CN106301093A - The anti-torsion control method of elevating mechanism and device - Google Patents
The anti-torsion control method of elevating mechanism and device Download PDFInfo
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- CN106301093A CN106301093A CN201610798505.6A CN201610798505A CN106301093A CN 106301093 A CN106301093 A CN 106301093A CN 201610798505 A CN201610798505 A CN 201610798505A CN 106301093 A CN106301093 A CN 106301093A
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- frequency conversion
- conversion motor
- numerical value
- elevating mechanism
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
- H02P5/52—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another additionally providing control of relative angular displacement
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Abstract
The invention discloses anti-torsion control method and the device of a kind of elevating mechanism, belong to machine control techniques field.This elevating mechanism includes the first frequency conversion motor, the second frequency conversion motor；This anti-torsion control method comprises the following steps: the first frequency conversion motor, the second frequency conversion motor receive startup order simultaneously；In the first frequency conversion motor, the second frequency conversion motor running, the angle-data α of Real-time Collection the first frequency conversion motor1, the angle-data α of the second frequency conversion motor2；Obtain | α1‑α2| numerical value；Control | α1‑α2| the span of numerical value so that the output shaft of the first frequency conversion motor, the output shaft of the second frequency conversion motor are on same straight line.This anti-twist control is implemented for this anti-torsion control method.This anti-torsion control method and device its enable to motor load and disperseed and avoid load to exceed rated load；And, it is also possible to avoid being loaded thing and reverse the generation of even phenomenon of rupture.
Description
Technical field
The present invention relates to machine control techniques field, particularly relate to anti-torsion control method and the dress of a kind of elevating mechanism
Put.
Background technology
To the bigger object of weight during such as bus lifts, owing to its weight is bigger, it is difficult to ensure it
Motor load is less than its rated load, additionally, due to its volume is bigger, it is also difficult to ensure that its head and the tail synchronize, smoothly risen
Fall.
Summary of the invention
In view of this, the invention provides anti-torsion control method and the device of a kind of elevating mechanism, it enables to electricity
Machine load is disperseed and avoids load to exceed rated load；And, it is also possible to avoid being loaded thing and reverse even phenomenon of rupture
Occur, thus more suitable for practicality.
In order to reach above-mentioned first purpose, the technical scheme of the anti-torsion control method of the elevating mechanism that the present invention provides
As follows:
In the anti-torsion control method of the elevating mechanism of present invention offer, described elevating mechanism includes the first variable-frequency electric
Machine, the second frequency conversion motor；The anti-torsion control method of described elevating mechanism comprises the following steps:
Described first frequency conversion motor, the second frequency conversion motor receive startup order simultaneously；
In described first frequency conversion motor, the second frequency conversion motor running, the first frequency conversion motor described in Real-time Collection
Angle-data α1, the angle-data α of the second frequency conversion motor2；
Obtain | α1-α2| numerical value；
Control described | α1-α2| the span of numerical value so that the output shaft of described first frequency conversion motor, the second frequency conversion
The output shaft of motor is on same straight line.
The anti-torsion control method of the elevating mechanism that the present invention provides also can be applied to the following technical measures to achieve further.
As preferably, described elevating mechanism also includes that connecting shaft, one end of described connecting shaft are fixedly connected on described first
The output shaft of frequency conversion motor, the other end of described connecting shaft is fixedly connected on the output shaft of described second frequency conversion motor.
As preferably, described α1、α2It is respectively space angle.
As preferably, when | α1-α2| numerical value≤first threshold time, the first frequency conversion motor described in continuous service and second becomes
Frequently motor.
As preferably, when first threshold ＜ | α1-α2| numerical value≤Second Threshold time, to α1、α2In less numerical value corresponding
The control circuit transmitting control commands of frequency conversion motor, increase α1、α2In the windup-degree of frequency conversion motor corresponding to less numerical value
Δαi, until | α1-α2| numerical value≤first threshold, the first frequency conversion motor, the second frequency conversion motor described in continuous service.
