CN107055361A - A kind of steady control method of the hydraulic hoisting machine speed of service and control system - Google Patents
A kind of steady control method of the hydraulic hoisting machine speed of service and control system Download PDFInfo
- Publication number
- CN107055361A CN107055361A CN201710342082.1A CN201710342082A CN107055361A CN 107055361 A CN107055361 A CN 107055361A CN 201710342082 A CN201710342082 A CN 201710342082A CN 107055361 A CN107055361 A CN 107055361A
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- speed
- hydraulic
- hoisting machine
- load
- lifting
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D2700/00—Capstans, winches or hoists
- B66D2700/01—Winches, capstans or pivots
- B66D2700/0125—Motor operated winches
- B66D2700/0133—Fluid actuated
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The steady control method of the hydraulic hoisting machine speed of service of the present invention, the technical problem steadily controlled can not be realized by solving.Including opened loop control process, First Speed is maintained for completing the first time speed setting from initial velocity into First Speed high speed change procedure during load lifting or decline, and before the lifting of load or decline stable conditions；Closed loop control process, second speed is maintained for completing second of speed setting from First Speed into second speed low speed change procedure during load lifting or decline, and according to the feedback of load character in the lifting of load or decline operating mode；Switch switching process, for being fed back during load lifting or decline according to the velocity variations of load, switching and the number of times of control switching opened loop control process and closed loop control process.The present invention disclosure satisfy that different loads operating mode landing velocity-stabilization is controlled, and effectively reduce hydraulic pressure impact and system dynamic loading.Present invention additionally comprises hydraulic hoisting machine control system.
Description
Technical field
The present invention relates to a kind of control method and control system of crane power output, more particularly to a kind of hydraulic pressure lift
The steady control method of the machine speed of service and control system.
Background technology
In the crane of ordinary power rank is using field, powered actuation mechanism is used as using alternating current generator mostly.So
And in 45t and the high-power crane of above rank use field, the hydraulic hoisting machine formed using fluid motor-driven is one
Plant the higher selection of cost performance.Because hydraulic hoisting machine system is huge, applying working condition is changeable, its control system has sluggish, non-
Linearly, time-varying, the characteristic of large inertia, currently without fairly perfect speed automatic control method, are passed through according to operating personnel mostly
Test and controlled manually, the operation skill to operating personnel requires very high, and safety and reliability can not be protected at all
Barrier.In order to adapt to more applying working conditions, it is necessary to which control of the hydraulic hoisting machine control system to hydraulic hoisting machine can realize control
System response is rapid, speed control is accurate, mechanism action is steady, reduce the high-technology index such as dynamic loading.
The content of the invention
The purpose of the embodiment of the present invention is to provide a kind of steady control method of the hydraulic hoisting machine speed of service and control system,
The high-power level crane using fluid motor-driven can not be directed to by solving existing control process, it is impossible to realize the skill steadily controlled
Art problem.
The steady control method of the hydraulic hoisting machine speed of service of the present invention, including opened loop control process, switching switching process
And closed loop control process, wherein：
Opened loop control process, for completing to become at a high speed from initial velocity to First Speed during load lifting or decline
First time speed setting during change, and maintain First Speed before the lifting of load or decline stable conditions；
Closed loop control process, for completing to be become from First Speed to second speed low speed during load lifting or decline
Second of speed setting during change, and maintain second in the lifting of load or decline operating mode according to the feedback of load character
Speed；
Switch switching process, for being fed back during load lifting or decline according to the velocity variations of load, control is cut
Change switching and the number of times of opened loop control process and closed loop control process.
The opened loop control process includes：
The first gear corresponding with initial velocity is set, the second gear corresponding with second speed is set；
Cutting for first gear and the second gear is set according to the physical characteristic of user's request and hydraulic hoisting machine control system
Change buffering duration；
Buffering duration setting adjusted open loop speed step-length according to the switching of the first gear to the second gear is：
The first gear is carried out according to adjusted open loop speed step-length to the high speed of the second gear switch to become
Change process, corresponding control data is exported to Hydraulic Power Transmission System；
In high speed change procedure, when the speed that hoist engine wirerope is detected according to velocity feedback reaches First Speed,
The control data for keeping First Speed is exported to Hydraulic Power Transmission System, First Speed is kept stable buffering duration.
