CN108466958A - A kind of invariable power electric capstan - Google Patents
A kind of invariable power electric capstan Download PDFInfo
- Publication number
- CN108466958A CN108466958A CN201810428015.6A CN201810428015A CN108466958A CN 108466958 A CN108466958 A CN 108466958A CN 201810428015 A CN201810428015 A CN 201810428015A CN 108466958 A CN108466958 A CN 108466958A
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- China
- Prior art keywords
- controller
- motor
- current
- electric capstan
- load
- 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.)
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Classifications
-
- 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
- B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes
- B66D1/74—Capstans
-
- 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
- B66D1/42—Control devices non-automatic
- B66D1/46—Control devices non-automatic electric
-
- 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
- B66D1/54—Safety gear
-
- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The present invention is a kind of invariable power electric capstan, including power supply, motor, reel, host computer, controller, strand cable, velocity sensor, controller is connected by conducting wire with power supply and motor, host computer is connect by data line with controller, it is motor that DC power supply inversion is after alternating current by controller, motor output shaft connects with reel, and according to controller order-driven spool turns, strand cable is wound on reel, velocity sensor installation opposite with strand cable, and signal is passed to by controller by conducting wire.Invariable power electric capstan carries out firm power control using external input mode to electric capstan, increase with the strand cable number of plies, torque, hauling speed, load current increase therewith, controller current sampling module is monitored motor load electric current, and when load current is more than current control value, auto-controlled motor reduces rotating speed to meet torque output.The present invention has the characteristics that stationarity is good when high good reliability, electric capstan system effectiveness and traction.
Description
Technical field
The invention belongs to mechanical traction fields, and in particular to a kind of electric capstan of constant power output.
Background technology
Electric capstan be vehicle, ship self-protection a kind of draft gear, can be in snowfield, marsh, desert, seabeach, mud
It is saved oneself and is sued and laboured under the severe occasion such as muddy hill path, be also equipped with and removed obstacles, draw the abilities such as article, installation, be army
Police, oil, the hydrology, environmental protection, forestry, traffic, public security, frontier defense, fire-fighting and the essential safety device of other outdoor sports, it is main
Be used for steamer yacht, offroad vehicle, agricultural automobile, ATV all-terrain vehicle, fire-fighting and rescue vehicle, road obstacle clearing vehicle and it is other specially
With automobile and special vehicle, electric capstan currently on the market does not have a constant power output characteristic, provides needed for it when work
Torque can increase with reel around the increase of the strand cable number of plies, and motor speed is constant at this time, and electric capstan only passes through increase
Power just can guarantee the output of enough tractive force, therefore, often be determined according to strand cable outermost layer when selecting motor required
Maximum power so that electric capstan system system effectiveness when the strand cable number of plies is less is relatively low, the phenomenon that low load with strong power easily occurs,
Energy waste is caused, therefore work out a kind of invariable power electric capstan there is realistic meaning.
Invention content
The purpose of the present invention is cannot be guaranteed do not have when reel strand cable outermost layer when being directed to electric capstan work currently on the market
The shortcoming for having enough tractive force output, provides a kind of electric capstan of constant power output, meets when electric capstan works
Invariable power torque exports.
Technical solution used by the object of the invention is to be accomplished by the following way：A kind of invariable power electric capstan, including
Power supply, motor, reel, host computer, controller, strand cable, velocity sensor, the controller pass through conducting wire and power supply and electronic
Machine is connected, and the host computer is connect by data line with controller, and the controller is by DC power supply inversion for after alternating current
For motor, the motor output shaft connects with reel, and according to controller order-driven spool turns, and strand cable is wound on
On reel, velocity sensor installation opposite with strand cable, and signal is passed to by controller by conducting wire；The invariable power electric mincing
Disk is controlled using external input mode, when load current be more than current control value when auto-controlled motor reduce rotating speed with
Meet torque output.
In a kind of invariable power electric capstan, the power supply be DC power supply, voltage 24V, 36V, 48V, 60V,
72V, 96V, 108V or 144V.
In a kind of invariable power electric capstan, the motor is AC permanent magnet synchronous motor, receives controller and refers to
It enables, driving capstan winch is rotated forward under friction speed, tractive force, inverted, and can select different tractive force and traction according to applying working condition
Speed realizes invariable power freedom retractable rope.
In a kind of invariable power electric capstan, the reel is connected by shaft coupling with motor, and strand cable is twined
It is wound on stack shell.
In a kind of invariable power electric capstan, the host computer is the input equipments such as touch control screen, computer, input
Parameter and display electric capstan working condition.