As preferably, when | α1-α2| numerical value ＞ Second Threshold time, simultaneously to described first frequency conversion motor, the second variable-frequency electric
Machine transmitting control commands, makes the control circuit dead electricity simultaneously of the control circuit of described first frequency conversion motor, the second frequency conversion motor.
As preferably, | α1-α2| numerical value ＞ Second Threshold time, trigger alarm device send alarm.
As preferably, described alarm is selected from buzzer, flashing lamp, qq message, SMS, wechat message, speech message
In one or several.
In order to reach above-mentioned second purpose, the technical scheme of the anti-twist control of the elevating mechanism that the present invention provides
As follows:
In the anti-twist control of the elevating mechanism of present invention offer, described elevating mechanism includes the first variable-frequency electric
Machine, the second frequency conversion motor；
The anti-twist control of described elevating mechanism include order issue unit, the first angle-data collecting unit,
Two angle-data collecting units, acquiring unit, judging unit；
Described order issues unit and sends for simultaneously start order to described first frequency conversion motor, the second frequency conversion motor；
Described first angle-data collecting unit is for gathering the angle-data α of described first frequency conversion motor1；
Described second angle-data collecting unit is for gathering the angle-data α of described second frequency conversion motor2；
Described acquiring unit is for obtaining by acquisition | α11-α12| numerical value；
Described judging unit is used for judging | α11-α12| the span of numerical value, described order issues unit according to described
The judged result of judging unit controls described first frequency conversion motor, the second frequency conversion motor so that described first frequency conversion motor defeated
Shaft, the output shaft of the second frequency conversion motor are on same straight line.
The anti-twist control of the elevating mechanism that the present invention provides also can be applied to the following technical measures to achieve further.
As preferably, described elevating mechanism also includes that connecting shaft, one end of described connecting shaft are fixedly connected on described first
The output shaft of frequency conversion motor, the other end of described connecting shaft is fixedly connected on the output shaft of described second frequency conversion motor.
As preferably, described α1、α2It is respectively space angle.
As preferably, when | α1-α2| numerical value≤first threshold time, described judging unit issues unit by described order
First frequency conversion motor, the second frequency conversion motor described in continuous service.
As preferably, when first threshold ＜ | α1-α2| numerical value≤Second Threshold time, by described order issue unit to
α1、α2In the control circuit transmitting control commands of frequency conversion motor corresponding to less numerical value, increase α1、α2In less numerical value pair
The windup-degree Δ α answeredi, until | α1-α2| numerical value≤first threshold, the first frequency conversion motor, the second frequency conversion described in continuous service
Motor.
As preferably, when | α1-α2| numerical value ＞ Second Threshold time, issue unit simultaneously to described the by described order
One frequency conversion motor, the second frequency conversion motor transmitting control commands, make the control circuit of described first frequency conversion motor, the second frequency conversion motor
Control circuit simultaneously dead electricity.
As preferably, the anti-twist control of described elevating mechanism also includes alarm device, when | α1-α2| numerical value ＞
During Second Threshold, described issue alarm device described in unit triggers by described order and send alarm.
As preferably, described alarm is selected from buzzer, flashing lamp, qq message, SMS, wechat message, speech message
In one or several.
In the anti-torsion control method of elevating mechanism provided in the present invention and device, elevating mechanism includes the first variable-frequency electric
Machine, the second frequency conversion motor.In this case, it is possible to the sharing of load of thing will be loaded to the first frequency conversion motor, the second frequency conversion
Motor, now, is minimized by the load of the first frequency conversion motor and the second frequency conversion motor alone bear, even if being loaded the weight of thing
Measure the biggest, it is also possible to ensure the first frequency conversion motor, the load of the second frequency conversion motor alone bear as far as possible.