The closed loop control process includes：
During First Speed changes to second speed, to detect the speed of hoist engine wirerope as feedback data,
The closed-loop control of pid control algorithm or the closed-loop control of fixed step size approximate algorithm are formed, correspondence is exported to Hydraulic Power Transmission System
Control data；
The Times of Feedback of closed loop control process is determined, the final speed of hoist engine wirerope is maintained at connecing for second speed
By in error range.
Also include：
Speed planning data are set up, are risen for according to lifting load quality and lifting loadtype, forming lifting load
The corresponding target velocity number range with decentralization process.
Also include：
The execution unit of Hydraulic Power Transmission System and the mapping relations of controller output control data are set up, for that will survey in advance
The discharge characteristic of the different executing agencies of fixed Hydraulic Power Transmission System, and the discharge characteristic of different loads system form different loads
The controller parameter of operating mode and the different speeds of service.
The First Speed is up to the 95% of second speed, and the acceptable error of the second speed is less than for irrelevance
Second speed 5%.
For the hydraulic hoisting machine control system of the steady control method of the hydraulic hoisting machine speed of service, including displacement sensing
Device, calculus of differences circuit and controller, wherein：
Displacement transducer, the telescopic displacement signal for gathering hoist engine wirerope；
Calculus of differences circuit, the feedback speed signal for telescopic location signal to be converted to difference common mode or differential mode；
Controller, for receiving feedback signal and object parameter data, according to built-in operating mode processing procedure output hydraulic pressure
The control data of transmission system.
Also include Hydraulic Power Transmission System, Hydraulic Power Transmission System includes two-way proportional valve, the standby pressure element of transmission and hydraulic motor,
Wherein：
Two-way proportional valve uses electro-hydraulic two-way proportional valve, and the main output circuit of power oil sources is adjusted for receive control data
Fluid power output；
The standby pressure element of transmission uses hydraulically balanced valve, for maintaining fluid power output and flow direction in output circuit
The stability of vector；
Hydraulic motor, for receiving fluid power output and flow direction vector and producing corresponding rotating speed and steering, drives
Move the flexible of hoist engine wirerope.
Also include brake, for accessing the secondary output circuit of power oil sources, braking is converted to according to preset trigger condition
Dynamic braking hydraulic motor.
The steady control method of the hydraulic hoisting machine speed of service and control system of the present invention has reached technical requirement, energy
The control of different loads operating mode landing velocity-stabilization is enough met, hydraulic pressure impact and system dynamic loading is effectively reduced, ensures
The safety and reliability of load running.
Brief description of the drawings
Fig. 1 is used for the hydraulic hoisting machine control system for disposing the steady control method of the hydraulic hoisting machine speed of service for the present invention
Basic structure composed figure.
Fig. 2 is the control structure schematic diagram of the steady control method of the hydraulic hoisting machine speed of service of the present invention.
Fig. 3 is the velocity variations process schematic of the steady control method of the hydraulic hoisting machine speed of service of the present invention.
Fig. 4 is the control effect schematic diagram of the steady control method of the hydraulic hoisting machine speed of service of the present invention.
Embodiment
The embodiment to the present invention is described in detail below in conjunction with the accompanying drawings.
As shown in figure 1, the hydraulic hoisting machine control system of the embodiment of the present invention includes displacement transducer, calculus of differences circuit
And controller.Wherein：
Displacement transducer, the telescopic displacement signal for gathering hoist engine wirerope；
Calculus of differences circuit, the feedback speed signal for telescopic location signal to be converted to difference common mode or differential mode；
Controller, for receiving feedback signal and object parameter data, according to built-in operating mode processing procedure output hydraulic pressure
The control data of transmission system.
Hydraulic Power Transmission System includes two-way proportional valve, the standby pressure element of transmission and hydraulic motor.Wherein：
Two-way proportional valve uses electro-hydraulic two-way proportional valve, and the main output circuit of power oil sources is adjusted for receive control data
Fluid power output；
The standby pressure element of transmission uses hydraulically balanced valve, for maintaining fluid power output and flow direction in output circuit
The stability of vector；
Hydraulic motor, for receiving fluid power output and flow direction vector and producing corresponding rotating speed and steering, drives
Move the flexible of hoist engine wirerope.
Also include brake, for accessing the secondary output circuit of power oil sources, braking is converted to according to preset trigger condition
Dynamic braking hydraulic motor.
