CN1089722C - Load automatically-adaptive control method for tension-reduced reeling-up device of hydraulic winch - Google Patents
Load automatically-adaptive control method for tension-reduced reeling-up device of hydraulic winch Download PDFInfo
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- CN1089722C CN1089722C CN99101445A CN99101445A CN1089722C CN 1089722 C CN1089722 C CN 1089722C CN 99101445 A CN99101445 A CN 99101445A CN 99101445 A CN99101445 A CN 99101445A CN 1089722 C CN1089722 C CN 1089722C
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- storage rope
- rope reel
- friction
- reel
- hawser
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- 238000000034 method Methods 0.000 title claims abstract description 7
- 230000003068 static effect Effects 0.000 claims description 7
- 238000004804 winding Methods 0.000 claims description 6
- 238000013016 damping Methods 0.000 claims description 3
- 230000006978 adaptation Effects 0.000 abstract 2
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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Abstract
The present invention relates to an automatic loading adaptation control method of a tension reduction coiling device for a hydraulic winch, which uses an automatic loading adaptation controller to carry out closed loop control for a cable storage drum. The delta P2 signals of the pressure difference of two cavities of the hydraulic motor of the cable storage drum are suitable for the delta P1 signals of the pressure difference of two cavities of a hydraulic motor of a frictional drum. Thus, reduction tension F2 indirectly corresponds to the loading F1 of a cable. Therefore, the present invention can nicely ensure the coordination of the frictional drum and the cable storage during coiling and obtain maximum work efficiency.
Description
Technical field
The present invention relates to the fluid pressure actuating system, specifically a kind of control method of load auto-adaptation of tension-reduced reeling-up device of hydraulic winch.
Background technology
Length is long, load is bigger batching for the hydraulic wireline winch batch up gear, and installing space is subjected under the situation of bigger restriction, single drum batches the requirement that can not satisfy maximum row's cable angle, need to adopt two reel tension-reduced reeling-up devices (as shown in Figure 1) of forming by friction reel A and storage rope reel C, hawser is at first by friction reel A, rely on the static friction power between hawser and friction reel A to reduce cable tension, to reduce hawser discharging in good order on the storage rope reel behind the tension force, F among Fig. 1 by storage rope reel C by cable sector B then
1With F
2Represent the load of hawser respectively and subtract tension force.
At home, in the outer prior art field, the friction reel of hydraulic pressure tension-reduced reeling-up device and storage rope reel generally all adopt the mode of independent control, by the control of friction reel being controlled the speed of retractable hawser, will subtract tension force F by control on the other hand on the one hand to the storage rope reel
2Be controlled to be steady state value.Because the static friction coefficient between hawser and friction reel cannot surpass its maxim, therefore works as F
1-F
2Increase to a critical value, correspondingly static friction coefficient μ reaches maxim μ
MaxThe time, relative motion can take place with the friction reel in hawser, promptly skids, and at this moment μ moment becomes the dyanainic friction coefficient, and its value is generally 1/3～1/2 of maximum static friction coefficient, makes F
2Change, thereby can produce certain destructive effect hawser suddenly.
Summary of the invention
The objective of the invention is: a kind of employing load auto-adaptation controller is provided,, can solves problems of the prior art storing up the load automatically-adaptive control method that rope reel carries out the tension-reduced reeling-up device of hydraulic winch of closed loop control.
For achieving the above object, the technical solution used in the present invention is: according to the difference of pressure Δ P in HM Hydraulic Motor two chambeies in the friction reel system
1The difference of pressure Δ P in HM Hydraulic Motor two chambeies in signal and the storage rope reel system
2Signal adopts the load auto-adaptation controller that the storage rope reel in the storage rope reel system is carried out closed loop control, makes Δ P
2Signal and Δ P
1Phase adjust signal makes to subtract tension force F between storage rope reel in the storage rope reel system and the friction reel in the friction reel system indirectly
2Load F with hawser
1Automatically change, guaranteeing under the non-slip prerequisite of hawser, reduce hawser as much as possible and behind the friction reel, subtract tension force F
2
Described load auto-adaptation controller carries out closed loop control to the storage rope reel in the storage rope reel system, is the HM Hydraulic Motor two cavity pressure difference Δ P that accept from the friction reel system
1HM Hydraulic Motor two cavity pressure difference Δ P in signal and the storage rope reel system
2Signal, and with
As given value,
As value of feedback, to the difference of pressure Δ P in HM Hydraulic Motor two chambeies in the storage rope reel system
2Signal carries out closed loop control, the control signal u of load auto-adaptation controller output
2HM Hydraulic Motor rotary speed controling unit in the control storage rope reel system, the flow Q of control unit output drives HM Hydraulic Motor, and HM Hydraulic Motor output speed n control storage rope reel rotating speed makes Δ P
2Signal and Δ P
1Phase adjust signal makes to subtract tension force F indirectly
2Load F with hawser
1Adapt.