Additionally, in the anti-torsion control method of elevating mechanism that provides of the present invention and device, be also directed to the first frequency conversion motor
Angle-data α1, the angle-data α of the second frequency conversion motor2Obtain | α1-α2| numerical value, control described | α1-α2| numerical value
Span so that the output shaft of described first frequency conversion motor, the output shaft of the second frequency conversion motor are on same straight line, it is possible to
Avoid being loaded thing and reverse the generation of even phenomenon of rupture.In this case, due to the first frequency conversion motor output shaft, second
The output shaft of frequency conversion motor is on same straight line, is constantly on same straight line thereby it is ensured that be loaded thing head and the tail.And
If be not intended to | α1-α2| numerical value, the first frequency conversion motor of leaving, the second frequency conversion motor angle difference increase, first can be caused
There is deviation in frequency conversion motor, the windup-degree of the second frequency conversion motor so that the output shaft of the first frequency conversion motor and the second variable-frequency electric
Differential seat angle between the output shaft of machine increases, between the output shaft and the output shaft of the second frequency conversion motor of the first frequency conversion motor
Differential seat angle increases above when being loaded pulling force that thing can bear, can cause being loaded thing and reverse and even rupture.
Accompanying drawing explanation
By reading the detailed description of hereafter preferred implementation, various other advantage and benefit common for this area
Technical staff will be clear from understanding.Accompanying drawing is only used for illustrating the purpose of preferred implementation, and is not considered as the present invention
Restriction.And in whole accompanying drawing, it is denoted by the same reference numerals identical parts.In the accompanying drawings:
The flow chart of steps of the anti-torsion control method of the elevating mechanism that Fig. 1 provides for the embodiment of the present invention one；
The signal of the anti-twist control of the elevating mechanism that Fig. 2 provides for the embodiment of the present invention two flows to relation signal
Figure.
Detailed description of the invention
The present invention solves the problem that prior art exists, it is provided that the anti-torsion control method of a kind of elevating mechanism and dress
Putting, it enables to motor load and is disperseed and avoid load to exceed rated load；And, it is also possible to avoid being loaded thing and reverse
The even generation of phenomenon of rupture, thus more suitable for practicality.
By further illustrating the technological means and effect that the present invention taked by reaching predetermined goal of the invention, below in conjunction with
Accompanying drawing and preferred embodiment, anti-torsion control method and the device to the elevating mechanism proposed according to the present invention, it is embodied as
Mode, structure, feature and effect thereof, after describing in detail such as.In the following description, different " embodiment " or " embodiment " refers to
Be not necessarily same embodiment.Additionally, special characteristic, structure or feature in one or more embodiment can by any properly
Form combines.
The terms "and/or", a kind of incidence relation describing affiliated partner, can there are three kinds of passes in expression
System, such as, A and/or B, concrete is interpreted as: can include A and B simultaneously, can be with individualism A, it is also possible to individualism
B, it is possible to possess above-mentioned three kinds of any one situations.
Embodiment one
See accompanying drawing 1, in the anti-torsion control method of the elevating mechanism of the embodiment of the present invention one offer, elevating mechanism bag
Include the first frequency conversion motor, the second frequency conversion motor；
The anti-torsion control method of elevating mechanism comprises the following steps:
Step 101: described first frequency conversion motor, the second frequency conversion motor receive startup order simultaneously；
Step 102: in described first frequency conversion motor, the second frequency conversion motor running, described in Real-time Collection, first becomes
Frequently the angle-data α of motor1, the angle-data α of the second frequency conversion motor2；
Step 103: obtain | α1-α2| numerical value；
Step 104: control described | α1-α2| the span of numerical value so that the output shaft of described first frequency conversion motor,
The output shaft of the second frequency conversion motor is on same straight line.In the anti-torsion control method of the elevating mechanism of present invention offer,
Elevating mechanism includes the first frequency conversion motor, the second frequency conversion motor.In this case, it is possible to the sharing of load being loaded thing is arrived
First frequency conversion motor, the second frequency conversion motor, now, be able to by the load of the first frequency conversion motor and the second frequency conversion motor alone bear
Reduce, even if the weight being loaded thing is the biggest, it is also possible to ensure the first frequency conversion motor, the second frequency conversion motor alone bear as far as possible
Load.