As shown in Fig. 2 the controller of one embodiment of the invention uses DSP Processor, wherein the operating mode processing procedure disposed
Including opened loop control process, switching switching process and closed loop control process, wherein：
Opened loop control process, for completing to become at a high speed from initial velocity to First Speed during load lifting or decline
First time speed setting during change, and maintain First Speed before the lifting of load or decline stable conditions；
Closed loop control process, for completing to be become from First Speed to second speed low speed during load lifting or decline
Second of speed setting during change, and maintain second in the lifting of load or decline operating mode according to the feedback of load character
Speed；
Switch switching process, for being fed back during load lifting or decline according to the velocity variations of load, control is cut
Change switching and the number of times of opened loop control process and closed loop control process.
In an embodiment of the present invention, opened loop control process includes：
The first gear corresponding with initial velocity is set, the second gear corresponding with second speed is set；
Cutting for first gear and the second gear is set according to the physical characteristic of user's request and hydraulic hoisting machine control system
Change buffering duration；
Buffering duration setting adjusted open loop speed step-length according to the switching of the first gear to the second gear is：
The first gear is carried out according to adjusted open loop speed step-length to the high speed of the second gear switch to become
Change process, corresponding control data is exported to Hydraulic Power Transmission System；
In high speed change procedure, when the speed that hoist engine wirerope is detected according to velocity feedback reaches First Speed,
The control data for keeping First Speed is exported to Hydraulic Power Transmission System, First Speed is kept stable buffering duration.
Opened loop control process in the embodiment of the present invention, be according to the speed difference of adjacent gear positions and hydraulic hoisting machine control
The physical characteristic of system determines that switching buffering duration is to ensure being reliably completed for user's request and Load Characteristics.Adjusted by open loop
Section speed step-length forms the control data of corresponding hydraulic hoisting machine control system, controls each valve body to complete corresponding power, protects
Demonstrate,prove the high speed action process of hoist engine wirerope.And control hoist engine wirerope to keep pre- when reaching set rate (First Speed)
Determine rate action, response time and hydraulic pressure, machine driving time to meet each valve body of hydraulic hoisting machine control system etc., treat defeated
Go out completion first time speed setting after velocity-stabilization.The higher shape of hoist engine wirerope speedup is being ensured using this opened loop control process
Under state, the coordination by buffering duration twice eliminates in hydraulic hoisting machine control system nonlinear system feature to velocity variations
Harmful effect.
In an embodiment of the present invention, closed loop control process includes：
During First Speed changes to second speed, to detect the speed of hoist engine wirerope as feedback data,
The closed-loop control of pid control algorithm or the closed-loop control of fixed step size approximate algorithm are formed, correspondence is exported to Hydraulic Power Transmission System
Control data；
The Times of Feedback of closed loop control process is determined, the final speed of hoist engine wirerope is maintained at connecing for second speed
By in error range.
Closed loop control process in the embodiment of the present invention, will be used as the first of midrange speed in complete rate control process
Speed and the speed interval of the second speed formation of target velocity the most are tried one's best diminution, can to carry out in interval relatively low
The positive feedback closed-loop control of speedup, had not only ensured with less Times of Feedback to the quick realization of target velocity but also had met less speed
Impact.Different closed loop feedbacks are selected to calculate according to the overall physical characteristic of the characteristic of executive component and Hydraulic Power Transmission System simultaneously
Method, overcomes the nonlinear characteristics such as system dead zone, stagnant ring and big flow self-oscillation to the stable influence of target velocity.
In an embodiment of the present invention, closed loop control process, it is sensitive for the self-oscillation characteristic in Hydraulic Power Transmission System
The high valve of degree or executive component are adjusted using the closed loop control process of pid control algorithm, sensitive for self-oscillation characteristic
The low valve of degree or executive component are adjusted using the closed loop control process of fixed step size approximate algorithm.
In an embodiment of the present invention, the controlling cycle for each executive component in Hydraulic Power Transmission System is used with for the moment
It is long.
In an embodiment of the present invention, in addition to：
Speed planning data are set up, are risen for according to lifting load quality and lifting loadtype, forming lifting load
The corresponding target velocity number range with decentralization process.It is preferred to use the data song with speed planning data formation correspondence mappings
Line graph, allows selected data intuitively to show.
In an embodiment of the present invention, in addition to：
The execution unit of Hydraulic Power Transmission System and the mapping relations of controller output control data are set up, for that will survey in advance
The discharge characteristic of the different executing agencies of fixed Hydraulic Power Transmission System, and the discharge characteristic of different loads system form different loads
The controller parameter P of operating mode and the different speeds of serviceij(i=1,2 ..., j=I, II ...).PijFor parameter vector, according to control
Depending on process form processed, if PID controller is three parameters.Load and velocity interval are set to rated value in mapping relations
110% untill.As shown in table 1：
Table 1
Wherein Load accounts for rated load percentage for lifting load, and Speed is speed of service gear, and P is controller parameter.
