CN116119558A - Cable arrangement control method and device for winch, storage medium and electronic equipment - Google Patents
Cable arrangement control method and device for winch, storage medium and electronic equipment Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/02—Driving gear
- B66D1/12—Driving gear incorporating electric motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/36—Guiding, or otherwise ensuring winding in an orderly manner, of ropes, cables, or chains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
- B66D1/485—Control devices automatic electrical
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Abstract
The application discloses a cable arranging control method and device of a winch, the winch, a storage medium and electronic equipment. The application relates to the technical field of cable arrangement, and aims to solve the technical problem of ensuring normal operation of cable arrangement when cables are in ultra-long use. The cable arranging control method comprises the following steps: determining a signal variation according to the running state signal of the cable storage motor and the initial state signal of the cable storage motor; determining a first control signal of the servo motor according to the signal variation; and controlling the servo motor based on the first control signal so as to enable the cable arrangement position of the winch to be within a preset range. According to the synchronous operation control method, the synchronous operation of the cable storage motor of the cable storage drum and the servo motor of the screw rod can be controlled according to the signal variable quantity before and after the operation of the cable storage motor, so that accumulated errors generated by a mechanical driving mode can be eliminated, the timeliness and the synchronism of cable arrangement are guaranteed, and the cable arrangement effect is guaranteed.
Description
Technical Field
The application relates to the technical field of cable arrangement, in particular to a cable arrangement control method and device of a winch, the winch, a storage medium and electronic equipment.
Background
Winch is a small and light hoisting device that uses a storage drum to wind a cable (e.g., a wire rope or chain) to lift or pull a weight. The winch can vertically lift, horizontally or obliquely drag the weight through the cable.
During winch operation, the cable is paid out from the cable storage drum to place the target equipment it is pulling into a target location, and the target equipment can be recalled by retrieving the cable. Under the conditions of overlong cables, complex working conditions and the like, the winch can be subjected to cable disorder (such as cable biting, cable back and empty slot) and cable clamping during cable arrangement (such as cable releasing and cable winding). Therefore, in order to ensure the normal cable arrangement of the cable car, the winch needs to be provided with a cable arrangement device.
Disclosure of Invention
According to one aspect of the present application, a cable routing control method for a winch is disclosed. The cable arranging control method comprises the following steps: determining a signal variation according to the running state signal of the cable storage motor and the initial state signal of the cable storage motor; determining a first control signal of the servo motor according to the signal variation; and controlling the servo motor based on the first control signal so as to enable the cable arrangement position of the winch to be within a preset range.
According to some embodiments of the present application, the cable routing control method further includes: acquiring an angle deviation value of a cable arrangement angle of the winch; determining a second control signal of the servo motor according to the angle deviation value and a preset angle target value; the cable arrangement control method further comprises the following steps of: and controlling the servo motor based on the first control signal and the second control signal so as to enable the cable arrangement position and the cable arrangement angle of the winch to be within a preset range.
According to some embodiments of the present application, determining the first control signal of the servo motor according to the signal variation is: p (P) M =P N ×D1×K2/（A×K1×D2）；P N= P2-P1; wherein P is M Is the first control signal of the servo motor, P N For the signal variation, P1 is an initial state signal, P2 is an operation state signal, D1 is the diameter of a cable of the winch, D2 is the lead of a lead screw of the winch, K1 is the reduction ratio of a cable storage motor, K2 is the reduction ratio of a servo motor, and A is the number of pulses generated by the cable storage motor and the servo motor in each rotation.
According to some embodiments of the present application, the initial state signal comprises a start pulse before the cable storage motor is operated, the operating state signal comprises a time pulse after the cable storage motor is operated, and the first control signal comprises a target pulse of the servo motor.
According to another aspect of the present application, a cable routing control device is disclosed that includes a signal determination unit and a signal control unit. The signal determining unit is used for determining a signal variation according to the running state signal of the cable storage motor and the initial state signal of the cable storage motor and determining a first control signal of the servo motor according to the signal variation; and the signal control unit is used for controlling the servo motor based on the first control signal so as to enable the cable arrangement position of the winch to be within a preset range.