Additionally, in the anti-torsion control method of elevating mechanism that provides of the present invention and device, be also directed to the first frequency conversion motor
Angle-data α1, the angle-data α of the second frequency conversion motor2Obtain | α1-α2| numerical value, control described | α1-α2| numerical value
Span so that the output shaft of described first frequency conversion motor, the output shaft of the second frequency conversion motor are on same straight line, it is possible to
Avoid being loaded thing and reverse the generation of even phenomenon of rupture.And if be not intended to | α1-α2| numerical value, the first frequency conversion motor of leaving,
The angle difference of the second frequency conversion motor increases, and can cause the first frequency conversion motor, the angle difference of the second frequency conversion motor increases, when the
Angle difference between output shaft and the output shaft of the second frequency conversion motor of one frequency conversion motor increases above and is in the first frequency conversion
During the pulling force that the steelframe between motor and the second frequency conversion motor can bear, can cause being in the first frequency conversion motor and the second frequency conversion
Steelframe between motor reverses, and even ruptures.
Wherein, elevating mechanism also includes connecting shaft, and one end of connecting shaft is fixedly connected on the output shaft of the first frequency conversion motor,
The other end of connecting shaft is fixedly connected on the output shaft of the second frequency conversion motor.In this case, connecting shaft is at the first variable-frequency electric
First class of protection, and the steelframe being between the first frequency conversion motor, the second frequency conversion motor is added between machine and the second frequency conversion motor
It is collectively forming second class protection, by increasing capacitance it is possible to increase the coupling stiffness between the first frequency conversion motor, the second frequency conversion motor, reduces due to first
Between frequency conversion motor, the second frequency conversion motor, differential seat angle causes the steelframe being between the first frequency conversion motor, the second frequency conversion motor to turn round
Turn the probability even ruptured.
Wherein, α1、α2It is respectively space angle.Owing to the first frequency conversion motor, the second frequency conversion motor are all to rise in space
Or declining, therefore, their torsion is probably a space windup-degree having projection at x, y, z direction of principal axis, now, just
Require in a step 102, it is possible to obtain the data of this space angle.
Wherein, as | α1-α2| numerical value≤first threshold time, the first frequency conversion motor and the second variable-frequency electric described in continuous service
Machine.This situation represents, now the angular deviation between the first frequency conversion motor and the second frequency conversion motor is the least, is being in always
Within the weight range that steelframe between one frequency conversion motor, the second frequency conversion motor can bear, it is not result in being in the first frequency conversion
Steelframe between motor, the second frequency conversion motor reverses.In the present embodiment, first threshold can be | α1-α2| numerical value=3 °.
Wherein, when first threshold ＜ | α1-α2| numerical value≤Second Threshold time, to α1、α2In change corresponding to less numerical value
Frequently the control circuit transmitting control commands of motor, increases α1、α2In the power of frequency conversion motor corresponding to less numerical value, until |
α1-α2| numerical value≤first threshold, continuous service the first frequency conversion motor, the second frequency conversion motor.This situation represents, it is possible to use
The traction action of connecting shaft self, and control command makes this | α1-α2| numerical value again revert to first threshold in the range of, this
In embodiment, Second Threshold could be arranged to 8 °.
Wherein, as | α1-α2| numerical value ＞ Second Threshold time, simultaneously send control to the first frequency conversion motor, the second frequency conversion motor
System order, makes the control circuit dead electricity simultaneously of the control circuit of the first frequency conversion motor, the second frequency conversion motor.In this case,
The torsion being considered the first frequency conversion motor and/or the second frequency conversion motor is broken down, continue to run with down final result just
It is that the pulling force causing connecting shaft to be born exceedes its tolerance range and ruptures.Accordingly, it would be desirable to make the control circuit of the first frequency conversion motor,
The control circuit of the second frequency conversion motor dead electricity simultaneously, stops it and continues to run with.