Speed planning data are pre-established in the control method of the embodiment of the present invention and the execution of Hydraulic Power Transmission System is set up
Part and the mapping relations of controller output control data, can be by the rule data and experience grasped from a large amount of measured datas
Data constitute the benchmark of control data as you, it is to avoid when controller completes the hydraulic hoisting machine speed of service steady control process
Controlled device characteristic, hydraulic hoisting machine control system, Hydraulic Power Transmission System and the differentia influence of load executing agency, control structure
There is relatively large deviation.
It is below the specific control process of a steady control method of the specific hydraulic hoisting machine speed of service.
1st, according to the execution unit of Hydraulic Power Transmission System and the mapping relations of controller output control data, selected from table 1
Take the proportioning valve discharge characteristic curve of output of correspondence system and the P of flow system flow-voltage output curveijVector parameters are used as control
During control data basis of formation.
2nd, according to speed planning data, (as shown in figure 3, wherein left side adjusts process for speedup, right side is that deceleration was adjusted
Journey), the systematic parameter of the steady control process of controller speed is determined, includes the initial velocity V of the first gear0, opened loop control mistake
The First Speed V that journey reaches1, as the second speed V of target velocity2, switching buffering duration a, stable buffering duration b, closed loop it is anti-
Present number of times t, closed-loop control cycle T etc..
3rd, choose and set closed loop controller to load adaptation parameter table (from table 1), including pid parameter table or determination are fixed and adjusted
Save step length table.
4th, as shown in figure 3, opened loop control process (i.e. first time speed setting) is completed first, from when previous gear speed
(initial velocity V0) to next gear speed (second speed V2) handoff procedure when calculated first using open loop sloped transition buffering
Method, switching buffering duration a is set according to customer demand and system performance, i.e., speed adjusted open loop step-length isWork as reality
Speed enters the First Speed V of target velocity scope1(First Speed V1Usually second speed V210%-95%) in after,
Current control parameter is kept, makes the input current value constant output of the executing agencies such as proportioning valve (stable to buffer duration for a period of time
B), first time speed setting is completed after velocity-stabilization to be output.
5 and then closed loop control process (i.e. second speed setting) is completed, in the stable First Speed V of output speed1Model
In enclosing, realized according to the stable buffering duration b, closed loop feedback number of times t, closed-loop control cycle T of setting using pid control algorithm or
Fixed step size approximate algorithm realizes closed-loop control, makes target velocity stable in second speed V2Acceptable error in the range of it is (logical
It is often second speed V295%-100%).
As shown in figure 4, can be in load lifting using the steady control method of the elevator speed of service of the embodiment of the present invention
Main movement process is completed as early as possible with process high speed adjustment transmission speed is declined, and low speed adjustment transmission speed ensures motion process
Accurately in place, the control error that system performance is brought is avoided in this process, it is to avoid the impact of velocity variations formation, can
To complete the transfer of load well.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can be readily occurred in,
It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Enclose and be defined.
Claims (9)
1. a kind of steady control method of the hydraulic hoisting machine speed of service, including opened loop control process, switching switching process and closed loop
Control process, wherein：
Opened loop control process, for completing to be changed at a high speed from initial velocity to First Speed during load lifting or decline
First time speed setting in journey, and maintain First Speed before the lifting of load or decline stable conditions；
Closed loop control process, for completing to be changed from First Speed to second speed low speed during load lifting or decline
Second of speed setting in journey, and the second speed is maintained in the lifting of load or decline operating mode according to the feedback of load character
Degree；
Switch switching process, for being fed back during load lifting or decline according to the velocity variations of load, control switching is opened
The switching of ring control process and closed loop control process and number of times.
2. the steady control method of the hydraulic hoisting machine speed of service as claimed in claim 1, it is characterised in that the opened loop control
Process includes：
The first gear corresponding with initial velocity is set, the second gear corresponding with second speed is set；
The switching for setting the first gear and the second gear according to the physical characteristic of user's request and hydraulic hoisting machine control system is delayed
Rush duration；
Buffering duration setting adjusted open loop speed step-length according to the switching of the first gear to the second gear is：
The first gear is carried out according to adjusted open loop speed step-length to the high speed of the second gear switch to change
Journey, corresponding control data is exported to Hydraulic Power Transmission System；
In high speed change procedure, when the speed that hoist engine wirerope is detected according to velocity feedback reaches First Speed, to liquid
Press transmission system output to keep the control data of First Speed, First Speed is kept stable buffering duration.