According to some embodiments of the present application, the cable arrangement control device further includes an angle detection unit, where the angle detection unit obtains an angle deviation value of the cable arrangement angle of the winch; the signal determining unit determines a second control signal of the servo motor according to the angle deviation value and a preset angle target value; the signal control unit controls the servo motor based on the first control signal and the second control signal so that the cable arrangement position and the cable arrangement angle of the winch are within a preset range.
According to some embodiments of the present application, the signal control unit determines, according to the signal variation, a first control signal of the servo motor as:P M =P N ×D1×K2/（A×K1×D2）；P N= P2-P1; wherein P is M Is the first control signal of the servo motor, P N For the signal variation, P1 is an initial state signal, P2 is an operation state signal, D1 is the diameter of a cable of the winch, D2 is the lead of a lead screw of the winch, K1 is the reduction ratio of a cable storage motor, K2 is the reduction ratio of a servo motor, and A is the number of pulses generated by the cable storage motor and the servo motor in each rotation.
According to some embodiments of the present application, the initial state signal comprises a start pulse before the cable storage motor is operated, the operating state signal comprises a time pulse after the cable storage motor is operated, and the first control signal comprises a target pulse of the servo motor.
According to yet another aspect of the present application, a winch is also disclosed. The winch comprises a cable routing control device as described above.
According to yet another aspect of the present application, a non-volatile computer-readable storage medium is also disclosed. The storage medium has stored thereon a computer program which can implement the cable routing control method as described above.
According to yet another aspect of the present application, an electronic device is also disclosed. The electronic device includes one or more processors, a storage device. The storage device is used for storing one or more programs; the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the cabling control method as described above.
According to the technical scheme, the signal change quantity is determined according to the running state signal of the cable storage motor and the initial state signal of the cable storage motor, the first control signal of the servo motor is determined according to the signal change quantity, and the servo motor is controlled based on the first control signal, so that the cable arrangement position of the winch is within a preset range.
Through the synchronous operation of the cable storage motor of the cable storage winding drum and the servo motor of the screw rod according to the signal variable quantity before and after the operation of the cable storage motor, the accumulated error generated by a mechanical driving mode can be eliminated, the timeliness and the synchronism of cable arrangement are ensured, and the cable arrangement effect is ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 shows a schematic structural view of a winch according to an exemplary embodiment of the present application;
FIG. 2 illustrates a flow chart of a cable routing control method of an example embodiment of the present application;
FIG. 3 illustrates another flow chart of a cable routing control method of an example embodiment of the present application;
FIG. 4 illustrates a logical schematic diagram of a cable routing control method according to an example embodiment of the present application;
fig. 5 shows a schematic structural diagram of a cable arrangement control device according to an exemplary embodiment of the present application.
Reference numerals illustrate:
a cable drum 10; a lead screw 20; a cable storage motor 11; a servo motor 21; a cable angle sensor 30.
A cable arrangement control device 100; a signal determination unit 101; a signal control unit 102; an angle detection unit 103.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and thus a repetitive description thereof will be omitted.
The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the disclosed aspects may be practiced without one or more of the specific details, or with other methods, components, materials, apparatus, etc. In these instances, well-known structures, methods, devices, implementations, materials, or operations are not shown or described in detail.
Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
The terms first, second and the like in the description and in the claims of the present application and in the above-described figures, are used for distinguishing between different objects and not for describing a particular sequential order.
The following description of the embodiments of the present application, taken in conjunction with the accompanying drawings, will clearly and fully describe the technical aspects of the present application, and it will be apparent that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
Current cable arrangements generally include mechanical and electronically controlled drive modes. The mechanical driving mode is to mechanically connect the main shaft of the cable storage drum with the cable arranging screw rod through a mechanical structure, the rotation of the cable storage drum is used as a power source, and the cable arranging screw rod is driven to cooperatively move through chain transmission so as to automatically arrange cables.