In the formula:
d
1, d
2---the winding diameter of hawser on friction reel and storage rope reel;
D
2---the maximum winding diameter of hawser on the storage rope reel;
D
M1, D
M2---the discharge capacity of friction drum motor and storage rope reel motor;
B
M2---the friction damping coefficient of storage rope reel motor;
μ
Max---maximum static friction coefficient;
E---natural index;
S
μ---guarantee the non-slip safety factor of hawser, quiet in order to guarantee being lower than maximum at coefficient of friction μ
Under the prerequisite of coefficient of friction, subtract tension force F to greatest extent
2
Cornerite between α---hawser and friction reel;
ω
2max---the maximum possible rotating speed of storage rope reel.
The present invention compared with prior art, the useful effect that has is: by the load auto-adaptation controller storage rope reel is carried out closed loop control, make the difference of pressure Δ P in storage rope reel HM Hydraulic Motor two chambeies
2The difference of pressure Δ P in signal and friction reel HM Hydraulic Motor two chambeies
1Phase adjust signal makes to subtract tension force F indirectly
2Load F with hawser
1Adapt, thereby guaranteed to batch the coordination of time friction reel and storage rope reel well, and can obtain the work efficiency of maximum.
Description of drawings
Fig. 1. two reel tension-reduced reeling-up device structural representations;
Fig. 2. tension-reduced reeling-up device load automatically-adaptive control method schematic diagram of the present invention.
The specific embodiment
As shown in Figure 2, adopting the storage rope reel 4 among 1 pair of storage of load auto-adaptation controller rope reel II of system to carry out closed loop control, is the HM Hydraulic Motor two cavity pressure difference Δ P that accept among the friction reel I of system
13 liang of cavity pressure differences of HM Hydraulic Motor Δ P among signal and the storage rope reel II of system
2Signal, and with
As given value,
As value of feedback, to the difference of pressure Δ P in the 3 liang of chambeies of HM Hydraulic Motor among the storage rope reel II of system
2Signal carries out closed loop control, the control signal u of load auto-adaptation controller 1 output
2HM Hydraulic Motor rotary speed controling unit 2 among the control storage rope reel II of system, the flow Q of control unit 2 outputs drives HM Hydraulic Motor 3, and HM Hydraulic Motor 3 output speed n control storage rope reel 4 rotating speeds make Δ P
2Signal and Δ P
1Phase adjust signal makes to subtract tension force F indirectly
2Load F with hawser
1Adapt.
In the formula:
d
1, d
2---the winding diameter of hawser on friction reel and storage rope reel;
D
2---the maximum winding diameter of hawser on the storage rope reel;
D
M1, D
M2---the discharge capacity of friction drum motor and storage rope reel motor;
B
M2---the friction damping coefficient of storage rope reel motor;
μ
Max---maximum static friction coefficient;
E---natural index;
S
μ---guarantee the non-slip safety factor of hawser, quiet in order to guarantee being lower than maximum at coefficient of friction μ
Under the prerequisite of coefficient of friction, subtract tension force F to greatest extent
2
Cornerite between α---hawser and friction reel;
ω
2max---the maximum possible rotating speed of storage rope reel.
The load auto-adaptation controller can be realized with electric controller or with hydraulic valve.When realizing with electric controller, can adopt ripe closed loop control strategies such as PID regulating control, the electric signal of output is as the input of HM Hydraulic Motor rotary speed controling unit, and corresponding HM Hydraulic Motor rotary speed controling unit is voltage or electric current input.When realizing with hydraulic valve, can adopt all adjustable reducing valve of spool pressure at two ends, its pressure at two ends is respectively Δ P
1With Δ P
2, Δ P wherein
1Be used in a side of spring, the active area ratio is
The spring pre-compression force of valve is
, the pressure signal of output is as the input of HM Hydraulic Motor rotary speed controling unit, and corresponding HM Hydraulic Motor rotary speed controling unit is the pressure input.
