CN115432527A - Control method and device of lifting system and lifting system - Google Patents
Control method and device of lifting system and lifting system Download PDFInfo
- Publication number
- CN115432527A CN115432527A CN202211215407.7A CN202211215407A CN115432527A CN 115432527 A CN115432527 A CN 115432527A CN 202211215407 A CN202211215407 A CN 202211215407A CN 115432527 A CN115432527 A CN 115432527A
- Authority
- CN
- China
- Prior art keywords
- speed error
- speed
- determining
- traction rope
- error
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 40
- 230000008859 change Effects 0.000 claims abstract description 73
- 238000004590 computer program Methods 0.000 claims description 17
- 238000012545 processing Methods 0.000 claims description 14
- 230000001276 controlling effect Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 230000010354 integration Effects 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 238000013178 mathematical model Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
- B66B1/32—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on braking devices, e.g. acting on electrically controlled brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D5/00—Braking or detent devices characterised by application to lifting or hoisting gear, e.g. for controlling the lowering of loads
- B66D5/02—Crane, lift hoist, or winch brakes operating on drums, barrels, or ropes
- B66D5/12—Crane, lift hoist, or winch brakes operating on drums, barrels, or ropes with axial effect
- B66D5/14—Crane, lift hoist, or winch brakes operating on drums, barrels, or ropes with axial effect embodying discs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/402—Details of the change of control mode by historical, statistical or predicted traffic data, e.g. by learning
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The embodiment of the application is suitable for the technical field of elevators, and provides a control method and device of a lifting system and the lifting system, wherein the lifting system comprises a traction rope and a disc brake; the method comprises the following steps: acquiring a first speed error and a speed error change rate of a traction rope at the current moment and each historical speed error of the traction rope at each historical moment; determining a first adjusting parameter of the current running speed of the traction rope at the current moment according to the first speed error, the speed error change rate and each historical speed error; determining a second adjusting parameter of the current running speed according to the first speed error and the speed error change rate; determining a target braking torque according to the first adjusting parameter and the second adjusting parameter, and controlling the disc brake to output the target braking torque; at the target braking torque, a second speed error of the operating speed of the traction rope at the next moment is less than the first speed error. By adopting the method, the running speed of the traction rope can be stably controlled.
Description
Technical Field
The application belongs to the technical field of elevators, and particularly relates to a control method and device of a lifting system and the lifting system.
Background
Mine hoist systems are important equipment in the production of coal mines and nonferrous metal mines, and generally comprise a main hoist and an auxiliary hoist. The main hoister is used for transporting ores and waste rocks; the auxiliary elevator is used for being responsible for the transportation of the personnel in the well.
The sub-hoist generally employs a friction type hoist that can lift a container by means of a frictional force between a traction rope and a guide pulley and a gravity difference between lifting containers at both ends of the traction rope. In addition, the worker can control the lifting speed of the lifting container by controlling the braking force provided by the brake of the friction type lifting machine by using the control lever based on the lifting speed of the lifting container displayed in the speedometer of the auxiliary lifting machine.
However, the friction coefficient between the traction rope and the friction roller is easily affected by the temperature and humidity of the on-site environment, and the gravity difference between the lifting containers at both ends of the traction rope is not constant. Therefore, when the friction type hoister operates, the control effect of the lifting speed of the hoisting container completely depends on workers operating the control rod, so that the lifting speed of the hoisting container is unstable, and the safety of a mine hoisting system is reduced.
Disclosure of Invention
The embodiment of the application provides a control method, a control device and a storage medium of a lifting system, and can solve the problem that the lifting speed of a lifting container cannot be stably controlled in the prior art.