The electric control driving mode can be to control the rotation of the cable arranging screw rod through a motor according to the rotating speed of the cable storing winding drum, the rotating speed or displacement of the cable arranging screw rod and other factors. The control principle is that when the cable storage reel rotates for one circle, the cable discharge screw rod translates by a cable diameter displacement amount along the axial direction of the cable storage reel, and the rotation speed and the steering of the cable discharge screw rod are controlled according to the rotation speed or the displacement of the cable discharge screw rod. The other electric control driving mode can also be to control the rotating speed and the steering of the cable arrangement lead screw according to the deflection angle of the cable. The electric control driving mode makes the cable and the cable guiding wheel have zero deflection angle in the winding and unwinding process, so that the cable guiding wheel on the cable discharging screw rod and the cable storage drum move in a coordinated manner to automatically discharge the cable.
Under some special working conditions, such as a marine winch applied to a marine environment, the marine winch is gradually shifted from offshore to deep sea along with marine resource exploration and development, so that the operation depth of the underwater equipment is continuously increased, and the cable of the marine winch is required to be lengthened, and even the length of the cable is required to be 10000 meters.
The inventor of the application finds that under the special working condition, the mechanical driving mode gradually generates accumulated errors along with the increase of the length of a cable of the winch cable arrangement, and under the condition that the winch cable is used for a long time, the method can cause the problem of abnormal cable arrangement (such as cable biting, cable backing and empty slot). And under the condition of overlong cables, the electric control driving mode cannot automatically adjust errors in real time according to the deviation condition if deviation occurs in the cable arranging process and accumulated deviation errors are large. The safety operation of the mooring rope can directly influence the normal operation of the marine underwater equipment, and even can lead to the incapability of normally recovering the underwater equipment, thereby becoming the potential safety hazard of the operation of the marine winch and the operation of the marine equipment.
Therefore, how to ensure the normal operation of the cable arrangement under the condition that the cable is used in an ultra-long mode is a technical problem to be solved in the application.
Based on the above, an aspect of the application provides a cable arranging control method of a winch, which ensures timeliness and synchronism of cable arranging of the winch by controlling synchronous operation of a cable storing motor of a cable storing drum and a servo motor of a screw rod. The cable arranging control method also can timely correct the accumulated error of the angle deflection in the cable arranging process by detecting the deflection angle of the cable, thereby ensuring the cable arranging effect.
The technical scheme of the application will be described in detail below with reference to the accompanying drawings.
Fig. 1 shows a schematic structural diagram of a winch according to an exemplary embodiment of the present application. As shown in fig. 1, the winch includes a cable storage drum 10, a lead screw 20, a cable storage motor 11, and a servo motor 21, and the cable storage drum 10 is used for storing and receiving a cable (such as a wire rope or a chain) for pulling a target device.
The winch works in the principle that the cable storage drum 10 rotates under the drive of the cable storage motor 11 to pay out or retract a cable, the lead screw 20 rotates under the drive of the servo motor 21, and the cable paid out by the cable storage drum 10 is guided by the lead screw 20. In an ideal case, the cable storage motor 11 and the servo motor 21 run synchronously, so that the uniformity of cable arrangement can be ensured.
Fig. 2 shows a flowchart of a cable routing control method according to an exemplary embodiment of the present application. As shown in FIG. 2, the cable arranging control method includes steps S100 to S300. According to an example embodiment, the cable routing control method is performed by a cable routing control device.
In step S100, the cable arrangement control device determines the signal variation amount according to the operation state signal of the cable storage motor and the initial state signal of the cable storage motor.
Optionally, the initial status signal comprises a start pulse before the cable storage motor is operated, and the operating status signal comprises a time pulse after the cable storage motor is operated.
For example, before the winch is powered on, the cable arrangement control device performs an initialization process on the cable storage motor, and obtains an initial pulse number, such as an initial pulse P1, of the initialized cable storage motor.
After the winch is electrified, the cable storage motor drives the cable storage winding drum to rotate, and an operation state signal of the cable storage motor at the moment is obtained, namely the current time pulse number of the cable storage motor, such as time pulse P2. If the ratio can obtain the signal variation before and after the operation of the cable storage motor, such as the signal variation P N =P2-P1。
In step S200, the cable routing control device determines a first control signal of the servo motor according to the signal variation.