Claims (1)
1. the load automatically-adaptive control method of a tension-reduced reeling-up device of hydraulic winch is characterized in that:
1) according to the difference of pressure Δ P in HM Hydraulic Motor two chambeies in friction reel system [I]
1The difference of pressure Δ P in HM Hydraulic Motor two chambeies in signal and the storage rope reel system [II]
2Signal adopts load auto-adaptation controller [1] that the storage rope reel [4] in the storage rope reel system [II] is carried out closed loop control, makes Δ P
2Signal and Δ P
1Phase adjust signal makes to subtract tension force F between the friction reel in the storage rope reel [4] in storage rope reel system [II] and the reel system [I] that rubs indirectly
2Load F with hawser
1Automatically change, guaranteeing under the non-slip prerequisite of hawser, reduce hawser as much as possible and behind the friction reel, subtract tension force F
2
2) described load auto-adaptation controller [1] carries out closed loop control to the storage rope reel [4] in the storage rope reel system [II], is the HM Hydraulic Motor two cavity pressure difference Δ P that accept from the friction reel system [I]
1HM Hydraulic Motor two cavity pressure difference Δ P in signal and the storage rope reel system [II]
2Signal, and with
As given value,
As value of feedback, to the difference of pressure Δ P in HM Hydraulic Motor [3] two chambeies in the storage rope reel system [II]
2Signal carries out closed loop control, the control signal u of load auto-adaptation controller [1] output
2HM Hydraulic Motor rotary speed controling unit [2] in the control storage rope reel system [II], the flow Q of control unit [2] output drives HM Hydraulic Motor [3], and HM Hydraulic Motor [3] output speed n control storage rope reel [4] rotating speed makes Δ P
2Signal and Δ P
1Phase adjust signal makes to subtract tension force F indirectly
2Load F with hawser
1Adapt,
In the formula:
d
1, d
2---the winding diameter of hawser on friction reel and storage rope reel;
D
2---the maximum winding diameter of hawser on the storage rope reel;
D
M1, D
M2---the discharge capacity of friction drum motor and storage rope reel motor;
B
M2---the friction damping coefficient of storage rope reel motor;
μ
Max---maximum static friction coefficient;
E---natural index;
S
μ---guarantee the non-slip safety factor of hawser, quiet in order to guarantee being lower than maximum at coefficient of friction μ
Under the prerequisite of coefficient of friction, subtract tension force F to greatest extent
2
Cornerite between α---hawser and friction reel;
ω
2max---the maximum possible rotating speed of storage rope reel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN99101445A CN1089722C (en) | 1999-01-26 | 1999-01-26 | Load automatically-adaptive control method for tension-reduced reeling-up device of hydraulic winch |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN99101445A CN1089722C (en) | 1999-01-26 | 1999-01-26 | Load automatically-adaptive control method for tension-reduced reeling-up device of hydraulic winch |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1225894A CN1225894A (en) | 1999-08-18 |
| CN1089722C true CN1089722C (en) | 2002-08-28 |
Family
ID=5270440
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN99101445A Expired - Fee Related CN1089722C (en) | 1999-01-26 | 1999-01-26 | Load automatically-adaptive control method for tension-reduced reeling-up device of hydraulic winch |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1089722C (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5077464B1 (en) * | 2011-06-30 | 2012-11-21 | ダイキン工業株式会社 | Refrigerant flow path switching valve and air conditioner using the same |
| CN106892369B (en) * | 2015-12-17 | 2019-01-15 | 中国科学院沈阳自动化研究所 | It is a kind of for pulling the constant control method of cable tension |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH109790A (en) * | 1996-06-24 | 1998-01-16 | Calsonic Corp | Header for heat exchanger with connecting pipe |
-
1999
- 1999-01-26 CN CN99101445A patent/CN1089722C/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH109790A (en) * | 1996-06-24 | 1998-01-16 | Calsonic Corp | Header for heat exchanger with connecting pipe |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1225894A (en) | 1999-08-18 |
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| C14 | Grant of patent or utility model | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |