CN114394493B - Control method, system, equipment and device for synchronous winding and unwinding of cable drum of crawler - Google Patents
Control method, system, equipment and device for synchronous winding and unwinding of cable drum of crawler Download PDFInfo
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- CN114394493B CN114394493B CN202111520593.0A CN202111520593A CN114394493B CN 114394493 B CN114394493 B CN 114394493B CN 202111520593 A CN202111520593 A CN 202111520593A CN 114394493 B CN114394493 B CN 114394493B
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- 238000004804 winding Methods 0.000 title claims abstract description 140
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000001514 detection method Methods 0.000 claims abstract description 40
- 238000004364 calculation method Methods 0.000 claims abstract description 15
- 238000004590 computer program Methods 0.000 claims description 6
- 230000000052 comparative effect Effects 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 230000035945 sensitivity Effects 0.000 abstract description 5
- 230000001276 controlling effect Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 238000004422 calculation algorithm Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/48—Automatic re-storing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/40—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable
- B65H75/42—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4418—Arrangements for stopping winding or unwinding; Arrangements for releasing the stop means
- B65H75/4428—Arrangements for stopping winding or unwinding; Arrangements for releasing the stop means acting on the reel or on a reel blocking mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4436—Arrangements for yieldably braking the reel or the material for moderating speed of winding or unwinding
- B65H75/4442—Arrangements for yieldably braking the reel or the material for moderating speed of winding or unwinding acting on the reel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4457—Arrangements of the frame or housing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4481—Arrangements or adaptations for driving the reel or the material
- B65H75/4486—Electric motors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/34—Handled filamentary material electric cords or electric power cables
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Storing, Repeated Paying-Out, And Re-Storing Of Elongated Articles (AREA)
- Tension Adjustment In Filamentary Materials (AREA)
Abstract
The invention relates to a control method, a system, equipment and a device for synchronously winding and unwinding a cable drum of a crawler, wherein the control method comprises the steps of obtaining the real-time running speed of the crawler and obtaining the real-time winding and unwinding speed of the cable drum; acquiring a real-time current value of a motor in a cable drum, and comparing the real-time current value with a reference current value to obtain a real-time current deviation value; based on the running direction of the crawler, judging the relation between the real-time wire winding and unwinding speed and the real-time running speed according to the positive and negative of the real-time current deviation value; PID calculation is carried out on the real-time current deviation value based on the relation between the real-time winding and unwinding speed and the real-time running speed, and the real-time winding and unwinding speed of the control cable tray is synchronous with the real-time running speed of the crawler. The invention can solve the technical problems of complex detection structure, inconvenient disassembly and assembly, low detection sensitivity, low accuracy of detection results and incapability of accurately controlling the coordination of actions of the cable tray and the pipeline detection robot in the prior art.
Description
Technical Field
The invention relates to the field of special robots, in particular to a control method, a system, equipment and a device for synchronously winding and unwinding a cable drum of a crawler.
Background
With urban development, pipeline detection robots are vigorously developed, and the pipeline detection robots are used as special equipment and are mainly applied to drainage pipelines. The crawler mainly comprises a crawler, a cable tray and a control system, wherein the crawler is provided with a camera. The control system is used for controlling the crawler to move, the condition inside the pipeline is observed and shot through the camera, and shot videos are transmitted to the control system through the cable disc to be stored, so that the operator can know the condition inside the pipeline.
For pipeline detection robot, because its operational environment is mostly the structure complicacy, buries dark drain pipe or box culvert, and communicates through the cable connection between pipeline detection robot and the controller, along with pipeline detection robot's continuous marcing in the pipeline, cable output is longer and longer, can't observe the condition of cable through the camera picture, and the operating personnel can't accurately grasp the speed of receiving the cable.
When the pipeline detection robot is actually used, the situation that the cable winding and unwinding movement is not coordinated with the action of the pipeline detection robot is easy to occur: the recovery speed of the cable tray is faster than that of the pipeline detection robot, the cable tray drags the pipeline detection robot, the cable tray is possibly excessively loaded to burn out the motor and even stretch the cable out, and the pipeline detection robot is damaged by the cable tray dragging; the cable drum recovery speed is slower than that of the pipeline inspection robot, so that the cable can be wound on the wheels of the pipeline inspection robot and twisted off. Therefore, the high-dynamic and high-precision motion control of the cable winding and unwinding motion is required, and the coordination of the cable drum and the motion of the pipeline detection robot is ensured.