Optionally, the first control signal comprises a target pulse of the servo motor.
For example, the signal variation is used to characterize the pulse variation when the cable motor is running. Based on the pulse variation, the assumption and the synchronous operation of the cable storage motor can be obtained through theoretical calculationIn the case of a target pulse for the operation of the servo motor, e.g. the target pulse is the first control signal P M 。
Optionally, a first control signal P M The calculation formula of (2) is as follows:
P M =P N ×D1×K2/（A×K1×D2）
P N= P2- P1
wherein P is M Is the first control signal of the servo motor, P N For the signal variation, P1 is an initial state signal, P2 is an operation state signal, D1 is the diameter of a cable of the winch, D2 is the lead of a lead screw of the winch, K1 is the reduction ratio of a cable storage motor, K2 is the reduction ratio of a servo motor, and A is the number of pulses generated by the cable storage motor and the servo motor in each rotation.
The above-described exemplary embodiments may derive the target number of pulses required to be operated by the servo motor operated corresponding to the cable storage motor based on a certain calculation by determining the signal variation before and after the operation of the cable storage motor.
In step S300, the cable arranging control device controls the servo motor based on the first control signal so that the cable arranging position of the winch is within a preset range.
For example, the cable arrangement control device determines a target pulse number to be operated by the servo motor under the condition that the servo motor and the cable storage motor are operated synchronously, and then controls the servo motor to operate at the target pulse number.
It will be appreciated herein that when the servo motor is operated at the target number of pulses, the servo motor and the cable storage motor may be operated in synchronism such that the rotational speed and turn of the lead screw and the rotational speed and turn of the cable storage drum remain consistent, such that the cable discharge position of the cable of the winch may be within a predetermined range.
Through the above-mentioned example embodiment, this application technical scheme is through the synchronous operation of the servo motor of cable storage motor and lead screw according to the signal variation around the cable storage motor operation, can eliminate the produced accumulated error of mechanical drive mode like this to and guarantee the timeliness and the synchronism of arranging the cable, thereby guarantee the cable effect.
Optionally, fig. 3 shows another flowchart of a cable routing control method according to an example embodiment of the present application. As shown in fig. 3, steps S100 to S200 are described in detail above, and are not repeated here, and the cable arrangement control method further includes steps S400 to S600.
In step S400, the cable arrangement control device acquires an angle deviation value of the cable arrangement angle of the winch.
As shown in fig. 1, the winch further includes a cable discharge angle sensor 30, and the cable discharge angle sensor 30 is used to detect an angle deviation value of the cable on the lead screw 20.
In step S500, the cable routing control device determines a second control signal of the servo motor according to the angle deviation value and the preset angle target value.
For example, the preset angle target value is a preset angle value between the cable and the lead screw that meets the user's desire. It will be appreciated that in the case of very long cable applications (such as marine winches), the cable may experience an accumulated angular deflection on the lead screw during the paying out or reeling in of the cable, which, when accumulated to a certain extent, may affect the normal operation of the winch and even the normal retrieval of the target equipment.
According to an exemplary embodiment, the cable routing control device determines the angular amount, i.e. the second control signal, of the servo motor to be adjusted according to the detected angular deviation value and the preset angular target value through calculation by a PID (Proportion Integration Differentiation: proportional-integral-derivative controller).
In step S600, the cable-arranging control device controls the servo motor based on the first control signal and the second control signal, so that the cable-arranging position and the cable-arranging angle of the winch are within a preset range.
For example, fig. 4 shows a logic schematic diagram of a cable routing control method according to an example embodiment of the present application. As shown in fig. 4, the cable arrangement control device obtains the first control signal through amplification processing based on pulse variation before and after the operation of the cable storage motor. And the cable arranging control device obtains a second control signal after PID control based on the angle variation between the detected angle deviation value and the preset angle target value.
