It's very PLCnext—Phoenix

Intelligent unmanned driving

Every day, we are enjoying the convenience of technology without any obstacles. In smart factories, driverless driving is becoming more and more common.

Development of intelligent driving

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First-generation driving: the driver operates under the command of the guide, and the personnel storage area is unsafe, inefficient, error-prone, and the data is not updated in time.

Second-generation driving: the data is updated in a timely manner, the efficiency is significantly improved, and the movement of the personnel reservoir area is reduced, but the willingness to work is not strong after the climbing is unsafe and the quality of the population is improved.

Three-generation driving: the data is updated more timely, the operation efficiency of the reservoir area is significantly improved, the operation is safer without personnel climbing, and the number of operators is greatly reduced.

The application of intelligent unmanned vehicles

A lot of human labor is liberated

but

Wobbling problems during driving

It's still a problem that needs to be solved urgently!

Anti-sway strategy control

Anti-sway control can automatically eliminate the sway generated by the hanging object during operation, and can complete the transfer of the hanging object faster, especially the automatic crane with positioning function, and the anti-sway system can make the operation of the crane more efficient and safer.

On the premise of ensuring the operation efficiency of the overhead crane, preventing the swing of the load is of great significance to the overhead crane.

The generation of swing - in the process of acceleration and deceleration, the movement of the hanging object always lags behind the movement of the crane, so as to form an angle between the crane and the hanging object, and under the action of gravity, the hanging object will form the phenomenon of swinging back and forth.

The method of anti-sway of intelligent driving

The driving anti-sway methods mainly include mechanical anti-sway and electrical control anti-sway. Mechanical anti-sway requires the increase of mechanical equipment, which causes the increase of the dead weight of the vehicle and is expensive, so it is rarely used.

Electrical control anti-sway is divided into closed-loop control and open-loop control, and closed-loop control needs to have a swing angle measurement device to achieve it with the control algorithm. Open-loop control does not require an angle measurement device, and can realize anti-sway control of the vehicle through the control algorithm, so it is also the most widely used anti-sway method at present.

Open-loop control

When the crane runs at a certain acceleration, the hanging object will swing with a certain swing period (T), and the swing formed by the hanging object will be eliminated after applying a short pulse of equal equal time at half the swing period (T/2). This control algorithm does not require an angle measurement device and is an open-loop control.

Closed-loop control

The advantage of closed-loop control is that it gives full play to the important effect of the reaction, eliminates unpredictable or uncertain elements, and makes the proofreading action more precise and powerful. But it lacks the precautionary nature of open-loop manipulation. Generally, it is widely used in occasions with high requirements and high precision for the external environment.

Visual aids

With the development of technology, the anti-sway system with a camera is gradually applied to the driving anti-sway system, he detects the actual swing angle by detecting the displacement of the reflector, which can not only correct the swing caused by the movement of the crane itself, but also correct the swing caused by external force.

In order to make intelligent unmanned vehicles safer, how much hard work has PLCnext put in?

Today we will pick five points to take a look

PLCnext # Crane Control System #

Phoenix Contact is constantly proposing solutions for application and product innovation. The PLCnext platform is the latest technological innovation in the field of control from Phoenix Contact. Different from traditional controllers, PLCnext ensures the real-time operation of traditional IEC61131-3 programs, and is compatible with the free application of a variety of high-level languages, simulation algorithm development, and open source programs.

Due to the application characteristics of the PLCnext platform, the anti-sway control algorithm and visual recognition algorithm developed based on the high-level language can be easily integrated into the PLC control system, and the PLCnext technology platform perfectly realizes the integration and unification of the system.

The PLCnext platform supports the anti-sway algorithm architecture developed based on C language, which is responsible for anti-sway control, and realizes the logical control of driving based on the IEC61131-3 and Profinet communication systems.

As a driving sway control system, PLCnext from Phoenix Contact has the following advantages:

The PLCnext controller is a conventional PLC control platform that communicates with frequency converters, IOs and industrial cameras via Profinet.

Compared with the traditional use of IPC as the hardware carrier of the anti-sway control system, PLCnext has the stability of industrial quality, and has more advantages in anti-vibration and high temperature resistance.

Support C/C++ high-level language development in Visual Studio Code environment, driving position and swing angle sensor data as input, run C/C++ and Simulink algorithms in real time on PLCnext to generate anti-sway optimization parameters;

The code developed by the user can be directly run on the PLCnext platform with only a few modifications.

Support Simulink to build physical motion models, which can be run in real time on PLCnext;

The parameters are fed back to the control logic in real time, and the control of the actuator is optimized to achieve the goal of high-speed and stable operation of unmanned vehicles.

The PLCnext-based anti-sway control system from Phoenix Contact provides multi-dimensional and reliable support for the efficient operation of unmanned vehicles and creates more value for users.

I'll just say, it's PLCnext.

It's very PLCnext—Phoenix

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