In a first aspect, embodiments of the present application provide a control method for a hoisting system, the hoisting system comprising a traction rope and a disc brake; the method comprises the following steps:
acquiring a first speed error and a speed error change rate of a traction rope at the current moment and each historical speed error of the traction rope at each historical moment;
determining a first adjusting parameter of the current running speed of the traction rope at the current moment according to the first speed error, the speed error change rate and each historical speed error;
determining a second adjusting parameter of the current running speed according to the first speed error and the speed error change rate;
determining a target braking torque according to the first adjusting parameter and the second adjusting parameter, and controlling the disc brake to output the target braking torque; at the target braking torque, a second speed error of the operating speed of the traction rope at the next moment is less than the first speed error.
In a second aspect, embodiments of the present application provide a control device for a hoisting system, where the hoisting system includes a traction rope and a disc brake; the device comprises:
the first acquisition module is used for acquiring a first speed error and a speed error change rate of the traction rope at the current moment and each historical speed error of the traction rope at each historical moment;
the first determining module is used for determining a first adjusting parameter of the current running speed of the traction rope at the current moment according to the first speed error, the speed error change rate and each historical speed error;
the second determining module is used for determining a second adjusting parameter of the current running speed of the traction rope at the current moment according to the first speed error and the speed error change rate;
the third determining module is used for determining a target braking torque to be output by the disc brake according to the first adjusting parameter and the second adjusting parameter; at the target braking torque, a second speed error of the operating speed of the traction rope at the next moment is less than the first speed error.
In a third aspect, an embodiment of the present application provides a control apparatus, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method according to the first aspect is implemented.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the method of the first aspect.
In a fifth aspect, embodiments of the present application provide a computer program product, which, when run on a control apparatus, causes the control apparatus to perform the method of the first aspect.
In a sixth aspect, embodiments of the present application provide a hoisting system comprising a tractive line, a disc brake for providing a braking torque to the tractive line, and a control device of the hoisting system as described in the second or third aspect above, the disc brake being connected to the control device.
Compared with the prior art, the embodiment of the application has the advantages that: determining a first adjusting parameter of the current running speed by processing a first speed error, a speed error change rate of the traction rope at the current moment and each historical speed error of the traction rope at each historical moment so as to compensate the first speed error, the speed error change rate and each historical speed error; the first speed error and the speed error rate of change are then processed to determine a second adjustment parameter for the current operating speed of the pull-cord at the current time to again compensate for the first speed error and the speed error rate of change. Based on the above, when the target braking torque is determined according to the first adjusting parameter and the second adjusting parameter obtained through the processing, the second speed error of the running speed of the traction rope at the next moment can be smaller than the first speed error at the previous moment, so that the running speed of the traction rope during lifting tends to be stable, and the running safety is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a lifting system according to an embodiment of the present application;
fig. 2 is a flowchart illustrating an implementation of a control method of a hoisting system according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a control device of a lifting system according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a control device of a lifting system according to another embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
At present, for the auxiliary hoist for transportation of personnel in charge of well descending, a worker usually controls the lifting speed of the lifting container by controlling the braking force provided by a disc brake in the auxiliary hoist by using a control lever according to the lifting speed of the lifting container displayed in a speedometer of the auxiliary hoist. However, the friction coefficient between the traction rope and the guide pulley is easily affected by the temperature and humidity of the on-site environment, and the gravity difference between the hoist cases at both ends of the traction rope is not constant. Therefore, when the auxiliary hoist is operated, the control effect of the lifting speed of the lifting container is completely dependent on the staff operating the control lever.
However, the worker usually determines the braking force required to be provided by the disc brake based on the working experience, so that the braking force generated by the disc brake is not reasonable, the lifting speed of the lifting container is unstable, and the safety of the mine lifting system is reduced.
Based on this, in order to reasonably provide a braking force according to the actual operation condition of the lifting container, reduce the speed error when the lifting container is lifted, and improve the stability of the speed when the lifting container is lifted, the embodiment of the application provides a control method of a lifting system, and the method can be used in a control device of the lifting system.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a lifting system according to an embodiment of the present disclosure. Therein, the lifting system 100 comprises a lifting vessel 110 and a control device 120, wherein the lifting vessel 110 is connected with the control device 120 for performing the individual steps in the subsequent method embodiments.
Specifically, the lifting system further comprises a traction rope, a guide wheel, a disc brake and the like. Wherein, the both ends of haulage rope are connected with the promotion container respectively. The disc brake is used for driving the traction rope to move on the guide wheel. Specifically, the disc brake comprises a brake disc, an oil cavity and a brake shoe. Wherein, the oil cavity is connected with the brake shoe; the disc brake pushes the brake shoe to generate pressure on the brake disc by adjusting the oil quantity in the oil cavity; the brake disc is used for driving the haulage rope according to pressure to make the haulage rope move on the leading wheel, and then drive the promotion container lift at haulage rope both ends.
Referring to fig. 2, fig. 2 is a flowchart illustrating an implementation of a control method of a hoisting system according to an embodiment of the present application, where the method includes the following steps:
s101, obtaining a first speed error and a speed error change rate of a traction rope at the current moment and historical speed errors of the traction rope at various historical moments.
In an embodiment, since the two ends of the pulling rope are usually connected to the lifting container respectively, the current running speed can be acquired by a speed measuring sensor arranged in the lifting container and then acquired from the testing sensor. In another embodiment the current running speed of the traction rope is also related to the rotational speed of the guide pulley, and thus the current running speed can also be determined by monitoring the rotational speed of the guide pulley. In this embodiment, the manner of obtaining the current running speed of the traction rope is not limited.
In an embodiment, the first speed error is a difference between a current running speed and a preset target speed. The first speed error change rate can be used for representing an error change relation between the current running speed of the traction rope at the current moment and the historical running speed of the traction rope at the previous moment. The historical speed error is a difference value between the running speed of the traction rope at the historical moment and the target speed. The historical speed errors may be the same or different, and are not limited.
Specifically, the hoisting system may calculate a target difference between a first speed error at a current time and a historical speed error at a previous time; then, determining the ratio of the target difference to a preset interval duration as a first speed error change rate; the preset interval duration is the interval duration between the current time and the previous time.
For example, if the interval durations are consistent, the historical speed error at the previous historical time is 0.5, and the first speed error at the current time is 0.4, the speed error change rate at the current time is 0.1 in the unit interval duration. Thus, the lift system may determine that the speed error at the next time may be 0.3.
If the first speed error change rate is a negative value, that is, the first speed error at the current moment is smaller than the historical speed error at the previous moment, it indicates that the current running speed is closer to the target speed.
The control device can acquire the current running speed in real time, and further acquire the first speed error and the speed error change rate.
S202, determining a first adjusting parameter of the current running speed of the traction rope at the current moment according to the first speed error, the speed error change rate and each historical speed error.
In an embodiment, the first adjustment parameter is a parameter for compensating the first speed error, the speed error change rate and each historical speed error, and is a first compensation value K for compensating the first speed error P (ii) a Second compensation value K for compensating each historical speed error I (ii) a And a third compensation value K for compensating the speed error change rate D 。
Specifically, the lifting system may determine a product of the first speed error and a first preset weight as the first compensation value. The first preset weight may be set according to an actual situation, which is not limited herein. The first compensation value is used to compensate for the first speed error at the current time.
Specifically, the lifting system can perform summation operation on all historical speed errors to obtain the accumulated error of the traction rope; and then, performing integration processing on the accumulated error, and determining the product of the accumulated error subjected to integration processing and a second preset weight as a second compensation value.
The integration processing of the accumulated error is specifically to perform integration processing of the accumulated error and time. In an ideal state, the time difference between the current time and the previous or next historical time is generally equal, and therefore, the time difference can be regarded as one unit time. Based on this, the lifting system may directly determine an accumulated error obtained by summing all historical speed errors as an integral value. And then, calculating the product of the integral value and the second preset weight to obtain a second compensation value.
In other embodiments, if the time difference is not regarded as a unit time, the lifting system may further perform integration processing on each historical speed error through the following formula to obtain a second compensation value:
wherein, K I The first compensation value is a first preset weight, ki is a first preset weight, t is the current moment, and τ is an integral variable (from the initial moment 0 to the current moment t); e (τ) is the historical speed error at time τ.
And the control means may determine a product of the speed error change rate and a third preset weight as a third compensation value. The third preset weight may be set according to an actual situation, which is not limited herein.
Then, the control device may determine the first compensation value, the second compensation value, and the third compensation value as the first adjustment parameter.
And S203, determining a second adjusting parameter of the current running speed according to the first speed error and the speed error change rate.
In application, the second adjustment parameter is determined only according to the first speed error and the speed error change rate, and the adjustment capability of the second adjustment parameter to the current operating speed can be considered to be lower than the adjustment capability of the first adjustment parameter to the current operating speed. Wherein the second adjusting parameter also comprises the three parameters K p 、K I 、K D 。
Specifically, the control device may determine a target error membership degree interval corresponding to the first speed error according to a first fuzzy relationship between the preset speed error and the preset error membership degree interval; then, according to a second fuzzy relation between the preset speed error change rate and a preset change rate membership degree interval, determining a target change rate membership degree interval corresponding to the first speed error change rate; and finally, determining a second adjusting parameter corresponding to the target error membership degree interval and the target change rate membership degree interval according to the association relationship among the preset error membership degree interval, the preset change rate membership degree interval and the preset adjusting parameters.
The first fuzzy relation between the preset speed error and the preset error membership degree interval can be preset according to actual conditions, and is not limited. For example, the preset error membership degree interval and the preset change rate membership degree interval may be divided into a positive value membership degree interval, a 0 value membership degree interval and a negative value membership degree interval.
The reason why the first speed error is evaluated by using the first fuzzy relation is as follows: the method is an effective multi-factor decision-making method for comprehensively evaluating things (the running speed of the traction rope) influenced by various factors (such as the temperature and the humidity of the environment, the friction coefficient between the guide wheel and the traction rope and the like). The method is characterized in that the evaluation result is not absolutely positive or negative, but is represented by a fuzzy set. Therefore, when the running speed of the traction rope is not in a linear relation with the multiple factors, or the running speed of the traction rope cannot establish an accurate mathematical model with the multiple factors, the fuzzy relation can be adopted to represent the relation between the running speed and the multiple factors.
Specifically, for the three membership degrees, the first fuzzy relations between the three membership degrees and the preset speed error are as follows:
the first fuzzy relation between the preset speed error and the positive value membership degree interval in the preset error membership degree interval is as follows:
the PB is a positive value membership degree interval in the preset error membership degree interval; e1 is a preset constant.
The first fuzzy relation between the preset speed error and the 0 value membership degree interval in the preset error membership degree interval is as follows:
wherein ZO is a 0 value membership degree interval in the preset error membership degree interval; e1 is a preset constant.
The first fuzzy relation between the preset speed error and the negative value membership degree interval in the preset error membership degree interval is as follows:
wherein, NB is a negative value membership degree interval in the preset error membership degree interval; e1 is a preset constant.
In an embodiment, the e1 may be set according to actual situations, and is not limited thereto. Illustratively, the value computed for each function needs to be between 0-1 at the end. Therefore, e1 may be 0.5, and the above calculation may be performed.
It should be noted that, for the above multiple membership degree intervals, for each first speed error, it may first determine a numerical value corresponding to each preset error membership degree interval according to the above formula, and finally determine a final target error membership degree interval.
Specifically, the lifting system determines a corresponding first interval value of the first speed error in a positive value membership range according to a first fuzzy relation between a preset speed error and the positive value membership range; determining a second interval value corresponding to the first speed error in the 0-value membership interval according to a first fuzzy relation between a preset speed error and the 0-value membership interval; determining a third interval value corresponding to the first speed error in the negative value membership interval according to a first fuzzy relation between a preset speed error and the negative value membership interval; and then, determining a membership degree interval corresponding to the maximum value in the first interval value, the second interval value and the third interval value as a target error membership degree interval.