The cable arranging control device controls the servo motor according to the first control signal and the second control signal to adjust the rotating speed and the steering of the lead screw, so that the rotating speed and the steering of the lead screw are consistent with the rotating speed and the steering of the cable storage drum, the cable is positioned at a target position on the lead screw, and the cable arranging angle of the cable of the winch can be within a preset range.
Optionally, the cable routing control device further controls the servo motor to perform acceleration limitation and maximum speed limitation on the rotation speed of the lead screw to control the cable to be at a target position on the lead screw.
Through the above-mentioned example embodiment, the technical scheme of this application is through the synchronous operation of the servo motor of control cable storage motor and lead screw of control cable storage reel in order to eliminate the accumulated error that mechanical drive mode brought to and according to the angle variation of correction cable eliminate the pile cable problem that only relies on angle sensor to arrange the cable in the automatically controlled drive mode and produce, guaranteed the cable effect of arranging.
Another aspect of the present application provides a cable arranging control device of a winch, where the cable arranging control device controls synchronous operation of a cable storing motor of a cable storing drum and a servo motor of a screw rod, so as to ensure timeliness and synchronism of cable arranging of the winch. And the cable arranging control device also timely corrects the accumulated error of the angle deflection in the cable arranging process by detecting the deflection angle of the cable, thereby ensuring the cable arranging effect.
Fig. 5 shows a schematic structural diagram of a cable arrangement control device according to an exemplary embodiment of the present application. As shown in fig. 5, the cable arranging control device 100 includes a signal determining unit 101 and a signal control unit 102.
According to an exemplary embodiment, the signal determining unit 101 determines the signal variation amount according to the operation state signal of the cable storage motor and the initial state signal of the cable storage motor, and determines the first control signal of the servo motor according to the signal variation amount.
Optionally, the initial state signal includes a start pulse before the cable storage motor operates, the operating state signal includes a time pulse after the cable storage motor operates, and the first control signal includes a target pulse of the servo motor.
For example, before the winch is powered on, the signal determining unit 101 performs an initialization process on the cable storage motor, and obtains the number of start pulses of the initialized cable storage motor, such as the start pulse P1.
After the winch is electrified, the cable storage motor drives the cable storage drum to rotate, and the signal determining unit 101 obtains an operation state signal of the cable storage motor at the moment, namely the current time pulse number of the cable storage motor, such as time pulse P2. The specific signal determining unit 101 can obtain the signal variation before and after the cable storage motor is operated, such as signal variation P N =P2-P1。
The signal variation is used for representing the pulse variation when the cable storage motor operates. Based on the pulse variation, the signal determining unit 101 obtains a target pulse required to be operated by the servo motor under the condition that synchronous operation with the cable storage motor is ensured, for example, the target pulse is a first control signal P M 。
Optionally, a first control signal P M The calculation formula of (2) is as follows:
P M =P N ×D1×K2/（A×K1×D2）
P N= P2- P1
wherein P is M Is the first control signal of the servo motor, P N For the signal variation, P1 is an initial state signal, P2 is an operation state signal, D1 is the diameter of a cable of the winch, D2 is the lead of a lead screw of the winch, K1 is the reduction ratio of a cable storage motor, K2 is the reduction ratio of a servo motor, and A is the number of pulses generated by the cable storage motor and the servo motor in each rotation.
The above-described exemplary embodiments can derive the target number of pulses required to be operated by the servo motor operated corresponding to the cable storage motor based on a certain calculation by determining the signal variation before and after the operation of the cable storage motor by the signal determination unit 101.
According to an example embodiment, the signal control unit 102 controls the servo motor based on the first control signal to make the cable arrangement position of the winch within a preset range.
For example, the signal control unit 102 controls the servo motor to operate at a target number of pulses to be operated by the servo motor, assuming that the servo motor operates in synchronization with the cable storage motor.
It will be appreciated herein that when the servo motor is operated at the target number of pulses, the servo motor and the cable storage motor may be operated in synchronism such that the rotational speed and turn of the lead screw and the rotational speed and turn of the cable storage drum remain consistent, such that the cable discharge position of the cable of the winch may be within a predetermined range.
