ne-analog eminingi I/O, kanye nekhadi lememori le-2G SD , Ingakwazi ukurekhoda amandla nokuvala, amarekhodi omcimbi wohlelo, ukuze kuqashelwe umsebenzi wokuqopha ibhokisi elimnyama, ukuhlaziya ukwehluleka kanye nokuvimbela ukusebenza okungekho emthethweni kwabasebenzi.
Kusukela ngo-2008, abakhiqizi be-PLC bemikhiqizo emikhulu edumile basanda kwengeza isikhombimsebenzisi se-Canopen noma bahlela ukwengeza isixhumi esibonakalayo se-Canopen. Kungakhathaliseki ukuthi ukhetha i-PLC ene-interface ye-Canopen noma isilawuli se-PFC esine-Gertech, ukulawula okusekelwe kusixhumi esibonakalayo se-Canopen kuzosuswa. Ukusetshenziswa kwemishini kancane kancane sekuyinto evamile.
amahlanu. Ikesi lesicelo elijwayelekile
1. Ukulungiswa kokuchezuka okuvumelanayo kwenqola yokhrayini bezicabha—Izifaki khodi ezimbili zenani eliphelele le-Canopen ezishintshashintshayo zithola ukuvumelanisa kwamasondo angakwesokunxele nesokudla, futhi isignali iphuma kusilawuli esibonakalayo se-Canopen ukuze kuqhathaniswe ne-PFC yokuqhathanisa. Ngesikhathi esifanayo, isifaki khodi se-Canopen esiphelele singakwazi ukukhipha impendulo yesivinini ngesikhathi esifanayo , Ngokusebenzisa isilawuli ukuze sinikeze isilawuli se-inverter, ukubona ukulungiswa okuncane kokuchezuka, ukulungiswa kokuchezuka okukhulu, ukupaka okuphambukile ngokweqile nezinye izilawuli.
2. Ukuvikelwa kokuphepha kwesivinini—I-Canopen absolute encoder ikhipha inani lendawo kanye nevelu yesivinini ngesikhathi esifanayo (okukhiphayo okuqondile ngaphandle kokubala kwangaphandle), futhi inokusabela okusheshayo ekuvikelweni kwesivinini.
3. Ukulawulwa kokuphindaphindeka kokuphepha—Kusebenzisa isici se-Canopen sokuphinda kusetshenziswe izingcweti eziningi, isilawuli se-PFC201 singaba isipele esingafuneki kabili, futhi isilawuli sesibili singengezwa ngokuvumelana nezidingo zomsebenzisi ukuze uthole ikhophi ephephile.
4. Umsebenzi werekhodi lokuphepha, isilawuli se-PFC201 sinememori khadi ye-2G SD, engarekhoda imicimbi (ibhokisi elimnyama) ukuze ibone ukuhlaziywa kokwehluleka futhi ivimbele ukusebenza okungekho emthethweni kwabasebenzi (ukuhlola irekhodi lokuphepha), futhi kuzuzwe ukulawula okuphephile.
5. Indawo yokupaka kanye nokulwa nokunyakaza—Isebenzisa isimo nezici zokuphuma kwesivinini zesishumeki sekhodi esiphelele se-Canopen ngesikhathi esifanayo, ingakwazi ukubona ukulawulwa okukabili okuvalekile kokuma kwendawo yokupaka kanye nokuncipha kwejubane, okungamisa ngokunengqondo ijika lejika. , futhi unciphise ukushwiba kwendawo yokuphakamisa lapho upaka.
6. Isingeniso esijwayelekile sohlelo lokusebenza:
Indawo yokwakha i-Guangdong Zhongshan Sea-Crossing Bridge indawo yokwakha i-gantry crane hoisting imishini yokulawula evumelanayo yokulungiswa, engaba amamitha angu-60, ubude be-gantry crane obungaphezu kwamamitha angu-50, amasiginali amabili wokufaka ikhodi kukhebula lesilawuli se-PFC ubude obungamamitha angu-180. Ongakukhetha:
1. I-Canopen absolute absolute multi-turn encoder—Gertech absolute absolute multi-turn encoder, GMA-C Series CANopen Absolute Encoder, igobolondo lebanga lokuvikela IP67, shaft IP65; izinga lokushisa -25-80 degrees.
2. Isilawuli se-Canopen—Isilawuli esisekelwe ku-Gertch sika-Canopen: Singasetshenziswa hhayi kuphela njengesilawuli esiyinhloko, kodwa futhi njengesilawuli esiyisipele esingasasebenzi.
3. Isivikeli sokuhlinza sesiginali ye-Canopen: SI-024TR1CO (kunconyiwe)
4. Ikhebula lesignali yesifaki khodi: F600K0206