CN113602944B - Positive and negative force detection and safety braking control method for single-rope lifter system - Google Patents
Positive and negative force detection and safety braking control method for single-rope lifter system Download PDFInfo
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- CN113602944B CN113602944B CN202110734989.9A CN202110734989A CN113602944B CN 113602944 B CN113602944 B CN 113602944B CN 202110734989 A CN202110734989 A CN 202110734989A CN 113602944 B CN113602944 B CN 113602944B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B19/00—Mining-hoist operation
- B66B19/06—Applications of signalling devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
- B66B5/0031—Devices monitoring the operating condition of the elevator system for safety reasons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
- B66B5/16—Braking or catch devices operating between cars, cages, or skips and fixed guide elements or surfaces in hoistway or well
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Abstract
The positive and negative force detection and safety braking control method of the single rope lifter system comprises the following steps: writing basic parameters of the hoisting machine and the main motor into the PLC controller and permanently storing the basic parameters by the PLC controller; judging whether the elevator is started or not; judging whether the elevator is normal or not; judging whether the elevator is in a low-speed constant-speed running state immediately after starting; according to Q m ＝16541U m I m cosφ m /n m r‑m p g (L1-L2) calculation Q m The method comprises the steps of carrying out a first treatment on the surface of the Judging whether the elevator is in an initial acceleration state after a low-speed constant-speed running state; according to Σm= [ 16541U ] 1 I 1 cosφ 1 /n 1 r‑Q m r‑m p g(L 11 ‑L 12 )r】/a 1 Calculating sigma m; according to T d ＝(1‑k 1 )Q m r+m p g(L d1 ‑L d2 )r+∑m a d r; according to P= [ 2AX μR Z P 2 ‑(1‑k 1 )Q m r‑m p g(L d1 ‑L d2 )r‑∑m a d r】/(2AXμR Z ) Calculating a safety brake oil pressure P; judging whether the elevator is in a safe braking state or not; the invention eliminates the potential safety hazards of sliding, rope breakage and the like caused by overlarge deviation of the safety braking deceleration of the elevator, ensures the safe and reliable operation of the elevator and prolongs the service life of equipment.
Description
Technical Field
The invention belongs to the technical field of control of a safety braking system of a single-rope lifter, and particularly relates to a positive and negative force detection and safety braking control method of a single-rope lifter system.
Background
The mine hoist is throat equipment for mine production by taking mine hoisting and transportation as means, is responsible for the production and transportation tasks of the whole mine, the safe, reliable and efficient operation of the mine hoist is the key for ensuring the efficient production of the whole mine, and one of the key factors influencing the safe operation of the hoist is whether a hydraulic braking system can safely and effectively work. In the conventional hoisting system, in the process of implementing safety braking when a major fault occurs in a mine hoist, the process from the instant speed to the static speed reduction is implemented by implementing emergency braking on the hoist through a brake, and a constant moment hydraulic braking system is generally adopted, namely, a hydraulic station of the hydraulic braking system is a constant value. Because the braking torque of the braking system is a constant value, the lifting load, the lifting speed and the lifting distance of the elevator are changed relative to different lifting processes, in particular to a single rope elevator in a no-tail rope lifting state, namely a head-tail rope unbalanced lifting state, the load of the elevator is changed along with the change of the length of a lifting steel wire rope (head rope) in real time in the running process, thus different braking effects are generated, and the over-rolling and top-rushing accidents caused by too small deceleration degree relative to the high-speed heavy load discharging working condition can be caused; compared with the lifting working condition of high-speed heavy load, the rope breakage accident caused by overlarge and overstrong braking force is very likely to occur, and the serious consequences of economic loss and even casualties caused by mine production are all brought to the mine production-!