Through the above-mentioned example embodiment, this application technical scheme is through the synchronous operation of the servo motor of cable storage motor and lead screw according to the signal variation around the cable storage motor operation, can eliminate the produced accumulated error of mechanical drive mode like this to and guarantee the timeliness and the synchronism of arranging the cable, thereby guarantee the cable effect.
Optionally, as shown in fig. 5, the cable arrangement control device 100 further includes an angle detection unit 103.
For example, the angle detection unit 103 is used to detect an angle deviation value of a cable on a lead screw.
The signal determining unit 101 determines a second control signal of the servo motor according to the angle deviation value and a preset angle target value.
For example, the preset angle target value is a preset angle value between the cable and the lead screw that meets the user's desire. It will be appreciated that in the case of very long cable applications (such as marine winches), the cable may experience an accumulated angular deflection on the lead screw during the paying out or reeling in of the cable, which, when accumulated to a certain extent, may affect the normal operation of the winch and even the normal retrieval of the target equipment.
According to an exemplary embodiment, the signal determining unit 101 determines the angular amount, i.e. the second control signal, that the servo motor needs to adjust, by PID (Proportion Integration Differentiation: proportional-integral-derivative controller) calculation based on the detected angular deviation value and the preset angular target value.
The signal control unit 102 controls the servo motor based on the first control signal and the second control signal so that the cable arrangement position and the cable arrangement angle of the winch are within a preset range.
For example, the signal determination unit 101 obtains the first control signal through amplification processing based on the pulse variation amount before and after the operation of the cable storage motor. And the signal determining unit 101 obtains a second control signal after passing the PID control based on the amount of angular change between the detected angular deviation value and the preset angular target value.
The signal control unit 102 controls the servo motor according to the first control signal and the second control signal to adjust the rotation speed and the rotation direction of the screw rod, so that the rotation speed and the rotation direction of the screw rod are consistent with the rotation speed and the rotation direction of the cable storage drum, the cable is located at a target position on the screw rod, and the cable arrangement angle of the cable of the winch can be within a preset range.
Optionally, the signal control unit 102 also controls the servo motor to apply acceleration limits and maximum speed limits to the rotational speed of the lead screw to control the cable to be at a target position on the lead screw.
Through the above-mentioned example embodiment, the technical scheme of this application is through the synchronous operation of the servo motor of control cable storage motor and lead screw of control cable storage reel in order to eliminate the accumulated error that mechanical drive mode brought to and according to the angle variation of correction cable eliminate the pile cable problem that only relies on angle sensor to arrange the cable in the automatically controlled drive mode and produce, guaranteed the cable effect of arranging.
According to yet another aspect of the present application, a winch is also disclosed. The winch comprises a cable routing control device as described above.
According to yet another aspect of the present application, a non-volatile computer-readable storage medium is also disclosed. The storage medium has stored thereon a computer program which can implement the cable routing control method as described above.
According to yet another aspect of the present application, an electronic device is also disclosed. The electronic device includes one or more processors, a storage device. The storage device is used for storing one or more programs; the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the cabling control method as described above.
Finally, it should be noted that the foregoing description is only a preferred embodiment of the present application, and is not intended to limit the present application, and although the detailed description of the present application is given with reference to the foregoing embodiment, it will be obvious to those skilled in the art that various modifications may be made to the technical solutions of the foregoing embodiments, or that equivalents may be substituted for some of the technical features thereof. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims (9)
1. A cable arrangement control method for a winch, the winch comprising a cable storage motor and a servo motor, the cable arrangement control method comprising:
determining a signal variation according to the running state signal of the cable storage motor and the initial state signal of the cable storage motor;
determining a first control signal of the servo motor according to the signal variation;
controlling the servo motor based on the first control signal so as to enable the cable arrangement position of the winch to be within a preset range;
the initial state signal comprises a start pulse before the cable storage motor operates, the operation state signal comprises a time pulse after the cable storage motor operates, and the first control signal comprises a target pulse of the servo motor.