Wherein, | α1-α2| numerical value ＞ Second Threshold time, trigger alarm device send alarm.In this case, phase is worked as
After pass staff perceives associated alarm, it is possible to the first frequency conversion motor and/or the second frequency conversion motor are sent out by the scene of arriving in the very nick of time
Raw fault processes such that it is able to fix a breakdown in the short period of time.The feelings of failure are particularly issued in control command
Under condition, the control circuit dead electricity simultaneously of the control circuit of the first frequency conversion motor, the second frequency conversion motor can be controlled artificially.
Wherein, alarm one in buzzer, flashing lamp, qq message, SMS, wechat message, speech message
Or it is several.
Embodiment two
See accompanying drawing 2, in the anti-twist control of the elevating mechanism of the embodiment of the present invention two offer, elevating mechanism bag
Include the first frequency conversion motor, the second frequency conversion motor.The anti-twist control of elevating mechanism includes that order issues unit, the first angle
Data acquisition unit, the second angle-data collecting unit, acquiring unit, judging unit.Wherein, order issues unit for simultaneously
Send start order to the first frequency conversion motor, the second frequency conversion motor；First angle-data collecting unit is for gathering the first frequency conversion
The angle-data α of motor1；Second angle-data collecting unit is for gathering the angle-data α of the second frequency conversion motor2；Acquiring unit
For being obtained by acquisition | α1-α2| numerical value；Judging unit is used for judging | α1-α2| numerical value and first threshold between big
Little relation, when | α1-α2| numerical value≤first threshold time, by order issue unit continuous service the first frequency conversion motor, second become
Frequently motor.
In the anti-twist control of the elevating mechanism provided in the present invention, elevating mechanism include the first frequency conversion motor, the
Two frequency conversion motors.In this case, it is possible to the sharing of load of thing will be loaded to the first frequency conversion motor, the second frequency conversion motor,
Now, the load of the first frequency conversion motor and the second frequency conversion motor alone bear it is minimized, even if being loaded the weight of thing very
Greatly, it is also possible to ensure the first frequency conversion motor, the load of the second frequency conversion motor alone bear as far as possible.
Additionally, in the anti-twist control of the elevating mechanism of present invention offer, gather single also by the first angle-data
Unit gathers the angle-data α of the first frequency conversion motor1, gathered the angle of the second frequency conversion motor by the second angle-data collecting unit
Data α2, obtained by acquiring unit | α1-α2| numerical value, judged by judging unit | α1-α2| the span of numerical value, life
Order issues unit and controls the first frequency conversion motor, the second frequency conversion motor according to the judged result of judging unit so that the first variable-frequency electric
The output shaft of machine, the output shaft of the second frequency conversion motor are on same straight line, it is possible to avoid being loaded thing and reverse even fracture now
The generation of elephant.And if be not intended to | α1-α2| numerical value, the first frequency conversion motor of leaving, the second frequency conversion motor angle difference increase
Add, the angle difference increase of the first frequency conversion motor, the second frequency conversion motor can be caused, when the output shaft and second of the first frequency conversion motor
Angle difference between the output shaft of frequency conversion motor increases above and is between the first frequency conversion motor and the second frequency conversion motor
During the pulling force that steelframe can bear, the steelframe being between the first frequency conversion motor and the second frequency conversion motor can be caused to reverse, even
Fracture.
Wherein, elevating mechanism also includes connecting shaft, and one end of connecting shaft is fixedly connected on the output shaft of the first frequency conversion motor,
The other end of connecting shaft is fixedly connected on the output shaft of the second frequency conversion motor.In this case, connecting shaft is at the first variable-frequency electric
First class of protection, and the steelframe being between the first frequency conversion motor, the second frequency conversion motor is added between machine and the second frequency conversion motor
It is collectively forming second class protection, by increasing capacitance it is possible to increase the coupling stiffness between the first frequency conversion motor, the second frequency conversion motor, reduces due to first
Between frequency conversion motor, the second frequency conversion motor, differential seat angle causes the steelframe being between the first frequency conversion motor, the second frequency conversion motor to turn round
Turn the probability even ruptured.