3. the steady control method of the hydraulic hoisting machine speed of service as claimed in claim 1, it is characterised in that the closed-loop control
Process includes：
During First Speed changes to second speed, the speed to detect hoist engine wirerope is formed as feedback data
The closed-loop control of pid control algorithm or the closed-loop control of fixed step size approximate algorithm, corresponding control is exported to Hydraulic Power Transmission System
Data processed；
The Times of Feedback of closed loop control process is determined, the final speed of hoist engine wirerope is maintained to the acceptable mistake of second speed
In poor scope.
4. the steady control method of the hydraulic hoisting machine speed of service as claimed in claim 1, it is characterised in that also include：
Set up speed planning data, for according to lifting load quality and lifting loadtype, formed lifting load rise and under
Corresponding target velocity number range during putting.
5. the steady control method of the hydraulic hoisting machine speed of service as claimed in claim 1, it is characterised in that also include：
The execution unit of Hydraulic Power Transmission System and the mapping relations of controller output control data are set up, for by measured in advance
The discharge characteristic of Hydraulic Power Transmission System difference executing agency, and the discharge characteristic of different loads system form different loads operating mode
With the controller parameter of the different speeds of service.
6. the steady control method of the hydraulic hoisting machine speed of service as claimed in claim 1, it is characterised in that the First Speed
Up to the 95% of second speed, the acceptable error of the second speed is less than second speed 5% for irrelevance.
7. a kind of be used for the hydraulic hoisting machine control such as any steady control method of the hydraulic hoisting machine speed of service of claim 1 to 6
System processed, including displacement transducer, calculus of differences circuit and controller, wherein：
Displacement transducer, the telescopic displacement signal for gathering hoist engine wirerope；
Calculus of differences circuit, the feedback speed signal for telescopic location signal to be converted to difference common mode or differential mode；
Controller, for receiving feedback signal and object parameter data, is driven according to built-in operating mode processing procedure output hydraulic pressure
The control data of system.
8. hydraulic hoisting machine control system as claimed in claim 7, it is characterised in that also including Hydraulic Power Transmission System, hydraulic pressure is passed
Dynamic system includes two-way proportional valve, the standby pressure element of transmission and hydraulic motor, wherein：
Two-way proportional valve uses electro-hydraulic two-way proportional valve, and the stream of the main output circuit of power oil sources is adjusted for receive control data
Body power output；
The standby pressure element of transmission uses hydraulically balanced valve, for maintaining fluid power output and flow direction vector in output circuit
Stability；
Hydraulic motor, for receiving fluid power output and flow direction vector and producing corresponding rotating speed and steering, driving volume
Raise the flexible of machine wirerope.
9. hydraulic hoisting machine control system as claimed in claim 8, it is characterised in that also including brake, for accessing power
The secondary output circuit of oil sources, brake force brake fluid pressure motor is converted to according to preset trigger condition.
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| CN112520615A (en) * | 2020-12-07 | 2021-03-19 | 北京三一智造科技有限公司 | Cruise control method and device and engineering vehicle |
| CN113023603A (en) * | 2021-05-25 | 2021-06-25 | 徐州徐工基础工程机械有限公司 | Winch control device and method and underground continuous wall construction equipment |
| CN113250262A (en) * | 2021-06-25 | 2021-08-13 | 徐州徐工基础工程机械有限公司 | Double-wheel milling stirrer and speed control method of milling device thereof |
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| CN113023603A (en) * | 2021-05-25 | 2021-06-25 | 徐州徐工基础工程机械有限公司 | Winch control device and method and underground continuous wall construction equipment |
| CN113023603B (en) * | 2021-05-25 | 2021-08-17 | 徐州徐工基础工程机械有限公司 | Winch control device and method and underground continuous wall construction equipment |
| CN113250262A (en) * | 2021-06-25 | 2021-08-13 | 徐州徐工基础工程机械有限公司 | Double-wheel milling stirrer and speed control method of milling device thereof |
| CN113250262B (en) * | 2021-06-25 | 2021-10-08 | 徐州徐工基础工程机械有限公司 | Double-wheel milling stirrer and speed control method of milling device thereof |
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