In the prior art, a magnetic, elastic and tensile detection device is used for detecting cable tension, and the winding and unwinding movement of the cable is controlled by detecting the cable tension in real time. Most detection devices are complex in structure, inconvenient to assemble and disassemble, low in sensitivity and incapable of guaranteeing detection accuracy, so that the cable tray cannot be accurately controlled to coordinate with the pipeline detection robot.
Disclosure of Invention
The invention aims to solve the technical problems of complex detection structure, inconvenient disassembly and assembly, low detection sensitivity, low detection result accuracy and incapability of accurately controlling the coordination of actions of a cable tray and a pipeline detection robot in the prior art.
The technical scheme for solving the technical problems is as follows:
first aspect:
the control method for synchronous winding and unwinding of the cable drum of the crawler is used for controlling the real-time running speed of the crawler connected with the cable to keep synchronous with the real-time winding and unwinding speed of the cable drum for winding and unwinding the cable,
acquiring the real-time running speed of the crawler, and obtaining the real-time winding and unwinding speed of the cable drum according to the real-time running speed of the crawler;
acquiring a real-time current value of a motor in the cable drum, and comparing a preset reference current value with the acquired real-time current value of the motor in the cable drum to obtain a real-time current deviation value;
based on the running direction of the crawler, judging the relation between the real-time winding and unwinding speed of the cable drum and the real-time running speed of the crawler according to the positive and negative of the real-time current deviation value;
PID calculation is carried out on the real-time current deviation value based on the relation between the real-time winding and unwinding speed of the cable drum and the real-time running speed of the crawler, so that PID control quantity is obtained;
and real-time current values of the motors in the cable trays are adjusted in real time according to the PID control quantity, so that real-time winding and unwinding speeds of the cable trays are controlled to keep synchronous with real-time running speeds of the crawlers.
Second aspect:
the invention further provides a control system for synchronously winding and unwinding the cable drum of the crawler.
The control system for synchronously winding and unwinding the cable drum of the crawler is used for controlling the real-time running speed of the crawler connected with the cable to keep synchronous with the real-time winding and unwinding speed of the cable drum for winding and unwinding the cable, and comprises the following modules,
the winding and unwinding speed acquisition module is used for acquiring the real-time running speed of the crawler and obtaining the real-time winding and unwinding speed of the cable drum according to the real-time running speed of the crawler;
the current deviation value calculation module is used for obtaining a real-time current value of the motor in the cable drum, comparing a preset reference current value with the obtained real-time current value of the motor in the cable drum, and obtaining a real-time current deviation value;
the speed relation judging module is used for judging the relation between the real-time wire winding and unwinding speed of the cable drum and the real-time running speed of the crawler according to the running direction of the crawler and the positive and negative of the real-time current deviation value;
the PID regulation module is used for carrying out PID calculation on the real-time current deviation value based on the relation between the real-time winding and unwinding speed of the cable drum and the real-time running speed of the crawler to obtain a PID control quantity;
and the synchronous control module is used for adjusting the real-time current value of the motor in the cable tray in real time according to the PID control quantity, so as to control the real-time winding and unwinding speed of the cable tray to keep synchronous with the real-time running speed of the crawler.
Third aspect:
the invention further provides control equipment for synchronously winding and unwinding the cable drum of the crawler.
The control equipment is used for controlling the real-time running speed of the crawler connected to the cable to keep synchronous with the real-time winding and unwinding speed of the cable drum for winding and unwinding the cable, and comprises a speed sensor, a current detection chip and a comprehensive controller;
the speed sensor is arranged on the crawler and is connected with the comprehensive controller through the cable; the current detection chip is integrated in a cable drum control system in the cable drum, and the cable drum control system is connected with the comprehensive control through a cable drum control cable;
the speed sensor is used for acquiring the real-time running speed of the crawler and transmitting the real-time running speed to the comprehensive controller through the cable;
the current detection chip is used for acquiring a real-time current value of the motor in the cable drum, supporting the real-time current value on the cable drum control system and transmitting the real-time current value to the comprehensive controller through the cable drum control cable;
the integrated controller is used for controlling the operation of the integrated controller,
obtaining the real-time winding and unwinding speed of the cable drum according to the real-time running speed of the crawler;
comparing a preset reference current value with a transmitted real-time current value of a motor in the cable tray to obtain a real-time current deviation value;
based on the running direction of the crawler, judging the relation between the real-time winding and unwinding speed of the cable drum and the real-time running speed of the crawler according to the positive and negative of the real-time current deviation value;
PID calculation is carried out on the real-time current deviation value based on the relation between the real-time winding and unwinding speed of the cable drum and the real-time running speed of the crawler, so that PID control quantity is obtained;
and real-time current values of the motors in the cable trays are adjusted in real time according to the PID control quantity, so that real-time winding and unwinding speeds of the cable trays are controlled to keep synchronous with real-time running speeds of the crawlers.