In one embodiment, the first interval value is a value obtained by inputting the first speed error into a function corresponding to a positive value membership interval. And determining a function corresponding to the positive value membership range according to the relation between the first speed error and a preset constant e1. Similarly, the calculation formula corresponding to the second interval value and the third interval value is similar to the calculation formula corresponding to the first interval value.
For example, when the first speed error change rate E is 1, for the fuzzy relationship between the preset speed error and the positive value membership range in the error membership range, it may be determined that E is greater than E1 and less than 3E1. Therefore, when E1 and E are input to the calculation formula corresponding to the positive value membership degree section, it can be obtained that the output value corresponding to PB should be 15/16.
Based on the above example, it can be determined that the output values thereof respectively corresponding to the 0-value membership degree zone ZO should be 1/16. The corresponding output value in the negative membership degree interval NB should be 0. Then, for the three numerical values, PB corresponding to 15/16 may be determined as the first error membership degree section. The above numerical values are only one example, and are not limited thereto.
In an embodiment, the second fuzzy relation between the predetermined speed error change rate and the predetermined change rate membership range may be as follows: the first fuzzy relation between the preset speed error and the preset error membership degree interval is similar, and this is not described in detail. That is, the preset change rate membership degree interval may be divided into a positive value membership degree interval, a 0 value membership degree interval, and a negative value membership degree interval.
It should be noted that the difference between the preset change rate membership degree interval and the preset error membership degree interval is that corresponding formulas are different, and the formula corresponding to the preset change rate membership degree interval may be set according to actual conditions, which is not described in detail.
In one embodiment, the relationship between the preset error membership range, the preset change rate membership range and the preset adjustment parameter may be as shown in table 1 below:
table 1:
as shown in table 1 above, the relationship is the correlation between the preset error membership range, the preset change rate membership range and the preset adjustment parameter.
Wherein, in each cell corresponding to the second adjustment parameter, Δ K is sequentially arranged from left to right p 、ΔK I And Δ K D The fuzzy control rules correspond to each other, that is, 9 fuzzy control rules are provided.
For example: IF (E is NB) AND (EC is NB), THEN (Δ K) p ＝PB)(ΔK I ＝NB)(ΔK D = PB); if the target error membership degree interval belongs to NB and the target change rate membership degree interval belongs to NB, the delta K in the second adjusting parameter p Is PB, Δ K I Is NB and Δ K D Is PB. Wherein PB, NB and ZO are membership degree intervals. Therefore, specific adjustment parameters are also determined. For example, Δ K is determined according to a value corresponding to a preset PB p (ii) a Determining delta K according to a preset numerical value corresponding to NB I (ii) a And determining delta K according to the preset value corresponding to NB D 。
The numerical value of each second adjustment parameter (PB/ZO/NB) in each membership degree interval may be set in advance according to an actual situation, and is not limited thereto.
Based on the above description, when determining the second adjustment parameter, firstly, fuzzifying the first speed error and the first speed error change rate according to the first fuzzy relation and the second fuzzy relation; and then, performing ambiguity resolution according to the preset error membership degree interval, the preset change rate membership degree interval and the incidence relation among the preset adjusting parameters to obtain specific second adjusting parameters. Based on the above, when the running speed of the hauling rope is not in a linear relation with the above factors, or the running speed of the hauling rope cannot establish an accurate mathematical model with the above factors, the current running speed can be adjusted by adopting the above method. Therefore, on the basis of reducing the error of the running speed of the traction rope, an accurate mathematical model does not need to be established.
S204, determining a target braking torque according to the first adjusting parameter and the second adjusting parameter, and controlling the disc brake to output the target braking torque; at the target braking torque, a second speed error of the operating speed of the traction rope at the next moment is less than the first speed error.
In application, the control device can adjust the braking torque output by the disc brake at the current moment according to the first adjusting parameter and the second adjusting parameter, so that the braking torque output by the disc brake at the next moment is the target braking torque. Further, the running speed of the traction rope at the next time can be adjusted.
Specifically, the control device can determine a total compensation value of the traction rope according to a first adjusting parameter and a second adjusting parameter; and then, determining the sum of the total compensation value and the braking torque output by the disc brake at the current moment as the target braking torque.
When calculating the total compensation value, the product of the second adjustment parameter and the target preset weight may be calculated first; the sum of the product and the first control variable is then determined as the total compensation value.
It should be noted that, when the first adjustment parameter and the second adjustment parameter are both the above three parameters, for example, the first adjustment parameter includes K P 、K I And K D (ii) a The second regulating parameter is Δ K P 、ΔK I And Δ K D . Thereafter, each second manipulated variable (Δ K) can be calculated separately P 、ΔK I And Δ K D ) Product with a target preset weight. Then, each product is associated with a corresponding first control parameter (K) P 、K I And K D ) The sum is determined as the total compensation value.
For example, let Δ K P With a predetermined weight of the targetProduct of, and K P Adding to obtain a P value in the total compensation value; will delta K I Product of the target preset weight and K I Adding to obtain an I value in the total compensation value; will delta K D Product of the target preset weight and K D And adding to obtain the D value in the total compensation value. And then, determining a total compensation value according to the P value, the I value and the D value. And then, summing the sum of the P value, the I value and the D value with the braking torque at the current moment to obtain the target braking torque.
In an embodiment, the target predetermined weight may have a value of 1. However, since the second adjustment parameter is a parameter obtained by the blurring process, the accuracy of the second adjustment parameter may be low. Therefore, when calculating the total compensation value, its target preset weight is usually lower than 1.
In one embodiment, a first adjusting parameter of the current running speed is determined by processing a first speed error, a speed error change rate of the traction rope at the current moment and each historical speed error of the traction rope at each historical moment, so as to compensate the first speed error, the speed error change rate and each historical speed error; the first speed error and the speed error rate of change are then processed to determine a second adjustment parameter for the current operating speed of the pull-cord at the current time to again compensate for the first speed error and the speed error rate of change. Based on the above, when the target braking torque is determined according to the first adjusting parameter and the second adjusting parameter obtained through the processing, the second speed error of the running speed of the traction rope at the next moment can be smaller than the first speed error at the previous moment, so that the running speed of the traction rope during lifting tends to be stable, and the running safety is improved.
In another embodiment, after the current running speed of the traction rope at the current moment is acquired, if the current running speed is detected to be greater than the preset critical speed, it indicates that the lifting system may be in failure, and therefore, the control device may directly control the disc brake to stop outputting the braking torque, so as to preferentially ensure the safety of the person riding the lifting container.
For example, the operating speed of the traction ropes is typically 0 to 1m/s during normal operation of the hoisting system. However, in order to ensure stable operation of the traction rope, the above-mentioned preset critical speed may be set to 0.8m/s.
In another embodiment, if a hoist container coupled to a pull-cord in the hoist system has reached the target position, it indicates that the hoist system has completed one lift. Therefore, the control device can control the disc-shaped brake to stop outputting the braking torque. Similarly, if the lifting container does not reach the target position, it indicates that the lifting system has not completed one lifting, and therefore, the control device needs to control the disc brake to output the target braking torque until the lifting container reaches the target position.
Referring to fig. 3, fig. 3 is a block diagram of a control device of a hoisting system according to an embodiment of the present disclosure. The control device of the lifting system in this embodiment includes modules for executing the steps in the embodiment corresponding to fig. 2. Please refer to fig. 2 and the related description of the embodiment corresponding to fig. 2. For convenience of explanation, only the portions related to the present embodiment are shown. Wherein the hoisting system comprises a traction rope and a disc brake, see fig. 3, the control means 300 of the hoisting system may comprise: a first obtaining module 310, a first determining module 320, a second determining module 330, and a third determining module 340, wherein:
the first obtaining module 310 is configured to obtain a first speed error of the traction rope at a current time, a speed error change rate, and historical speed errors of the traction rope at each historical time.