Therefore, the existing hydraulic braking system of the mine hoist obviously has defects, and in order to solve the problems, an intelligent control method of the hydraulic braking system is needed to enable the braking torque of the hydraulic braking system to be changed along with the working state (lifting or lowering of a heavy object), the load size change and the lifting distance change of the hoist so as to realize basically unchanged deceleration.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a safety control method for adjusting the braking oil pressure value of a hydraulic braking system in real time when a safety braking is carried out on the load of a hoisting machine, so that the basically constant deceleration can be achieved no matter what load working condition the hoisting machine works on, the safe and reliable operation of the hoisting machine is ensured, and the service life of equipment is prolonged.
The aim of the invention is realized by adopting the following technical scheme. The invention provides a positive and negative force detection and safety braking control method of a single rope lifter system, which comprises the following steps:
step one: the basic parameters of the hoisting machine and the main motor are written into the PLC controller through the man-machine system and are permanently stored by the PLC controller, wherein the basic parameters comprise: p (P) e .I e .n.K 1 .r.A.X.μ.R z .P 2 .P c .a d ；
Step two: judging whether the elevator is started or not;
step three: judging whether the elevator is normal or not on the basis of the judgment result of the step two being "start";
step four: judging whether the elevator is in a low-speed constant-speed running state immediately after starting on the basis that the judgment result of the elevator is normal in the step three;
step five: based on the judgment result of the step four on the elevator being yes, according to Q m ＝16541U m I m cosφ m /n m r-m p g (L1-L2) calculation to raise dead load Q m ；
Step six: judging whether the elevator is in an initial acceleration state after a low-speed constant-speed running state;
step seven: based on the result of the step six judgment of yes, according to the formula of sigma m= [ 16541U ] 1 I 1 cosφ 1 /n 1 r-Q m r-m p g(L 11 -L 12 )r】/a 1 r, calculating the total deflection mass sigma m of the elevator system;
step eight: according to T d ＝(1-k 1 )Q m r+m p g(L d1 -L d2 )r+∑m a d r calculating safety braking deceleration torque T of elevator d ；
Step nine: according to P= [ 2AX μR Z P 2 -(1-k 1 )Q m r-m p g(L d1 -L d2 )r-∑m a d r】/(2AXμR Z ) Calculating the oil pressure P of a safety braking hydraulic braking system of the elevator;
step ten: judging whether the elevator is in a safe braking state.
Further, basic parameter P e .I e .n.K 1 .r.A.X.μ.R z .P 2 .P c .a d Is the inherent parameter of the hoister or the motor, the basic parameter is irrelevant to the load of each lifting stroke, the step is carried out once, and each lifting stroke is carried out from the step two to the step ten。
Further, in the second step, if the judgment result of the elevator is "not started", the control working oil pressure p=0 is output to the safety braking hydraulic braking system of the elevator, so that the reliable band-type brake of the elevator is ensured.
Further, in the third step, if the determination result of the elevator is "abnormal", the control hydraulic oil pressure p=0 is output to the elevator safety brake hydraulic brake system, and if the determination result of the elevator is "normal", the control hydraulic oil pressure p=p is output to the elevator safety brake hydraulic brake system c The elevator is opened to run, and meanwhile, subsequent judgment or calculation work is carried out.
In the fourth step, whether the elevator is in the low-speed constant-speed running state immediately after starting is judged, if the result of the judgment is 'not', the judgment is again judged, and if the result is 'yes', the subsequent steps are carried out.
Further, in the step six, judging whether the elevator is in the initial acceleration state after the low-speed constant-speed running state or not is judged according to the state change from zero speed change rate to positive speed change rate acquired by the shaft encoder; if the judging result in the step six is 'not', the judging is again carried out, and if the judging result is 'yes', the acceleration value is stored in the PLC.
Further, if the result of the step ten determination is "no", the PLC controller outputs p=p C The hydraulic braking system for safety braking of the elevator performs open brake operation; if yes, the P value calculated in the step nine is output to a hydraulic braking system of the elevator safety braking, and the hydraulic control is carried out according to the P value to apply the safety braking.
Further, the output of the PLC is normalized to 0-10V after D/A conversion and is output in the form of analog quantity signals.
Further, the positive and negative force detection and working oil pressure value calculation method is as follows:
1) The low-speed constant-speed operation section before the initial acceleration section of the elevator is utilized to detect the voltage, current and operation speed of the motor, and a calculation formula of the static load force of the elevator is established according to the electromechanics and the motion dynamics equation:
from F 1 ＝(1+k 1 )Q m +m p g(L 1 -L 2 )+∑ma
T 1 ＝F 1 r＝(1+k 1 )Q m r+m p g(L 1 -L 2 )r+∑m a r
P m ＝1.732U m I m cosφ m T m ＝9550P m /n m
At this time, k 1 =0, a=0 to establish a boost dead load Q m The calculation formula is as follows:
Q m ＝16541U m I m cosφ m /n m r-m p g(L1-L2)；
2) Detecting motor current and elevator speed in an initial acceleration section, and establishing a calculation formula of total deflection mass sigma m of the elevator system according to a motor theory and a motion dynamics equation:
∑m＝【16541U 1 I 1 cosφ 1 /n 1 r-Q m r-m p g(L 11 -L 12 )r】/a 1 r；
3) According to the motion dynamics equation, a calculation formula of the safe braking deceleration torque of the elevator is established:
T d ＝(1-k 1 )Q m r+m p g(L d1 -L d2 )r+∑m a d r；
4) According to the motion dynamics equation and the elevator parameters, establishing an oil pressure value calculation formula of a hydraulic braking system of the elevator safety brake:
from T Z ＝2AXμR Z (P 2 -P)
Derived p= [ 2AX μr Z P 2 -(1-k 1 )Q m r-m p g(L d1 -L d2 )r-∑m a d r】/(2AXμR Z )。
By means of the technical scheme, the invention has the advantages that:
the invention relates to a positive and negative force detection and safety braking control method of a single rope lifter with variable frequency transmission and a braking oil pressure value control scheme of a hydraulic braking system, which realize the real-time adjustment of the braking oil pressure value of the hydraulic braking system during safety braking according to the load of a lifter, thereby realizing the aim that the safety braking can reach basically constant deceleration no matter what load working condition, what speed and any depth the lifter works on, fundamentally avoiding potential safety hazards such as sliding, rope breakage and the like caused by overlarge deviation of the deceleration of the safety braking, ensuring the safe and reliable operation of the lifter and prolonging the service life of equipment.
The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention, as well as the preferred embodiments thereof, together with the following detailed description of the invention given in conjunction with the accompanying drawings.
Drawings
FIG. 1 is a flow chart of a method of positive and negative force detection and safety brake control for a single rope elevator system;
fig. 2 is a schematic diagram of a control device used in the positive and negative force detection and safety brake control method of a single rope elevator system.
[ reference numerals ]
The hydraulic braking system comprises a 1-elevator main motor stator loop, a 2-voltage transmitter, a 3-current transmitter, a 4-shaft encoder, a 5-voltage filter, a 6-current filter, a 7-elevator main electric control system, an 8-PLC (programmable logic controller), a 9-man-machine system and a 10-elevator safety braking hydraulic braking system.
Detailed Description
In order to further describe the technical means and effects adopted by the invention to achieve the preset aim, the following describes a positive and negative force detection and safety braking control method of a single rope lifter system according to the invention with reference to the attached drawings and the preferred embodiment.
Referring to fig. 1, a method for detecting positive and negative forces and controlling safety braking of a single rope lifter system is provided, wherein the specific method for detecting positive and negative forces and calculating oil pressure value of a safety braking hydraulic braking system is as follows:
1) And detecting the voltage, current and speed of a motor by utilizing a low-speed constant-speed operation section before an initial acceleration section of the elevator, and establishing an elevator static load force calculation formula according to the electromechanics and a motion dynamics equation:
from F 1 ＝(1+k 1 )Q m +m p g(L 1 -L 2 )+∑ma
T 1 ＝F 1 r＝(1+k 1 )Q m r+m p g(L 1 -L 2 )r+∑m a r
P m ＝1.732U m I m cosφ m T m ＝9550P m /n m
At this time, k 1 =0, a=0 to establish a boost dead load Q m The calculation formula is as follows:
Q m ＝16541U m I m cosφ m /n m r-m p g(L1-L2)
F 1 -lifting force of hoist, T 1 -hoist torque, sigma m-hoist system total deflection mass, r-hoist spool radius, Q m -lifting dead load, a-hoist acceleration, n m -motor speed, k 1 Additional mine drag coefficient (0.15 when the skip is lifted, 0.2 when the cage is lifted) when the hoist is operated, m p -lifting the mass per meter of wire rope, g-gravitational acceleration, L 1 Upstream vessel to wellhead distance, L 2 Downstream vessel to wellhead distance. T (T) m -motor torque, P m Low-speed constant speed operation section motor power, I m -low speed constant speed run motor current, U m -low speed constant speed run motor voltage, phi m -low speed constant speed run section motor voltage current phase difference.
2) Detecting motor current and elevator speed in an initial acceleration section, and establishing a calculation formula of total deflection mass sigma m of the elevator system according to a motor theory and a motion dynamics equation:
∑m＝【16541U 1 I 1 cosφ 1 /n 1 r-Q m r-m p g(L 11 -L 12 )r】/a 1 r；
wherein a is 1 ＝dn/dt；
U 1 -initial acceleration section motor voltage, I 1 -initial acceleration section motor current, phi 1 -motor voltage current phase difference, a 1 Primary acceleration section acceleration, n 1 -elevator speed.
3) According to the motion dynamics equation, a calculation formula of the safe braking deceleration torque of the elevator is established:
T d ＝(1-k 1 )Q m r+m p g(L d1 -L d2 )r+∑m a d r
T d -a safe braking deceleration moment, a d Safety braking deceleration, L d1 -distance of ascending side vessel to wellhead during safety braking, L d2 -the lower down-stream side vessel to wellhead distance during safety braking;
4) According to the motion dynamics equation and the elevator parameters, establishing an oil pressure value calculation formula of a hydraulic braking system of the elevator safety brake:
from T Z ＝2AXμR Z (P 2 -P)
Derived p= [ 2AX μr Z P 2 -(1-k 1 )Q m r-m p g(L d1 -L d2 )r-∑m a d r】/(2AXμR Z ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein T is Z -braking torque of hydraulic braking system, effective area of a-brake cylinder, X-disc brake logarithm, friction coefficient between μ -brake disc and brake shoe, R Z -disk brake equivalent braking radius, P 2 -brake applying oil pressure, P-elevator safety brake hydraulic brake system working oil pressure, i.e. safety brake oil pressure.
Referring to fig. 2, a device used in a positive and negative force detection and safety braking control method of a single rope elevator system comprises an elevator, an elevator main motor stator loop 1, a voltage transmitter 2, a current transmitter 3, a shaft encoder 4, a voltage filter 5, a current filter 6, an elevator main electric control system 7, a PLC controller 8, a man-machine system 9 and an elevator safety braking hydraulic braking system 10, wherein the shaft encoder 4, the voltage filter 5, the current filter 6, the elevator main electric control system 7, the man-machine system 9 and the elevator safety braking hydraulic braking system 10 are all connected with the PLC controller 8. The voltage transmitter 2 and the current transmitter 3 are arranged on the main motor stator loop 1 of the elevator, the voltage transmitter 2 is also connected with the voltage filter 5, the current transmitter 3 is also connected with the current filter 6, namely, the primary loops of the voltage transmitter 2 and the current transmitter 3 are connected with the main motor stator loop 1 of the elevator, and the secondary loops of the voltage transmitter 2 and the current transmitter 3 are respectively connected with the voltage filter 5 and the current filter 6; the voltage transducer 2 is used for detecting the voltage waveform of the main motor of the elevator and transmitting the detected voltage waveform to the voltage filter 5 for filtering, and the filtered voltage waveform is transmitted to the PLC 8; the current transducer 3 is used for detecting the current waveform of the main motor of the elevator and transmitting the detected current waveform to the current filter 6 for filtering, and the filtered current waveform is transmitted to the PLC 8; the voltage filter 5, the current filter 6 and the PLC controller 8 are arranged in the control box, the PLC controller 8 receives the transmitted voltage waveform and current waveform, and the voltage and current effective value and the voltage and current phase difference are judged and calculated. The shaft encoder 4 is arranged on the motor shaft head, the rotating shaft of the shaft encoder 4 is connected with the motor shaft, the pulse signal of the shaft encoder 4 is connected with the PLC 8, the signal of the shaft encoder 4 is sent to the PLC 8, and the PLC 8 calculates the running speed and the running acceleration of the motor.
The PLC 8 performs positive and negative force detection and calculation of each step in the specific method of the working oil pressure value according to the calculated effective voltage and current value, the calculated voltage and current phase difference, the calculated motor running speed and the calculated motor acceleration, and finally obtains the working oil pressure P of the safety braking hydraulic braking system of the elevator, and the PLC 8 transmits the P value to the safety braking hydraulic braking system 10 of the elevator to control the working oil pressure after D/A conversion. In addition, in the calculation process of the PLC controller 8, a hoist start signal and a safety brake signal sent by the hoist main electric control system 7 are received, and the man-machine system 9 performs assignment to the PLC controller 8 and displays operation data of the PLC controller 8.
Referring to fig. 1, a positive and negative force detection and safety braking control method for a single rope lifter system specifically comprises the following steps:
step one: load detection of multi-rope elevator systemAfter the installation of the device used by the safety braking control method is finished, the man-machine system 9 is used for assigning values to the PLC controller 8, namely, the man-machine system 9 is used for writing basic parameters of the elevator and the main motor into the PLC controller 8 and permanently storing the basic parameters by the PLC controller 8, wherein the basic parameters comprise: p (P) e .I e .n.K 1 .r.A.X.μ.R z .P 2 .P c .a d, Wherein P is e -motor power rating, I e -motor rated current, n-motor rated speed, K 1 Additional mine drag coefficient during elevator operation (0.15 for skip lifting and 0.2 for cage lifting), R-elevator drum radius, effective area of a-brake cylinder, X-disc brake logarithm, friction coefficient between μ -brake disc and brake shoe, R Z -disk brake equivalent braking radius, P 2 -brake applying oil pressure, P c -brake open brake oil pressure, a d -a set safety braking deceleration of the hoisting machine; p (P) e .I e .n.K 1 .r.A.X.μ.R z .P 2 .P c .a d These parameters are intrinsic parameters of the hoisting machine or of the motor, independent of the load of each hoisting stroke, so that this step is carried out once, after which the following steps are carried out in each hoisting stroke in succession:
step two: determine if the elevator is started? If the judgment result is "not started", the control working oil pressure P=0 is output to the safety braking hydraulic braking system 10 of the elevator, so that the reliable band-type brake of the elevator is ensured; if the judgment result is "start", carrying out the subsequent steps;
step three: judging whether the elevator is normal or not on the basis of the "start" judgment result in the step two, if so, outputting the control hydraulic oil pressure p=0 to the elevator safety brake hydraulic brake system 10, and if so, outputting the control hydraulic oil pressure p=p to the elevator safety brake hydraulic brake system 10 c The elevator opens the gate to operate, carry on the subsequent judgement or calculation work at the same time;
step four: judging whether the elevator is in a low-speed constant-speed running state just after starting, wherein the judgment basis is that the speed change rate acquired by the shaft encoder 4 in a certain time after the elevator is started is zero; if the judging result is 'not', re-judging, and if the judging result is 'yes', performing the subsequent steps;
step five: based on the judgment result of the step four being "Yes", according to Q m ＝16541U m I m cosφ m /n m r-m p g (L1-L2) calculation Q m ；
Step six: judging whether the elevator is in an initial acceleration state after a low-speed constant-speed running state or not, wherein the basis of the judgment is that the speed change rate acquired by the shaft encoder 4 is zero to the state change of which the speed change rate is positive; if the judging result is 'yes', re-judging, if yes, storing the acceleration value which is the magnitude of the positive value of the speed change rate in the PLC 8 and carrying out the subsequent steps;
step seven: based on the result of the step six that the judgment is yes
∑m＝【16541U 1 I 1 cosφ 1 /n 1 r-Q m r-m p g(L 11 -L 12 )r】/a 1 r calculates sigma m;
step eight: according to T d ＝(1-k 1 )Q m r+m p g(L d1 -L d2 )r+∑m a d r calculating T d ；
Step nine: according to P= [ 2AX μR Z P 2 -(1-k 1 )Q m r-m p g(L d1 -L d2 )r-∑m a d r】/(2AXμR Z ) Calculating P;
step ten: judging whether the elevator is in a safe braking state, if yes, outputting P=P by the PLC 8 C The hydraulic braking system of the hoister is enabled to perform open brake operation; if yes, the P value calculated in step nine is outputted to the hoist safety brake hydraulic brake system 10, and hydraulic control is performed on the basis of the P value to apply safety braking.
In addition, the output of the PLC is normalized to 0-10V after D/A conversion and is output in the form of analog quantity signals.
The above description is only of the preferred embodiments of the present invention, and any simple modification, equivalent variation and modification of the above embodiments according to the technical principles of the present invention will still fall within the scope of the technical solutions of the present invention.
Claims (9)
1. A positive and negative force detection and safety braking control method of a single rope lifter system is characterized in that: the method comprises the following steps:
step one: the basic parameters of the hoisting machine and the main motor are written into the PLC controller through the man-machine system and are permanently stored by the PLC controller, wherein the basic parameters comprise: p (P) e .I e .n.K 1 .r.A.X.μ.R z .P 2 .P c .a d ；
Step two: judging whether the elevator is started or not;
step three: judging whether the elevator is normal or not on the basis of the judgment result of the step two being "start";
step four: judging whether the elevator is in a low-speed constant-speed running state immediately after starting on the basis that the judgment result of the elevator is normal in the step three;
step five: based on the judgment result of the step four on the elevator being yes, according to Q m ＝16541U m I m cosφ m /(n m r)-m p g (L1-L2) calculation to raise dead load Q m ；
Step six: judging whether the elevator is in an initial acceleration state after a low-speed constant-speed running state;
step seven: based on the result of the step six judgment of yes, according to the formula of sigma m= [ 16541U ] 1 I 1 cosφ 1 /(n 1 r)-Q m r-m p g(L 11 -L 12 )r】/a 1 r, calculating the total displacement quality sigma m of the lifting system;
step eight: according to T d ＝(1-k 1 )Q m r+m p g(L d1 -L d2 )r+∑m a d r calculating the safe braking deceleration torque T d ；
Step nine: according to P= [ 2AX μR Z P 2 -(1-k 1 )Q m r-m p g(L d1 -L d2 )r-∑m a d r】/(2AXμR Z ) Calculating working oil pressure P of a safety braking hydraulic braking system of the elevator;
step ten: judging whether the elevator is in a safe braking state or not;
the device for realizing the method comprises a lifter, a lifter main motor stator loop, a voltage transmitter, a current transmitter, a shaft encoder, a voltage filter, a current filter, a lifter main electric control system, a PLC (programmable logic controller), a man-machine system and a lifter safety braking hydraulic braking system; the voltage transmitter is used for detecting the voltage waveform of the main motor of the elevator and transmitting the detected voltage waveform to the voltage filter for filtering, and the filtered voltage waveform is transmitted to the PLC; the current transducer is used for detecting the current waveform of the main motor of the elevator and transmitting the detected current waveform to the current filter for filtering, and the filtered current waveform is transmitted to the PLC; the PLC receives the transmitted voltage waveform and current waveform, and judges and calculates the effective value of the voltage and the current and the voltage and current phase difference; the rotating shaft of the shaft encoder is connected with the motor shaft, and the PLC controller calculates the running speed and the running acceleration of the motor by receiving pulse signals of the encoder; the PLC controller calculates the effective value of voltage and current, the voltage and current phase difference, the running speed and acceleration of the motor and the working oil pressure value of the working oil pressure P of the safety braking hydraulic braking system of the elevator, and transmits the working oil pressure P to the safety braking hydraulic braking system of the elevator after D/A conversion; and receiving a hoist starting signal and a safety braking signal sent by a hoist main electric control system in the calculation process of the PLC, and assigning values to the PLC and displaying operation data of the PLC by a man-machine system.
2. The positive and negative force detection and safety braking control method for a single rope elevator system according to claim 1, wherein: basic parameter P e .I e .n.K 1 .r.A.X.μ.R z .P 2 .P c .a d The basic parameters are independent of the load of each lifting stroke, the first step is carried out once, and each lifting stroke is carried out in the second to tenth steps.
3. The positive and negative force detection and safety braking control method for a single rope elevator system according to claim 1, wherein: and in the second step, if the judgment result of the elevator is 'not started', the control working oil pressure P=0 is output to the safety braking hydraulic braking system of the elevator, so that the reliable band-type brake of the elevator is ensured.
4. The positive and negative force detection and safety braking control method for a single rope elevator system according to claim 1, wherein: in the third step, if the elevator judging result is "abnormal", the control hydraulic oil pressure p=0 is output to the elevator safety brake hydraulic brake system, and if the elevator judging result is "normal", the control hydraulic oil pressure p=p is output to the elevator safety brake hydraulic brake system c The elevator is opened to run, and meanwhile, subsequent judgment or calculation work is carried out.
5. The positive and negative force detection and safety braking control method for a single rope elevator system according to claim 1, wherein: and step four, judging whether the elevator is in the low-speed constant-speed running state immediately after starting, if yes, re-judging, and if yes, performing the subsequent steps.
6. The positive and negative force detection and safety braking control method for a single rope elevator system according to claim 1, wherein: step six, judging whether the elevator is in the initial acceleration state after the low-speed constant-speed running state or not according to the state change from zero speed change rate to positive speed change rate acquired by the shaft encoder; if the judging result in the step six is 'not', the judging is again carried out, and if the judging result is 'yes', the acceleration value is stored in the PLC.
7. The positive and negative force detection and safety braking control method for a single rope elevator system according to claim 1, wherein: if yes, the PLC controller outputs p=p C The hydraulic braking system for safety braking of the elevator performs open brake operation; if yes, the P value calculated in the step nine is output to a hydraulic braking system of the elevator safety braking, and the hydraulic control is carried out according to the P value to apply the safety braking.
8. The positive and negative force detection and safety braking control method for a single rope elevator system according to claim 1, wherein: the output of the PLC controller is normalized to 0-10V after D/A conversion and output in the form of analog quantity signals.
9. The positive and negative force detection and safety braking control method for a single rope elevator system according to claim 1, wherein: the positive and negative force detection and safe braking working oil pressure value calculation method comprises the following steps:
1) The low-speed constant-speed operation section before the initial acceleration section of the elevator is utilized to detect the voltage, current and operation speed of the motor, and a calculation formula of the static load force of the elevator is established according to the electromechanics and the motion dynamics equation:
from F 1 ＝(1+k 1 )Q m +m p g(L 1 -L 2 )+∑ma
T 1 ＝F 1 r＝(1+k 1 )Q m r+m p g(L 1 -L 2 )r+∑m a r
P m ＝1.732U m I m cosφ m ；T m ＝9550P m /n m
At this time, k 1 =0, a=0 to establish a boost dead load Q m The calculation formula is as follows:
Q m ＝16541U m I m cosφ m /n m r-m p g(L1-L2)；
2) Detecting motor current and elevator speed in an initial acceleration section, and establishing a calculation formula of total deflection mass sigma m of the elevator system according to a motor theory and a motion dynamics equation:
∑m＝【16541U 1 I 1 cosφ 1 /(n 1 r)-Q m r-m p g(L 11 -L 12 )r】/a 1 r；
3) According to the motion dynamics equation, a calculation formula of the safe braking deceleration torque of the elevator is established:
T d ＝(1-k 1 )Q m r+m p g(L d1 -L d2 )r+∑m a d r；
4) According to the motion dynamics equation and the elevator parameters, establishing an oil pressure value calculation formula of a hydraulic braking system of the elevator safety brake:
from T Z ＝2AXμR Z (P 2 -P)
Derived p= [ 2AX μr Z P 2 -(1-k 1 )Q m r-m p g(L d1 -L d2 )r-∑m a d r】/(2AXμR Z )。
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| US4989921A (en) * | 1988-09-29 | 1991-02-05 | General Electric Canada Inc. | Mine hoist brake regulator |
| CN102303803A (en) * | 2011-05-28 | 2012-01-04 | 赵强 | Sliding rope braking scheme and device for friction type hoist |
| CN208686672U (en) * | 2018-09-06 | 2019-04-02 | 洛阳智超机电科技有限公司 | A kind of mine hoist safety arrestment perseverance deceleration hydraulic control device |
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| JPS6015374A (en) * | 1983-07-06 | 1985-01-26 | 三菱電機株式会社 | Controller for elevator |
| US20080067011A1 (en) * | 2006-06-19 | 2008-03-20 | Nicolas Gremaud | Method of checking elevator braking equipment, a method for placing an elevator in operation and equipment for carrying out placing in operation |
| US7354028B1 (en) * | 2006-09-25 | 2008-04-08 | Abb Inc. | Method for controlling application of brakes in single drum hoist systems |
| CN102030280B (en) * | 2010-11-08 | 2013-02-27 | 中信重工机械股份有限公司 | Mine-hoist constant deceleration safety braking system and braking method thereof |
| CN102219161B (en) * | 2011-06-14 | 2013-03-20 | 中信重工机械股份有限公司 | Mine hoist constantly-decelerating safe braking system with double working points |
| JP6510448B2 (en) * | 2016-03-10 | 2019-05-08 | 株式会社日立製作所 | Elevator equipment |
| CN106348120B (en) * | 2016-11-09 | 2017-10-10 | 中国矿业大学(北京) | A kind of mine hoist intelligent and safe brakes |
| CN107601244B (en) * | 2017-09-18 | 2019-04-16 | 枣庄矿业（集团）有限责任公司蒋庄煤矿 | The control method of friction type winder variable deceleration point based on variable load |
| CN110844739B (en) * | 2019-11-01 | 2022-04-19 | 徐州中矿大传动与自动化有限公司 | Load identification method and device for mine hoist and load early warning method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US4989921A (en) * | 1988-09-29 | 1991-02-05 | General Electric Canada Inc. | Mine hoist brake regulator |
| CN102303803A (en) * | 2011-05-28 | 2012-01-04 | 赵强 | Sliding rope braking scheme and device for friction type hoist |
| CN208686672U (en) * | 2018-09-06 | 2019-04-02 | 洛阳智超机电科技有限公司 | A kind of mine hoist safety arrestment perseverance deceleration hydraulic control device |
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