Fourth aspect:
the invention further provides a control device for synchronously winding and unwinding the cable drum of the crawler.
The control device for synchronously winding and unwinding the cable drum of the crawler is used for controlling the real-time running speed of the crawler connected to the cable to be synchronous with the real-time winding and unwinding speed of the cable drum for winding and unwinding the cable, and comprises a processor, a memory and a computer program stored in the memory, wherein the computer program realizes the control method when being executed by the processor.
The beneficial effects of the invention are as follows: the control method, the system, the equipment and the device for synchronously winding and unwinding the cable drum of the crawler adopt a current monitoring technology, the cable drum and the crawler are controlled to move in a coordinated manner through the current value of the cable drum driving motor, the related functional hardware is simple in structure and convenient to install, the control sensitivity is high, the control result is accurate, and the cable drum and the pipeline detection robot can be controlled to move in a coordinated manner.
Drawings
FIG. 1 is a flow chart of a method for controlling synchronous take-up and pay-off of a crawler cable reel according to the present invention;
FIG. 2 is a schematic diagram of a method for controlling the synchronous take-up and pay-off of a crawler cable reel according to the present invention;
FIG. 3 is a schematic diagram of PID control of the current value of the motor in the crawler;
FIG. 4 is a block diagram of a control system for synchronously winding and unwinding a cable drum of the crawler;
fig. 5 is a block diagram of the structure of the control device for synchronously winding and unwinding the cable drum of the crawler.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
Embodiment one:
as shown in fig. 1 and 2, a control method for synchronously winding and unwinding a cable drum of a crawler for controlling a real-time traveling speed of the crawler connected to a cable to be synchronized with a real-time winding and unwinding speed of the cable drum for winding and unwinding the cable, comprises the steps of,
acquiring the real-time running speed of the crawler, and obtaining the real-time winding and unwinding speed of the cable drum according to the real-time running speed of the crawler;
acquiring a real-time current value of a motor in the cable drum, and comparing a preset reference current value with the acquired real-time current value of the motor in the cable drum to obtain a real-time current deviation value;
based on the running direction of the crawler, judging the relation between the real-time winding and unwinding speed of the cable drum and the real-time running speed of the crawler according to the positive and negative of the real-time current deviation value;
PID calculation is carried out on the real-time current deviation value based on the relation between the real-time winding and unwinding speed of the cable drum and the real-time running speed of the crawler, so that PID control quantity is obtained;
and real-time current values of the motors in the cable trays are adjusted in real time according to the PID control quantity, so that real-time winding and unwinding speeds of the cable trays are controlled to keep synchronous with real-time running speeds of the crawlers.
In this embodiment, the preset reference current value is specifically an actually measured current value when the cable tray is empty. The no-load condition of the cable drum is that the cable drum is not wound with the cable.
In this embodiment, when the real-time current value of the motor in the cable drum is greater than the reference current value, the real-time current deviation value is a negative value; when the real-time current value of the motor in the cable drum is smaller than the reference current value, the real-time current deviation value is a positive value;
the specific step of judging the relation between the real-time winding and unwinding speed of the cable drum and the real-time running speed of the crawler is that,
when the crawler runs towards the cable drum and the real-time current deviation value is a negative value, judging that the real-time winding and unwinding speed of the cable drum is higher than the real-time running speed of the crawler;
when the crawler runs towards the cable drum and the real-time current deviation value is a positive value, judging that the real-time winding and unwinding speed of the cable drum is lower than the real-time running speed of the crawler;
when the crawler runs back to the cable drum and the real-time current deviation value is a negative value, judging that the real-time winding and unwinding speed of the cable drum is lower than the real-time running speed of the crawler;
when the crawler runs back to the cable tray and the real-time current deviation value is a positive value, the real-time winding and unwinding speed of the cable tray is higher than the real-time running speed of the crawler.
In other embodiments, when the real-time current value of the motor in the cable drum is greater than the reference current value, the real-time current deviation value is a positive value; when the real-time current value of the motor in the cable drum is smaller than the reference current value, the real-time current deviation value is a negative value;
the specific step of judging the relation between the real-time winding and unwinding speed of the cable drum and the real-time running speed of the crawler is that,
when the crawler runs towards the cable drum and the real-time current deviation value is a positive value, judging that the real-time winding and unwinding speed of the cable drum is higher than the real-time running speed of the crawler;
when the crawler runs towards the cable drum and the real-time current deviation value is a negative value, judging that the real-time winding and unwinding speed of the cable drum is lower than the real-time running speed of the crawler;
when the crawler runs back to the cable tray and the real-time current deviation value is a positive value, judging that the real-time winding and unwinding speed of the cable tray is lower than the real-time running speed of the crawler;
when the crawler runs back to the cable tray and the real-time current deviation value is a negative value, the real-time winding and unwinding speed of the cable tray is higher than the real-time running speed of the crawler.
In summary, the invention judges the relation between the real-time winding and unwinding speed of the cable drum and the real-time running speed of the crawler by comparing the real-time current value of the motor in the cable drum with the reference current value. For example: the reference current value is 3A in this example, based on the current value of the motor actually measured when the cable tray is empty. When the crawler runs towards the cable drum, the cable drum is wound up; if the real-time current value of the motor in the cable drum is larger than 3A, the cable drum winding speed is considered to be higher than the running speed of the crawler, the cable tension is large, and the cable is damaged due to the fact that the cable load is excessive; if the current value of the cable drum driving motor is smaller than 3A, the cable drum winding speed is considered to be lower than the running speed of the crawler, the cable tension is small, and the condition that the pipeline detection robot presses the cable exists. When the crawler runs back to the cable drum, the cable drum pays out; if the real-time current value of the motor in the cable drum is larger than 3A, the paying-off speed of the cable drum is considered to be lower than the running speed of the crawler, the cable tension is large, and the cable is damaged due to the fact that the cable load is excessive; if the real-time current value of the motor in the cable drum is smaller than 3A, the paying-off speed of the cable drum is considered to be higher than the running speed of the crawler, the cable tension is small, and the cable drum is wound on the winding drum in a disordered manner.
In this embodiment, the specific process of performing PID calculation on the real-time current deviation value is that,
based on the relation between the real-time winding and unwinding speed of the cable drum and the real-time running speed of the crawler, proportional adjustment is carried out on the real-time current value of the motor in the cable drum according to the real-time current deviation value, so that a real-time current proportional adjustment value is obtained;
accumulating the deviation value generated by the comparative example regulation error into the real-time current proportion regulation value in real time to obtain the integral quantity of the real-time current proportion regulation value;
and performing differential processing on the integral quantity of the real-time current proportional adjustment value to obtain the PID control quantity.
FIG. 3 is a schematic diagram of PID control of the current level of a motor in a crawler, which is a closed loop control; and taking the deviation of the real-time current value of the motor in the crawler and the reference current value as PID input quantity, and calculating PID control quantity through a PID algorithm, so that the speed of the cable drum is controlled to keep synchronous with the speed of the pipeline detection robot. In the PID algorithm, after the deviation value is obtained, the cable drum speed is quickly regulated through proportion, but because the error exists in the cable drum speed and cannot be well stabilized in an ideal value range, the error influence is eliminated by accumulating the deviation error value; finally, differential control is carried out, and the current value is kept stable; the speed of the cable drum is coordinated and synchronized with the speed of the pipeline detection robot through PID regulation.
Embodiment two:
the invention further provides a control system for synchronously winding and unwinding the cable drum of the crawler.
As shown in fig. 4, a control system for synchronously winding and unwinding a cable drum of a crawler for controlling a real-time traveling speed of the crawler connected to a cable to be synchronized with a real-time winding and unwinding speed of the cable drum for winding and unwinding the cable, comprises the following modules,
the winding and unwinding speed acquisition module is used for acquiring the real-time running speed of the crawler and obtaining the real-time winding and unwinding speed of the cable drum according to the real-time running speed of the crawler;
the current deviation value calculation module is used for obtaining a real-time current value of the motor in the cable drum, comparing a preset reference current value with the obtained real-time current value of the motor in the cable drum, and obtaining a real-time current deviation value;
the speed relation judging module is used for judging the relation between the real-time wire winding and unwinding speed of the cable drum and the real-time running speed of the crawler according to the running direction of the crawler and the positive and negative of the real-time current deviation value;
the PID regulation module is used for carrying out PID calculation on the real-time current deviation value based on the relation between the real-time winding and unwinding speed of the cable drum and the real-time running speed of the crawler to obtain a PID control quantity;
and the synchronous control module is used for adjusting the real-time current value of the motor in the cable tray in real time according to the PID control quantity, so as to control the real-time winding and unwinding speed of the cable tray to keep synchronous with the real-time running speed of the crawler.
In this embodiment, the preset reference current value is specifically an actually measured current value when the cable tray is empty.
In this embodiment, when the real-time current value of the motor in the cable drum is greater than the reference current value, the real-time current deviation value is a negative value; when the real-time current value of the motor in the cable drum is smaller than the reference current value, the real-time current deviation value is a positive value;
the speed relationship determination module is specifically configured to,
when the crawler runs towards the cable drum and the real-time current deviation value is a negative value, judging that the real-time winding and unwinding speed of the cable drum is higher than the real-time running speed of the crawler;
when the crawler runs towards the cable drum and the real-time current deviation value is a positive value, judging that the real-time winding and unwinding speed of the cable drum is lower than the real-time running speed of the crawler;
when the crawler runs back to the cable drum and the real-time current deviation value is a negative value, judging that the real-time winding and unwinding speed of the cable drum is lower than the real-time running speed of the crawler;
when the crawler runs back to the cable tray and the real-time current deviation value is a positive value, the real-time winding and unwinding speed of the cable tray is higher than the real-time running speed of the crawler.
In other embodiments, when the real-time current value of the motor in the cable drum is greater than the reference current value, the real-time current deviation value is a positive value; when the real-time current value of the motor in the cable drum is smaller than the reference current value, the real-time current deviation value is a negative value;
the speed relationship determination module is specifically configured to,
when the crawler runs towards the cable drum and the real-time current deviation value is a positive value, judging that the real-time winding and unwinding speed of the cable drum is higher than the real-time running speed of the crawler;
when the crawler runs towards the cable drum and the real-time current deviation value is a negative value, judging that the real-time winding and unwinding speed of the cable drum is lower than the real-time running speed of the crawler;
when the crawler runs back to the cable tray and the real-time current deviation value is a positive value, judging that the real-time winding and unwinding speed of the cable tray is lower than the real-time running speed of the crawler;
when the crawler runs back to the cable tray and the real-time current deviation value is a negative value, the real-time winding and unwinding speed of the cable tray is higher than the real-time running speed of the crawler.
In summary, the invention judges the relation between the real-time winding and unwinding speed of the cable drum and the real-time running speed of the crawler by comparing the real-time current value of the motor in the cable drum with the reference current value. For example: the reference current value is 3A in this example, based on the current value of the motor actually measured when the cable tray is empty. When the crawler runs towards the cable drum, the cable drum is wound up; if the real-time current value of the motor in the cable drum is larger than 3A, the cable drum winding speed is considered to be higher than the running speed of the crawler, the cable tension is large, and the cable is damaged due to the fact that the cable load is excessive; if the current value of the cable drum driving motor is smaller than 3A, the cable drum winding speed is considered to be lower than the running speed of the crawler, the cable tension is small, and the condition that the pipeline detection robot presses the cable exists. When the crawler runs back to the cable drum, the cable drum pays out; if the real-time current value of the motor in the cable drum is larger than 3A, the paying-off speed of the cable drum is considered to be lower than the running speed of the crawler, the cable tension is large, and the cable is damaged due to the fact that the cable load is excessive; if the real-time current value of the motor in the cable drum is smaller than 3A, the paying-off speed of the cable drum is considered to be higher than the running speed of the crawler, the cable tension is small, and the cable drum is wound on the winding drum in a disordered manner.
In this embodiment, the PID adjustment module is specifically configured to,
based on the relation between the real-time winding and unwinding speed of the cable drum and the real-time running speed of the crawler, proportional adjustment is carried out on the real-time current value of the motor in the cable drum according to the real-time current deviation value, so that a real-time current proportional adjustment value is obtained;
accumulating the deviation value generated by the comparative example regulation error into the real-time current proportion regulation value in real time to obtain the integral quantity of the real-time current proportion regulation value;
and performing differential processing on the integral quantity of the real-time current proportional adjustment value to obtain the PID control quantity.
FIG. 3 is a schematic diagram of PID control of the current level of a motor in a crawler, which is a closed loop control; and taking the deviation of the real-time current value of the motor in the crawler and the reference current value as PID input quantity, and calculating PID control quantity through a PID algorithm, so that the speed of the cable drum is controlled to keep synchronous with the speed of the pipeline detection robot. In the PID algorithm, after the deviation value is obtained, the cable drum speed is quickly regulated through proportion, but because the error exists in the cable drum speed and cannot be well stabilized in an ideal value range, the error influence is eliminated by accumulating the deviation error value; finally, differential control is carried out, and the current value is kept stable; the speed of the cable drum is coordinated and synchronized with the speed of the pipeline detection robot through PID regulation.
Embodiment III:
the invention further provides control equipment for synchronously winding and unwinding the cable drum of the crawler.
As shown in fig. 5, the control device for synchronously winding and unwinding the cable drum of the crawler is used for controlling the real-time running speed of the crawler connected to the cable to be synchronous with the real-time winding and unwinding speed of the cable drum for winding and unwinding the cable, and comprises a speed sensor, a current detection chip and a comprehensive controller;
the speed sensor is arranged on the crawler and is connected with the comprehensive controller through the cable; the current detection chip is integrated in a cable drum control system in the cable drum, and the cable drum control system is connected with the comprehensive control through a cable drum control cable;
the speed sensor is used for acquiring the real-time running speed of the crawler and transmitting the real-time running speed to the comprehensive controller through the cable;
the current detection chip is used for acquiring a real-time current value of the motor in the cable drum, supporting the real-time current value on the cable drum control system and transmitting the real-time current value to the comprehensive controller through the cable drum control cable;
the integrated controller is used for controlling the operation of the integrated controller,
obtaining the real-time winding and unwinding speed of the cable drum according to the real-time running speed of the crawler;
comparing a preset reference current value with a transmitted real-time current value of a motor in the cable tray to obtain a real-time current deviation value;
based on the running direction of the crawler, judging the relation between the real-time winding and unwinding speed of the cable drum and the real-time running speed of the crawler according to the positive and negative of the real-time current deviation value;
PID calculation is carried out on the real-time current deviation value based on the relation between the real-time winding and unwinding speed of the cable drum and the real-time running speed of the crawler, so that PID control quantity is obtained;
and real-time current values of the motors in the cable trays are adjusted in real time according to the PID control quantity, so that real-time winding and unwinding speeds of the cable trays are controlled to keep synchronous with real-time running speeds of the crawlers.
In this embodiment, specific functions of the integrated controller refer to the related content recorded in the control method or the control system described above, and are not described herein.
Embodiment four:
the invention further provides a control device for synchronously winding and unwinding the cable drum of the crawler.
The control device for synchronously winding and unwinding the cable drum of the crawler is used for controlling the real-time running speed of the crawler connected to the cable to be synchronous with the real-time winding and unwinding speed of the cable drum for winding and unwinding the cable, and comprises a processor, a memory and a computer program stored in the memory, wherein the computer program realizes the control method when being executed by the processor.
The control method, the system, the equipment and the device for synchronously winding and unwinding the cable drum of the crawler adopt a current monitoring technology, the cable drum and the crawler are controlled to move in a coordinated manner through the current value of the cable drum driving motor, the related functional hardware is simple in structure and convenient to install, the control sensitivity is high, the control result is accurate, and the cable drum and the pipeline detection robot can be controlled to move in a coordinated manner.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (8)
1. The control method for the synchronous winding and unwinding of the cable drum of the crawler is characterized by comprising the following steps of: the control method is used for controlling the real-time running speed of the crawler connected with the cable to keep synchronous with the real-time winding and unwinding speed of the cable drum for winding and unwinding the cable, and comprises the following steps,
acquiring the real-time running speed of the crawler, and obtaining the real-time winding and unwinding speed of the cable drum according to the real-time running speed of the crawler;
acquiring a real-time current value of a motor in the cable drum, and comparing a preset reference current value with the acquired real-time current value of the motor in the cable drum to obtain a real-time current deviation value;
based on the running direction of the crawler, judging the relation between the real-time winding and unwinding speed of the cable drum and the real-time running speed of the crawler according to the positive and negative of the real-time current deviation value;
PID calculation is carried out on the real-time current deviation value based on the relation between the real-time winding and unwinding speed of the cable drum and the real-time running speed of the crawler, so that PID control quantity is obtained;
real-time current values of motors in the cable trays are adjusted in real time according to the PID control quantity, and further real-time winding and unwinding speeds of the cable trays are controlled to keep synchronous with real-time running speeds of the crawlers;
when the real-time current value of the motor in the cable drum is larger than the reference current value, the real-time current deviation value is a negative value; when the real-time current value of the motor in the cable drum is smaller than the reference current value, the real-time current deviation value is a positive value;
the specific step of judging the relation between the real-time winding and unwinding speed of the cable drum and the real-time running speed of the crawler is that,
when the crawler runs towards the cable drum and the real-time current deviation value is a negative value, judging that the real-time winding and unwinding speed of the cable drum is higher than the real-time running speed of the crawler;
when the crawler runs towards the cable drum and the real-time current deviation value is a positive value, judging that the real-time winding and unwinding speed of the cable drum is lower than the real-time running speed of the crawler;
when the crawler runs back to the cable drum and the real-time current deviation value is a negative value, judging that the real-time winding and unwinding speed of the cable drum is lower than the real-time running speed of the crawler;
when the crawler runs back to the cable tray and the real-time current deviation value is a positive value, the real-time winding and unwinding speed of the cable tray is higher than the real-time running speed of the crawler.
2. The control method for synchronously winding and unwinding the cable drum of the crawler according to claim 1, wherein the control method comprises the following steps: the preset reference current value is specifically a motor current value actually measured when the cable tray is in idle load.
3. The control method for synchronously winding and unwinding the cable drum of the crawler according to claim 1 or 2, wherein the control method comprises the following steps: the specific process of PID calculation for the real-time current deviation value is that,
based on the relation between the real-time winding and unwinding speed of the cable drum and the real-time running speed of the crawler, proportional adjustment is carried out on the real-time current value of the motor in the cable drum according to the real-time current deviation value, so that a real-time current proportional adjustment value is obtained;
accumulating the deviation value generated by the comparative example regulation error into the real-time current proportion regulation value in real time to obtain the integral quantity of the real-time current proportion regulation value;
and performing differential processing on the integral quantity of the real-time current proportional adjustment value to obtain the PID control quantity.
4. Control system of synchronous receive and releases of crawler cable dish, its characterized in that: the control system is used for controlling the real-time running speed of the crawler connected with the cable to keep synchronous with the real-time winding and unwinding speed of the cable drum for winding and unwinding the cable, and comprises the following modules,
the winding and unwinding speed acquisition module is used for acquiring the real-time running speed of the crawler and obtaining the real-time winding and unwinding speed of the cable drum according to the real-time running speed of the crawler;
the current deviation value calculation module is used for obtaining a real-time current value of the motor in the cable drum, comparing a preset reference current value with the obtained real-time current value of the motor in the cable drum, and obtaining a real-time current deviation value;
the speed relation judging module is used for judging the relation between the real-time wire winding and unwinding speed of the cable drum and the real-time running speed of the crawler according to the running direction of the crawler and the positive and negative of the real-time current deviation value;
the PID regulation module is used for carrying out PID calculation on the real-time current deviation value based on the relation between the real-time winding and unwinding speed of the cable drum and the real-time running speed of the crawler to obtain a PID control quantity;
the synchronous control module is used for adjusting the real-time current value of the motor in the cable tray in real time according to the PID control quantity, so as to control the real-time winding and unwinding speed of the cable tray to keep synchronous with the real-time running speed of the crawler;
when the real-time current value of the motor in the cable drum is larger than the reference current value, the real-time current deviation value is a negative value; when the real-time current value of the motor in the cable drum is smaller than the reference current value, the real-time current deviation value is a positive value;
the speed relationship determination module is specifically configured to,
when the crawler runs towards the cable drum and the real-time current deviation value is a negative value, judging that the real-time winding and unwinding speed of the cable drum is higher than the real-time running speed of the crawler;
when the crawler runs towards the cable drum and the real-time current deviation value is a positive value, judging that the real-time winding and unwinding speed of the cable drum is lower than the real-time running speed of the crawler;
when the crawler runs back to the cable drum and the real-time current deviation value is a negative value, judging that the real-time winding and unwinding speed of the cable drum is lower than the real-time running speed of the crawler;
when the crawler runs back to the cable tray and the real-time current deviation value is a positive value, the real-time winding and unwinding speed of the cable tray is higher than the real-time running speed of the crawler.
5. The control system for synchronously winding and unwinding the cable drum of the crawler according to claim 4, wherein: the preset reference current value is specifically a motor current value actually measured when the cable tray is in idle load.
6. The control system for synchronously winding and unwinding the cable drum of the crawler according to claim 4 or 5, wherein: the PID adjustment module is particularly adapted to,
based on the relation between the real-time winding and unwinding speed of the cable drum and the real-time running speed of the crawler, proportional adjustment is carried out on the real-time current value of the motor in the cable drum according to the real-time current deviation value, so that a real-time current proportional adjustment value is obtained;
accumulating the deviation value generated by the comparative example regulation error into the real-time current proportion regulation value in real time to obtain the integral quantity of the real-time current proportion regulation value;
and performing differential processing on the integral quantity of the real-time current proportional adjustment value to obtain the PID control quantity.
7. Control equipment of synchronous receive and releases of crawler cable dish, its characterized in that: the control device is used for controlling the real-time running speed of the crawler connected to the cable to keep synchronous with the real-time winding and unwinding speed of the cable drum for winding and unwinding the cable, and comprises a speed sensor, a current detection chip and a comprehensive controller;
the speed sensor is arranged on the crawler and is connected with the comprehensive controller through the cable; the current detection chip is integrated in a cable drum control system in the cable drum, and the cable drum control system is connected with the comprehensive control through a cable drum control cable;
the speed sensor is used for acquiring the real-time running speed of the crawler and transmitting the real-time running speed to the comprehensive controller through the cable;
the current detection chip is used for acquiring a real-time current value of the motor in the cable drum, supporting the real-time current value on the cable drum control system and transmitting the real-time current value to the comprehensive controller through the cable drum control cable;
the integrated controller is used for controlling the operation of the integrated controller,
obtaining the real-time winding and unwinding speed of the cable drum according to the real-time running speed of the crawler;
comparing a preset reference current value with a transmitted real-time current value of a motor in the cable tray to obtain a real-time current deviation value;
based on the running direction of the crawler, judging the relation between the real-time winding and unwinding speed of the cable drum and the real-time running speed of the crawler according to the positive and negative of the real-time current deviation value;
PID calculation is carried out on the real-time current deviation value based on the relation between the real-time winding and unwinding speed of the cable drum and the real-time running speed of the crawler, so that PID control quantity is obtained;
real-time current values of motors in the cable trays are adjusted in real time according to the PID control quantity, and further real-time winding and unwinding speeds of the cable trays are controlled to keep synchronous with real-time running speeds of the crawlers;
when the real-time current value of the motor in the cable drum is larger than the reference current value, the real-time current deviation value is a negative value; when the real-time current value of the motor in the cable drum is smaller than the reference current value, the real-time current deviation value is a positive value;
the specific step of judging the relation between the real-time winding and unwinding speed of the cable drum and the real-time running speed of the crawler is that,
when the crawler runs towards the cable drum and the real-time current deviation value is a negative value, judging that the real-time winding and unwinding speed of the cable drum is higher than the real-time running speed of the crawler;
when the crawler runs towards the cable drum and the real-time current deviation value is a positive value, judging that the real-time winding and unwinding speed of the cable drum is lower than the real-time running speed of the crawler;
when the crawler runs back to the cable drum and the real-time current deviation value is a negative value, judging that the real-time winding and unwinding speed of the cable drum is lower than the real-time running speed of the crawler;
when the crawler runs back to the cable tray and the real-time current deviation value is a positive value, the real-time winding and unwinding speed of the cable tray is higher than the real-time running speed of the crawler.
8. Control device of synchronous coiling and uncoiling of crawler cable dish, its characterized in that: the control device is used for controlling the real-time running speed of a crawler connected to a cable to be synchronous with the real-time winding and unwinding speed of a cable drum for winding and unwinding the cable, and comprises a processor, a memory and a computer program stored in the memory, wherein the computer program is executed by the processor to realize the control method according to any one of claims 1 to 3.
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