In a kind of invariable power electric capstan, the controller includes：Customer parameter input module：It is divided into open ginseng
Number and non-open parameter two parts, open parameter are inputted by user by host computer, include mainly：Drum diameter D1, strand cable it is straight
Diameter D2, hauling speed v, tractive force F, parameters, the non-open parameter such as motor start stop signal passed through according to the type selecting of motor upper
Position machine maintenance changes, including the power of motor, rated voltage, rated moment, rated current, rated speed, over-current and -load protection value
Etc. parameters, control algolithm rotating speed needed for motor and current control value are calculated according to the setting of development parameters, non-open parameter；
Control strategy module：The power of input is limited by bus current control algolithm；Algorithm is mainly the busbar electricity according to setting
Flow valuve calculates required q axis and gives constant current (iq*) in turn, while obtaining d shaft currents (id*) by look-up table；Rotating speed position
Acquisition module：It obtains angle signal θ and is filtered and wait signal processings, while obtaining tach signal ω；Inversion rectification module：It will
The DC inverter of power input is at frequency needed for drive motor and the adjustable three-phase alternating current of amplitude；Coordinate transformation module：
It is coordinately transformed according to three-phase current, obtains d shaft currents (id) and q shaft currents (iq) signal；Current sampling module：Detection electricity
Motivation three-phase current and bus current are simultaneously filtered；Q shaft current adjustment modules：According to q axis reference current iq* and feedback
Electric current iq obtains voltage controling value uq；D shaft current adjustment modules：Voltage is obtained according to d axis reference current id* and feedback current id
Controlling value ud；Anti- Park conversion modules：Uq and ud values convert to obtain by anti-Park generates effective voltage control signal u α and u
β；SVPWM signal generation modules：According to voltage control signal u α and u β, reference switch signal, the control of SVPWM modulation is calculated
The turn-on sequence of device power device processed；Export control parameter module：Electric capstan systematic parameter during Motor Control is defeated
Go out, and is shown by touch control screen；Fault diagnosis module：By checking and testing, find system and equipment with the presence or absence of event
Barrier.
In a kind of invariable power electric capstan, the controller current sampling module carries out motor load electric current
Monitoring increases with the strand cable number of plies, and electric capstan torque, hauling speed, load current increase therewith, and it is negative that tractive load is less than design
When load, hauling speed can be realized stepless adjustable, and the current sampling module of controller monitors load current in real time, when load current is low
In current control value, control motor speed continues to rise, until reaching setting speed；When tractive load is equal to design (calculated) load,
Hauling speed is non-adjustable at this time, and electric capstan output power is constant at rated power at this time；Tractive load is more than design (calculated) load
When, electric capstan is easily damaged because of load excessive, and the current sampling module of controller once detects that load current is more than electric current
Controlling value, controller reduce motor speed to protect electric capstan automatically.
Compared with prior art, the invention has the advantages that：
1. controller can automatically reduce motor speed when motor load electric current is more than current control value, ensure permanent
Determine power output, good reliability realizes intelligentized control method；2. controller monitors motor load electric current in real time, control is electronic
Machine tractive force under the different strand cable numbers of plies is kept constant with hauling speed so that stationarity is high when traction；3. when motor selection
If being chosen with reference to the strand cable maximum number of plies, the strand cable hauling speed of internal layer is than existing capstan winch higher, while the full capacity of equipment
Also higher, the present invention determine maximum power according to drum diameter, realize electric capstan power limitation control by rotational speed regulation, keep away
Exempt from the appearance of low load with strong power phenomenon；4 utilize invariable power regulation technology, and unloaded or light load is achieved that without mechanical structure auxiliary
When output high linear speed, heavy duty when low linear velocity, unloaded retractable rope effect just can be improved using governor control characteristics in practical application
Rate, system effectiveness are high.
Description of the drawings
Fig. 1 is a kind of system structure diagram of invariable power electric capstan in a preferred embodiment of the present invention.
Fig. 2 is a kind of invariable power electric capstan controller module schematic diagram in a preferred embodiment of the present invention.
Fig. 3 is a kind of invariable power electric capstan control flow chart in a preferred embodiment of the present invention.
Specific implementation mode
Invention is further described in detail for the embodiment provided below in conjunction with the accompanying drawings：
With reference to attached drawing 1, attached drawing 2, attached drawing 3, a kind of invariable power electric capstan, including it is power supply 1, motor 2, reel 3, upper
Machine 4, controller 5, strand cable 6, velocity sensor 7, the controller 5 is connected by conducting wire with power supply 1 and motor 2, described
Host computer 4 is connect by data line with controller 5, and it is that motor 2 supplies that DC inverter is after alternating current by the controller 5
Electricity, 2 output shaft of the motor connect with reel 3, and are rotated according to 5 order-driven reel 3 of controller, and strand cable 6 is wound on reel 3
On, velocity sensor 7 is opposite with strand cable 6 to be installed.
