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WO2008037649A1 - Système de contrôle avec mémorisation de programme, présentant un filtre de kalman - Google Patents

Système de contrôle avec mémorisation de programme, présentant un filtre de kalman Download PDF

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Publication number
WO2008037649A1
WO2008037649A1 PCT/EP2007/059966 EP2007059966W WO2008037649A1 WO 2008037649 A1 WO2008037649 A1 WO 2008037649A1 EP 2007059966 W EP2007059966 W EP 2007059966W WO 2008037649 A1 WO2008037649 A1 WO 2008037649A1
Authority
WO
WIPO (PCT)
Prior art keywords
programmable logic
logic controller
kalman filter
transport device
load transport
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2007/059966
Other languages
German (de)
English (en)
Inventor
Bernd-Markus Pfeiffer
Michael Brämig
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Siemens Corp
Original Assignee
Siemens AG
Siemens Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG, Siemens Corp filed Critical Siemens AG
Publication of WO2008037649A1 publication Critical patent/WO2008037649A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33043—Extended kalman filter
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the invention relates to a programmable logic
  • Control in particular for a load transport device.
  • load-handling devices are used in the form of rubber-tired gantry cranes (RTGs), which can freely change their position in the port. For easier operation while an automatic web guide (Autosteering) is used.
  • RTGs rubber-tired gantry cranes
  • US 2005/0033514 A1 discloses a load transport device in which position signals obtained by means of GPS are fed to a main processor as a control device. This then processes control signals which are supplied to a programmable logic controller as a control device.
  • the present invention seeks to provide a load transport device that can be modular and connect with other components.
  • a programmable logic controller has a Kalman filter.
  • the Kalman filter is preferably implemented by a corresponding programming device of the PLC.
  • the overall control of the load handling device can be built modularly with components from the automation environment. This makes it possible to rely on a large number of reliable components.
  • the Kalman filter is a non-linear Kalman filter (extended Kalman filter).
  • the Kaiman filter is preferably based on a state space representation from kinematics, which has the change of deviation from a desired size.
  • a load transport device it is recommended to select the desired path as a target size.
  • Control means for generating control signals for controlling the load transport device or parts of the load transport device is formed on a web direction and between the web direction and the speed of the load transport device is a course angle, it is further preferred for the Kalman filter is preferably based on a state space representation from the kinematics that shows the change in the price angle.
  • the representation becomes particularly compact if the state space is completely unfolded by changing the deviation from the nominal path and by changing the course angle.
  • the control device is designed in particular as a programmable logic controller, more preferably as a control device for generating control signals for controlling a load transport device, for position determination and optionally container positioning.
  • position signals generated by position determining means are supplied to the control device via a connection, which in particular represent the position and / or a change in the position of the load transport device.
  • the load transport device is mobile, freely movable, i. e.g. not rail-bound, rubber-tired, a crane and especially a gantry crane.
  • the position determining means determine the position, in particular by means of GPS.
  • the load transport device in addition to the control device to a control device which the Drives (converters, motors) of the load transport device taking into account the control signals of
  • Control device controls.
  • This control device is advantageously designed as a programmable logic controller.
  • the load transport device has in particular additional position determination means for fine position determination and / or position correction, the additional ones
  • the additional positioning means work in particular by means of odometry and have, for example transponder on.
  • the control device is preferably set up for automatic web guidance / autosteering of the load transport device taking into account the position signals and / or the additional position signals and / or the use of the Kalman filter. This facilitates, in particular, straight-line driving for the operator.
  • the load of the load transport device is, for example, a container or a plurality of containers.
  • the load transport device may have means for identifying or individualizing the load, which are designed, for example, as means for recognizing the container number and for supplying the container number to the control device.
  • the load transport device may include means for receiving job data from a storage bin management system and for supplying the job data to the controller.
  • the control device with a Memory device for example, be connected in the form of a memory card, on which a plurality of tracks is stored. This may be necessary because some programmable logic controllers do not have sufficient memory to store a plurality of lanes.
  • the memory card can be changed depending on the port or warehouse. For using multiple
  • Load handling devices on the same port or warehouse can use memory cards with the same contents.
  • the load transport device can be constructed modularly in a particularly simple manner, in that the storage device is connected to the position determining means via an interface, the interface being standardized in terms of its design and / or bus. Analogously, by setting up interfaces, it is also possible to proceed with regard to the additional position determination means of the load identification means and the means for receiving order data.