Wherein, α1、α2It is respectively space angle.Owing to the first frequency conversion motor, the second frequency conversion motor are all to rise in space
Or declining, therefore, their torsion is probably a space windup-degree having projection at x, y, z direction of principal axis, now, just
Require that the first angle-data collecting unit, the second angle-data collecting unit can obtain the data of this space angle, this enforcement
In example, the first angle-data collecting unit, the second angle-data collecting unit can be respectively the first three-axis gyroscope, the two or three
Axle gyroscope.
Wherein, as | α1-α2| numerical value≤first threshold time, the first frequency conversion motor and the second variable-frequency electric described in continuous service
Machine.This situation represents, now the angular deviation between the first frequency conversion motor and the second frequency conversion motor is the least, is being in always
Within the weight range that steelframe between one frequency conversion motor, the second frequency conversion motor can bear, it is not result in being in the first frequency conversion
Steelframe between motor, the second frequency conversion motor reverses.In the present embodiment, first threshold can be | α1-α2| numerical value=3 °.
Wherein, when first threshold ＜ | α1-α2| numerical value≤Second Threshold time, to α1、α2In change corresponding to less numerical value
Frequently the control circuit transmitting control commands of motor, increases α1、α2In the power of frequency conversion motor corresponding to less numerical value, until |
α1-α2| numerical value≤first threshold, continuous service the first frequency conversion motor, the second frequency conversion motor.This situation represents, it is possible to use
The traction action of connecting shaft self, and control command makes this | α1-α2| numerical value again revert to first threshold in the range of, this
In embodiment, Second Threshold could be arranged to 8 °.
Wherein, as | α1-α2| numerical value ＞ Second Threshold time, simultaneously send control to the first frequency conversion motor, the second frequency conversion motor
System order, makes the control circuit dead electricity simultaneously of the control circuit of the first frequency conversion motor, the second frequency conversion motor.In this case,
The torsion being considered the first frequency conversion motor and/or the second frequency conversion motor is broken down, continue to run with down final result just
It is that the pulling force causing connecting shaft to be born exceedes its tolerance range and ruptures.Accordingly, it would be desirable to make the control circuit of the first frequency conversion motor,
The control circuit of the second frequency conversion motor dead electricity simultaneously, stops it and continues to run with.
Wherein, | α1-α2| numerical value ＞ Second Threshold time, trigger alarm device send alarm.In this case, phase is worked as
After pass staff perceives associated alarm, it is possible to the first frequency conversion motor and/or the second frequency conversion motor are sent out by the scene of arriving in the very nick of time
Raw fault processes such that it is able to fix a breakdown in the short period of time.The feelings of failure are particularly issued in control command
Under condition, the control circuit dead electricity simultaneously of the control circuit of the first frequency conversion motor, the second frequency conversion motor can be controlled artificially.
Wherein, alarm one in buzzer, flashing lamp, qq message, SMS, wechat message, speech message
Or it is several.
In the anti-torsion control method of elevating mechanism provided in the present invention and device, elevating mechanism includes the first variable-frequency electric
Machine, the second frequency conversion motor.In this case, it is possible to the sharing of load of thing will be loaded to the first frequency conversion motor, the second frequency conversion
Motor, now, is minimized by the load of the first frequency conversion motor and the second frequency conversion motor alone bear, even if being loaded the weight of thing
Measure the biggest, it is also possible to ensure the first frequency conversion motor, the load of the second frequency conversion motor alone bear as far as possible.