2. The cable routing control method according to claim 1, wherein the cable routing control method further comprises:
acquiring an angle deviation value of a cable arrangement angle of the winch;
determining a second control signal of the servo motor according to the angle deviation value and a preset angle target value;
the cable arranging control method further comprises the following steps of:
and controlling the servo motor based on the first control signal and the second control signal so as to enable the cable arrangement position and the cable arrangement angle of the winch to be within a preset range.
3. The cable arranging control method according to claim 1, wherein the determining the first control signal of the servo motor according to the signal variation is:
P M =P N ×D1×K2/（A×K1×D2）
P N= P2- P1
wherein P is M For the first control signal of the servo motor, P N For the signal variation, P1 is the initial state signal, P2 is the running state signal, D1 is the diameter of the cable of the winch, D2 is the lead of the lead screw of the winch, K1 is the reduction ratio of the cable storage motor, K2 is the reduction ratio of the servo motor, and a is the number of pulses generated by the cable storage motor and the servo motor per rotation.
4. A cable routing control device of a winch, the winch comprising a cable storage motor and a servo motor, the cable routing control device comprising:
the signal determining unit is used for determining a signal variation according to the running state signal of the cable storage motor and the initial state signal of the cable storage motor and determining a first control signal of the servo motor according to the signal variation;
the signal control unit is used for controlling the servo motor based on the first control signal so as to enable the cable arrangement position of the winch to be within a preset range;
the initial state signal comprises a start pulse before the cable storage motor operates, the operation state signal comprises a time pulse after the cable storage motor operates, and the first control signal comprises a target pulse of the servo motor.
5. The cable routing control device of claim 4, further comprising:
the angle detection unit is used for acquiring an angle deviation value of the cable arrangement angle of the winch;
the signal determining unit determines a second control signal of the servo motor according to the angle deviation value and a preset angle target value;
the signal control unit controls the servo motor based on the first control signal and the second control signal so that the cable arrangement position and the cable arrangement angle of the winch are within a preset range.
6. The cable routing control device according to claim 4, wherein the signal control unit determines, from the signal variation amount, a first control signal of the servo motor as:
P M =P N ×D1×K2/（A×K1×D2）
P N= P2- P1
wherein P is M For the first control signal of the servo motor, P N For the signal variation, P1 is the initial state signal, P2 is the running state signal, D1 is the diameter of the cable of the winch, D2 is the lead of the lead screw of the winch, K1 is the reduction ratio of the cable storage motor, K2 is the reduction ratio of the servo motor, and a is the number of pulses generated by the cable storage motor and the servo motor per rotation.
7. A winch, characterized by comprising the cable arrangement control device according to any one of claims 4 to 6.
8. A non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the cable routing control method according to any one of claims 1 to 3.
9. An electronic device, comprising:
one or more processors;
a storage means for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the cable arrangement control method as in any one of claims 1-3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310395325.3A CN116119558A (en) | 2023-04-14 | 2023-04-14 | Cable arrangement control method and device for winch, storage medium and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310395325.3A CN116119558A (en) | 2023-04-14 | 2023-04-14 | Cable arrangement control method and device for winch, storage medium and electronic equipment |
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| CN116119558A true CN116119558A (en) | 2023-05-16 |
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| CN202310395325.3A Pending CN116119558A (en) | 2023-04-14 | 2023-04-14 | Cable arrangement control method and device for winch, storage medium and electronic equipment |
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|---|---|---|---|---|
| CN102336376A (en) * | 2010-07-26 | 2012-02-01 | 上海派恩科技有限公司 | Cable taking-up/paying-off control system of hydrographic winch |
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| CN102336376A (en) * | 2010-07-26 | 2012-02-01 | 上海派恩科技有限公司 | Cable taking-up/paying-off control system of hydrographic winch |
| CN103626066A (en) * | 2013-11-25 | 2014-03-12 | 江苏科技大学 | Pitching-in-free collapse-free flexible cable arranging device |
| CN105967002A (en) * | 2016-05-24 | 2016-09-28 | 哈尔滨工程大学 | Cable take-up and pay-off system |
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