  • a programmable controller is used as a control device to which position signals are supplied from position determining means.
  • Advantages and embodiments of the method are analogous to those of the device and vice versa.
  • FIG. 2 nomenclature for kinematics
  • FIG. 3 floor plan of the RTG.
  • a Kalman filter which contains a dynamic model of the controlled system, it is possible to distinguish physically possible and plausible movements of the RTG from interference signal components which are caused by the elastic oscillations of the setup or measurement errors of the GPS system.
  • the path control works with a cascade of position PI and course P-controller.
  • Standard controller function blocks of a PLC with an additional controlled adaptation of the reset time of the position controller as a function of the travel speed are used.
  • FIG. 1 shows an overview of the overall system and the solution concept on the basis of a signal flow plan.
  • the nominal trajectory runs along the x-axis, while the y-coordinate
  • a is the heading angle and v the speed, where the indices L and R refer to the left and right side of the vehicle.
  • a crane driver specifies the desired speed v and, as a steering command, the percentage speed difference Av between the left and right sides.
  • the steering principle thus corresponds to a tracked vehicle (for example, excavator or tank).
  • the controller calculates target speeds for the left and right side of the vehicle.
  • the speed setpoint values are generated therefrom by means of a ramp function, namely with a sufficiently flat gradient, so that the required speeds of rotation can actually be achieved taking into account the inertia of the RTG and the drive power of the motors.
  • the crane kinematics describes the changes in position of the vehicle over time, i. the trajectory.
  • the coordinates provided by the GPS do not correspond exactly to the trajectory of the antenna, but are additionally subject to stochastic disturbances.
  • the task of the Kalman filter or observer is to calculate estimates for the non-measurable internal state variables on the basis of the measured output variables and a dynamic process model.
  • the task of the position controller is to control the transverse deviation y from the setpoint path to the setpoint zero.
  • Output variable of the position controller is a setpoint for the course controller, which calculates a steering manipulated variable in the form of a speed difference from the course deviation.
  • FIG. 2 shows the nomenclature for kinematics.
  • the chassis of the container crane is considered as a rigid body in which three points are interesting: the center point with the location vector (vector from the coordinate origin to the center)
  • the angle between the x-axis and the velocity vector v is called the heading angle a. Because of the rigid connection, the velocity vectors of all three points are parallel:
  • the crane is steered by different speeds on both wheels, i. like a tracked vehicle.
  • the speed of the center is an average
  • the transverse axis of the vehicle (from left to right) is the difference vector between the two position vectors to the wheels
  • the "course” is the tangent of the heading angle, and since the lateral axis is perpendicular to the velocity vector, it can be read from the components of the velocity or from those of the transverse axis:
  • FIG. 3 shows the floor plan of the RTG.
  • the drives are numbered 1 to 4 counterclockwise.
  • the control is supplied on the input side with the measured value for the path deviation y, which is calculated from the unfiltered GPS measured data in a north-east coordinate system by conversion to the local xy coordinate system of a taught-in path.
  • the control intervention is additive to the steering commands of the driver.
  • the required off course controller speed difference Av to be distributed among the drives of both sides.
  • the speed setpoint for each of the drives is, in principle, according to the formula
  • V 11 SOlI V soll ( 1 + f koJ
  • V so ii _ v soll (l - f) _ 2 + ⁇ v _ 2 + ⁇ v + ⁇ v _
  • VL let V soll (1 + f) be 1 ⁇ v 2 + ⁇ v- ⁇ v
  • the travel command v soll is delayed by the joystick in the driver's cab via a ramp function with a rise time of 6s from 0 to 100%.
  • the correction values f are limited to ⁇ 190%, delayed by a ramp with a rise time of 2 s, and then multiplied by a factor of 5%. There are also other, minor ones
  • Correction values e.g. due to the cross position of the cat with load.
  • the drive 2 is representative of the right, the drive 1 for the left side.
  • a check with a trace function in the inverter has shown that the calculated frequencies are almost congruent with the wheel speeds measured by the encoder, so that the installation of additional encoders does not promise any benefit.
  • the filter can and should also continue to run in the background at standstill or manual drive in order to keep its state variables up to date. However, important is a correct initialization. When launching the Caymanian filter, the crane should actually be in the middle of its lane, with zero track and zero heading.
  • the EKF is based on the nonlinear state space representation from kinematics:
  • the time derivative is replaced by forward difference quotient, e.g.
  • the variance R k of the output y is estimated from the measurement data online over a sliding time window of 20 samples.
  • the covariance matrix of the process noise as the only remaining tuning parameter is given in diagonal form with relatively small, constant values, while maintaining the ratio of the two diagonal elements determined in simulations, but dividing both by a factor of 1000:
  • the filter relies more on its inputs in the vector u and the internal dynamics model than on the noisy measurements y.
  • the measured variance of the output is increased by a factor Ie9, so that, in principle, a pure process simulation without comparison with measured values is continued ,
  • y H y + csin ( ⁇ ) the rear wheel is calculated.
  • C describes the distance between the GPS antenna and the rear wheel in the x-direction.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