Additionally, in the anti-torsion control method of elevating mechanism that provides of the present invention and device, be also directed to the first frequency conversion motor
Angle-data α1, the angle-data α of the second frequency conversion motor2Obtain | α1-α2| numerical value, control described | α1-α2| numerical value
Span so that the output shaft of described first frequency conversion motor, the output shaft of the second frequency conversion motor are on same straight line, it is possible to
Avoid being loaded thing and reverse the generation of even phenomenon of rupture.In this case, due to the first frequency conversion motor output shaft, second
The output shaft of frequency conversion motor is on same straight line, is constantly on same straight line thereby it is ensured that be loaded thing head and the tail.And
If be not intended to | α1-α2| numerical value, the first frequency conversion motor of leaving, the second frequency conversion motor angle difference increase, first can be caused
There is deviation in frequency conversion motor, the windup-degree of the second frequency conversion motor so that the output shaft of the first frequency conversion motor and the second variable-frequency electric
Differential seat angle between the output shaft of machine increases, between the output shaft and the output shaft of the second frequency conversion motor of the first frequency conversion motor
Differential seat angle increases above when being loaded pulling force that thing can bear, can cause being loaded thing and reverse and even rupture.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation
Property concept, then can make other change and amendment to these embodiments.So, claims are intended to be construed to include excellent
Select embodiment and fall into all changes and the amendment of the scope of the invention.
Obviously, those skilled in the art can carry out various change and the modification essence without deviating from the present invention to the present invention
God and scope.So, if these amendments of the present invention and modification belong to the scope of the claims in the present invention and equivalent technologies thereof
Within, then the present invention is also intended to comprise these change and modification.
Claims (10)
1. the anti-torsion control method of an elevating mechanism, it is characterised in that described elevating mechanism include the first frequency conversion motor,
Two frequency conversion motors；The anti-torsion control method of described elevating mechanism comprises the following steps:
Described first frequency conversion motor, the second frequency conversion motor receive startup order simultaneously；
In described first frequency conversion motor, the second frequency conversion motor running, the angle of the first frequency conversion motor described in Real-time Collection
Data α1, the angle-data α of the second frequency conversion motor2；
Obtain | α1-α2| numerical value；
Control described | α1-α2| the span of numerical value so that the output shaft of described first frequency conversion motor, the second frequency conversion motor
Output shaft be on same straight line.
The anti-torsion control method of elevating mechanism the most according to claim 1, it is characterised in that described elevating mechanism also wraps
Including connecting shaft, one end of described connecting shaft is fixedly connected on the output shaft of described first frequency conversion motor, another of described connecting shaft
End is fixedly connected on the output shaft of described second frequency conversion motor.
The anti-torsion control method of elevating mechanism the most according to claim 1, it is characterised in that described α1、α2It is respectively sky
Between angle.
The anti-torsion control method of elevating mechanism the most according to claim 1, it is characterised in that when | α1-α2| numerical value≤
During first threshold, the first frequency conversion motor described in continuous service and the second frequency conversion motor；
As preferably, when first threshold ＜ | α1-α2| numerical value≤Second Threshold time, to α1、α2In change corresponding to less numerical value
Frequently the control circuit transmitting control commands of motor, increases α1、α2In the windup-degree Δ of frequency conversion motor corresponding to less numerical value
αi, until | α1-α2| numerical value≤first threshold, the first frequency conversion motor, the second frequency conversion motor described in continuous service；
As preferably, when | α1-α2| numerical value ＞ Second Threshold time, send out to described first frequency conversion motor, the second frequency conversion motor simultaneously
Send control command, make the control circuit dead electricity simultaneously of the control circuit of described first frequency conversion motor, the second frequency conversion motor.
The anti-torsion control method of elevating mechanism the most according to claim 1, it is characterised in that | α1-α2| numerical value ＞
During two threshold values, trigger alarm device and send alarm；
As preferably, described alarm is in buzzer, flashing lamp, qq message, SMS, wechat message, speech message
One or several.
6. the anti-twist control of an elevating mechanism, it is characterised in that described elevating mechanism include the first frequency conversion motor,
Two frequency conversion motors；
The anti-twist control of described elevating mechanism include order issue unit, the first angle-data collecting unit, second jiao
Degrees of data collecting unit, acquiring unit, judging unit；
Described order issues unit and sends for simultaneously start order to described first frequency conversion motor, the second frequency conversion motor；
Described first angle-data collecting unit is for gathering the angle-data α of described first frequency conversion motor1；
Described second angle-data collecting unit is for gathering the angle-data α of described second frequency conversion motor2；
Described acquiring unit is for obtaining by acquisition | α11-α12| numerical value；
Described judging unit is used for judging | α11-α12| the span of numerical value, described order issues unit according to described judgement
The judged result of unit controls described first frequency conversion motor, the second frequency conversion motor so that the output shaft of described first frequency conversion motor,
The output shaft of the second frequency conversion motor is on same straight line.