Preferably, the power supply 1 is DC power supply, voltage 24V, 36V, 48V, 60V, 72V, 96V, 108V or 144V.
Preferably, the motor 2 is AC permanent magnet synchronous motor, receives the instruction of controller 5, band movable reel 3 is in difference
It rotates forward, invert under speed, tractive force, and suitable tractive force, speed can be selected according to operating mode, realize that electric capstan invariable power is free
Withdrawing rope.
Preferably, the reel 3 is connected by shaft coupling with motor 2, and strand cable 6 is wrapped on stack shell.
Preferably, the host computer 4 is touch control screen, can carry out parameter input and be shown with electric capstan working condition.
Preferably, the velocity sensor 7 detects the hauling speed of strand cable 6, and its signal is passed to control by conducting wire
Device 5 processed.
Preferably, the controller 5 includes customer parameter input module, control strategy module, rotating speed station acquisition mould
It is block, inversion rectification module, coordinate transformation module, current sampling module, q shaft currents adjustment module, d shaft currents adjustment module, anti-
Park conversion modules, SVPWM signals generation module, output control parameter module, fault diagnosis module.
The operation principle of invariable power electric capstan described in the present embodiment is as follows：
The DC inverter that the inversion rectification module of controller 5 inputs power supply 1 at needed for drive motor 2 frequency,
The adjustable three-phase alternating current of amplitude；User inputs open parameter by host computer 4, includes mainly：Drum diameter D1, strand cable diameter
D2, hauling speed v, tractive force F, parameters, the non-open parameter such as motor start stop signal passed through according to the type selecting of motor 2 upper
Machine 4 is changed, including the power of motor 2, rated voltage, rated moment TL, rated current, rated speed, overcurrent protection
The parameters such as value；Controller 5 calculates rotating speed needed for the motor 2 of operating mode needed for user and electricity according to open parameter and non-open parameter
Flow control value, at this point, rotating speed needed for motor 2Reference current
Current control valueController 5 controls motor 2, and motor 2 drives 3 turns of reel
It is dynamic；The control strategy module of controller 5 limits the power of input by bus current control algolithm, and algorithm is mainly that basis is set
Calculate required q axis gives constant current (iq*) to fixed bus current value in turn, while obtaining d shaft currents by look-up table
(id*), the rotating speed station acquisition module of controller 5, which obtains angle signal θ and is filtered, waits signal processings, while obtaining rotating speed
The coordinate transformation module of signal ω, controller 5 are coordinately transformed according to three-phase current, obtain d shaft currents (id) and q shaft currents
(iq) signal, the current sampling module detection motor three-phase current and bus current of controller 5 are simultaneously filtered, control
The q shaft currents adjustment module of device 5 obtains voltage controling value uq, the d of controller 5 according to q axis reference current iq* and feedback current iq
Shaft current adjustment module according to d axis reference current id* and feedback current id obtain voltage controling value ud, uq and ud value pass through it is anti-
Park, which converts to obtain, generates effective voltage control signal u α and u β, and the SVPWM signals generation module of controller 5 is according to voltage control
The reference switch signal of SVPWM modulation, the turn-on sequence of controller power device is calculated in signal u α and u β processed；With volume
Around the increase of 6 number of plies i of strand cable, torque T and hauling speed increase cylinder 3, and load current also increases, the current sample mould of controller 5
Block is monitored 2 load current of motor, reduces rotating speed automatically when 2 load current of motor is more than current control value with full
Sufficient torque output reduces by 2 rotating speed of motor and so that hauling speed is constant and realizes electric capstan when this process is constant tractive force
The control process of constant power output.
When tractive load is less than design (calculated) load, hauling speed can be realized stepless adjustable at this time, the current sample mould of controller 2
Block monitors load current in real time, and when load current is less than current control value, control 2 rotating speed of motor continues to rise, until reaching
Setting speed v=π × [D1+(2i-1)×D2] × n, set 2 rotating speed of motor areThis
When electric capstan output power it is constant in P=F × v=F × π × [D1+(2i-1)×D2] × n, v are the hauling speed of setting；It leads
When drawing load equal to design (calculated) load, hauling speed is non-adjustable at this time, according toSet rotating speed isPLFor rated power, electric capstan output power is constant at rated power P at this timeL；Traction
When load is more than design (calculated) load, electric capstan is easily damaged because of load excessive, and the current sampling module of controller 5 once detects
Load current is more than current control value, and controller 5 reduces by 2 rotating speed of motor to protect electric capstan automatically.