L'invention concerne un système de contrôle avec mémorisation de programme qui présente un filtre de Kalman.
PCT/EP2007/059966 2006-09-25 2007-09-20 Système de contrôle avec mémorisation de programme, présentant un filtre de kalman Ceased WO2008037649A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102006045045.0 2006-09-25
DE102006045045 2006-09-25

Publications (1)

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WO2008037649A1 true WO2008037649A1 (fr) 2008-04-03

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PCT/EP2007/059966 Ceased WO2008037649A1 (fr) 2006-09-25 2007-09-20 Système de contrôle avec mémorisation de programme, présentant un filtre de kalman

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2474874A1 (fr) * 2011-01-11 2012-07-11 Siemens Aktiengesellschaft Système d'ingénierie destiné à établir un programme de commande avec un Kalman Filter

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050033514A1 (en) * 2001-12-12 2005-02-10 Qing Lu Mobile station of global position system for rubber-tyred gantry crane

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050033514A1 (en) * 2001-12-12 2005-02-10 Qing Lu Mobile station of global position system for rubber-tyred gantry crane

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
HSIN-TAN CHIU ET AL: "TRAINABLE NEURAL NETWORK FOR MECHANICALLY FLEXIBLE SYSTEMS BASED ONNONLINEAR FILTERING", JOURNAL OF GUIDANCE AND CONTROL AND DYNAMICS, AIAA, RESTON, VA, US, vol. 18, no. 3, 1 May 1995 (1995-05-01), pages 503 - 507, XP000543086, ISSN: 0731-5090 *
MORA M C ET AL: "Factory management and transport automation", EMERGING TECHNOLOGIES AND FACTORY AUTOMATION, 2003. PROCEEDINGS. ETFA '03. IEEE CONFERENCE SEPT. 16-19, 2003, PISCATAWAY, NJ, USA,IEEE, vol. 2, 16 September 2003 (2003-09-16), pages 508 - 515, XP010670976, ISBN: 0-7803-7937-3 *
PONOMARYOV V I ET AL: "Increasing the accuracy of differential global positioning system by means of use the Kalman filtering technique", INDUSTRIAL ELECTRONICS, 2000. ISIE 2000. PROCEEDINGS OF THE 2000 IEEE INTERNATIONAL SYMPOSIUM ON DEC. 4-8, 2000, PISCATAWAY, NJ, USA,IEEE, vol. 2, 4 December 2000 (2000-12-04), pages 637 - 642, XP010548010, ISBN: 0-7803-6606-9 *
VENTZAS D E ED - INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS: "KALMAN FILTERS FOR DYNAMIC POSITION CONTROL OF LARGE SCALE SYSTEMS", PROCEEDINGS OF THE 1996 IEEE IECON: 22ND. INTERNATIONAL CONFERENCE ON INDUSTRIAL ELECTRONICS, CONTROL, AND INSTRUMENTATION. TAIPEI, AUG. 5 - 9, 1996, PROCEEDINGS OF IEEE IECON: INTERNATIONAL CONFERENCE ON INDUSTRIAL ELECTRONICS, CONTROL, AND INSTRUME, vol. VOL. 2 CONF. 22, 5 August 1996 (1996-08-05), pages 647 - 652, XP000695844, ISBN: 0-7803-2776-4 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2474874A1 (fr) * 2011-01-11 2012-07-11 Siemens Aktiengesellschaft Système d'ingénierie destiné à établir un programme de commande avec un Kalman Filter

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