The anti-twist control of elevating mechanism the most according to claim 6, it is characterised in that described elevating mechanism also wraps
Including connecting shaft, one end of described connecting shaft is fixedly connected on the output shaft of described first frequency conversion motor, another of described connecting shaft
End is fixedly connected on the output shaft of described second frequency conversion motor.
The anti-twist control of elevating mechanism the most according to claim 6, it is characterised in that described α1、α2It is respectively sky
Between angle.
The anti-twist control of elevating mechanism the most according to claim 6, it is characterised in that when | α1-α2| numerical value≤
During first threshold, described judging unit issues the first frequency conversion motor described in unit continuous service, the second frequency conversion by described order
Motor；
As preferably, when first threshold ＜ | α1-α2| numerical value≤Second Threshold time, issue unit to α by described order1、α2
In the control circuit transmitting control commands of frequency conversion motor corresponding to less numerical value, increase α1、α2In torsion corresponding to less numerical value
Gyration Δ αi, until | α1-α2| numerical value≤first threshold, the first frequency conversion motor, the second frequency conversion motor described in continuous service；
As preferably, when | α1-α2| numerical value ＞ Second Threshold time, issue unit by described order and become to described first simultaneously
Frequently motor, the second frequency conversion motor transmitting control commands, make the control circuit of described first frequency conversion motor, the control of the second frequency conversion motor
Circuit processed dead electricity simultaneously.
The anti-twist control of elevating mechanism the most according to claim 6, it is characterised in that also include alarm device,
When | α1-α2| numerical value ＞ Second Threshold time, described issue alarm device described in unit triggers by described order and send alarm；
As preferably, described alarm is in buzzer, flashing lamp, qq message, SMS, wechat message, speech message
One or several.
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| CN201610798505.6A CN106301093A (en) | 2016-08-31 | 2016-08-31 | The anti-torsion control method of elevating mechanism and device |
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Citations (5)
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| CN1261836A (en) * | 1997-07-02 | 2000-08-02 | 三菱电机株式会社 | Synchronization control device for servomotors |
| US20030111973A1 (en) * | 2001-12-19 | 2003-06-19 | Fanuc Ltd. | Servo controller |
| CN103776625A (en) * | 2014-01-27 | 2014-05-07 | 中国神华能源股份有限公司 | Method and system for detecting faults of loads of driving device of telescopic mechanism |
| CN104895445A (en) * | 2014-03-07 | 2015-09-09 | 摩拓泰汽车部件有限公司 | Method of controlling power trunk or power tailgate |
| CN105680736A (en) * | 2016-03-11 | 2016-06-15 | 南京快轮智能科技有限公司 | Yaw angle-based double-motor speed synchronization and balance control method |
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- 2016-08-31 CN CN201610798505.6A patent/CN106301093A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1261836A (en) * | 1997-07-02 | 2000-08-02 | 三菱电机株式会社 | Synchronization control device for servomotors |
| US20030111973A1 (en) * | 2001-12-19 | 2003-06-19 | Fanuc Ltd. | Servo controller |
| CN103776625A (en) * | 2014-01-27 | 2014-05-07 | 中国神华能源股份有限公司 | Method and system for detecting faults of loads of driving device of telescopic mechanism |
| CN104895445A (en) * | 2014-03-07 | 2015-09-09 | 摩拓泰汽车部件有限公司 | Method of controlling power trunk or power tailgate |
| CN105680736A (en) * | 2016-03-11 | 2016-06-15 | 南京快轮智能科技有限公司 | Yaw angle-based double-motor speed synchronization and balance control method |
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Application publication date: 20170104 |