As described above, only presently preferred embodiments of the present invention, but cannot be limited the scope of implementation of the present invention with this,
All still belong to this hair according to simple equivalent changes and modifications made by scope of the present invention patent and invention description content generally
In the range of bright patent covers.
Claims (7)
1. a kind of invariable power electric capstan, including power supply, motor, reel, host computer, controller, strand cable, velocity sensor,
The controller is connected by conducting wire with power supply and motor, and the host computer is connect by data line with controller, described
It is motor that DC power supply inversion is after alternating current by controller, and the motor output shaft connects with reel, and according to
Controller order-driven spool turns, strand cable are wound on reel, velocity sensor installation opposite with strand cable；The invariable power is electronic
Capstan winch is controlled using external input mode, and when load current is more than current control value, auto-controlled motor reduces rotating speed
To meet torque output.
2. a kind of invariable power electric capstan according to claim 1, it is characterised in that the power supply is DC power supply, power supply
Voltage is 24V, 36V, 48V, 60V, 72V, 96V, 108V or 144V.
3. a kind of invariable power electric capstan according to claim 1, it is characterised in that the motor is that AC permanent-magnet is same
Motor is walked, receives controller instruction, driving capstan winch is rotated forward under friction speed, tractive force, inverted, and can be selected according to applying working condition
Different tractive force and hauling speed are selected, realizes invariable power freedom retractable rope.
4. a kind of invariable power electric capstan according to claim 1 or 3, it is characterised in that the controller is by customer parameter
Input module, control strategy module, rotating speed acquisition module, inversion rectification module, current sampling module, SVPWM signals generate mould
Block, output control parameter module, fault diagnosis module composition.
5. a kind of invariable power electric capstan according to claim 1, it is characterised in that the reel passes through shaft coupling and electricity
Motivation is connected, and strand cable is wrapped in stack shell.
6. a kind of invariable power electric capstan according to claim 1, it is characterised in that the host computer be touch control screen,
Other input equipments such as computer, can input parameter and display electric capstan working condition.
7. a kind of invariable power electric capstan according to claim 1, it is characterised in that the controller current sampling module
Motor load electric current is monitored, is increased with the strand cable number of plies, electric capstan torque, hauling speed, load current increase therewith
Add, when tractive load is less than design (calculated) load, hauling speed can be realized stepless adjustable, and the current sampling module of controller monitors in real time
Load current, when load current is less than current control value, control motor speed continues to rise, until reaching setting speed；It leads
When drawing load equal to design (calculated) load, hauling speed is non-adjustable at this time, and electric capstan output power is constant at rated power at this time；
When tractive load is more than design (calculated) load, electric capstan is easily damaged because of load excessive, and the current sampling module of controller is once examined
It measures load current and is more than current control value, controller reduces motor speed to protect electric capstan automatically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810428015.6A CN108466958A (en) | 2018-05-07 | 2018-05-07 | A kind of invariable power electric capstan |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810428015.6A CN108466958A (en) | 2018-05-07 | 2018-05-07 | A kind of invariable power electric capstan |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108466958A true CN108466958A (en) | 2018-08-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810428015.6A Pending CN108466958A (en) | 2018-05-07 | 2018-05-07 | A kind of invariable power electric capstan |
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| Country | Link |
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| CN (1) | CN108466958A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110989697A (en) * | 2019-12-03 | 2020-04-10 | 首航节能光热技术股份有限公司 | Heliostat controller and method thereof |
| CN114751326A (en) * | 2022-03-31 | 2022-07-15 | 浙江阜康机械有限公司 | Permanent magnet electric capstan |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206088857U (en) * | 2016-09-30 | 2017-04-12 | 北京北特圣迪科技发展有限公司 | Permanent power flybar of distributed control |
-
2018
- 2018-05-07 CN CN201810428015.6A patent/CN108466958A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206088857U (en) * | 2016-09-30 | 2017-04-12 | 北京北特圣迪科技发展有限公司 | Permanent power flybar of distributed control |
Non-Patent Citations (1)
| Title |
|---|
| 郭中醒等: "《现代汽车电机技术》", 31 January 2015, 上海科学技术出版社 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110989697A (en) * | 2019-12-03 | 2020-04-10 | 首航节能光热技术股份有限公司 | Heliostat controller and method thereof |
| CN110989697B (en) * | 2019-12-03 | 2023-11-10 | 首航节能光热技术股份有限公司 | Heliostat controller and method thereof |
| CN114751326A (en) * | 2022-03-31 | 2022-07-15 | 浙江阜康机械有限公司 | Permanent magnet electric capstan |
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