The first determining module 320 is configured to determine a first adjustment parameter of a current operating speed of the traction rope at the current moment according to the first speed error, the speed error change rate, and each historical speed error.
And a second determining module 330, configured to determine a second adjusting parameter of the current operating speed at the current time according to the first speed error and the speed error change rate.
A third determining module 340, configured to determine a target braking torque to be output by the disc brake according to the first adjusting parameter and the second adjusting parameter; at the target braking torque, a second speed error of the operating speed of the traction rope at the next instant is smaller than the first speed error.
In an embodiment, the first determining module 320 is further configured to:
determining a product of the first speed error and a first preset weight as a first compensation value; calculating accumulated errors of all historical speed errors, performing integral processing on the accumulated errors, and determining the product of the accumulated errors after integral processing and a second preset weight as a second compensation value; determining a product of the speed error change rate and a third preset weight as a third compensation value; and determining the first compensation value, the second compensation value and the third compensation value as the first adjusting parameter.
In an embodiment, the second determining module 330 is further configured to:
determining a target error membership range corresponding to the first speed error according to a first fuzzy relation between the preset speed error and the preset error membership range; determining a target change rate membership degree interval corresponding to the first speed error change rate according to a second fuzzy relation between the preset speed error change rate and the preset change rate membership degree interval; and determining a second adjusting parameter corresponding to the target error membership degree interval and the target change rate membership degree interval according to the association relation among the preset error membership degree interval, the preset change rate membership degree interval and the preset adjusting parameters.
In an embodiment, the third determining module 340 is further configured to:
determining a total compensation value of the traction rope according to the first adjusting parameter and the second adjusting parameter; and determining the sum of the total compensation value and the braking torque output by the disc brake at the current moment as a target braking torque.
In an embodiment, the third determining module 340 is further configured to:
calculating the product of the second adjusting parameter and the target preset weight; the sum of the product and the first adjustment parameter is determined as the total compensation value.
In one embodiment, the control device 300 further comprises:
and the first stopping module is used for controlling the disc-shaped brake to stop outputting the braking torque if the current running speed is greater than the preset critical speed.
In one embodiment, the control device 300 further comprises:
and the second stopping module is used for controlling the disc-shaped brake to stop outputting the braking torque if a lifting container connected with the traction rope in the lifting system reaches a target position.
In an embodiment, the third determining module 340 is further configured to: and if the lifting container does not reach the target position, controlling the disc brake to output the target braking torque.
It should be understood that, in the structural block diagram of the control device of the hoisting system shown in fig. 3, each module is used to execute each step in the embodiment corresponding to fig. 2, and each step in the embodiment corresponding to fig. 2 has been explained in detail in the above embodiment, and please refer to fig. 2 and the related description in the embodiment corresponding to fig. 2 specifically, which is not repeated herein.
Fig. 4 is a block diagram of a control device of a hoist system according to another embodiment of the present disclosure. As shown in fig. 4, the control device 400 of this embodiment includes: a processor 410, a memory 420, and a computer program 430, such as a program for a control method of a lift system, stored in the memory 420 and executable on the processor 410. The processor 410 executes the computer program 430 to implement the steps in the embodiments of the control method of each lifting system described above, such as S201 to S204 shown in fig. 2. Alternatively, the processor 410, when executing the computer program 430, implements the functions of the modules in the embodiment corresponding to fig. 3, for example, the functions of the modules 310 to 340 shown in fig. 3, and refer to the related description in the embodiment corresponding to fig. 3.
Illustratively, the computer program 430 may be divided into one or more modules, and the one or more modules are stored in the memory 420 and executed by the processor 410 to implement the control method of the lifting system provided by the embodiment of the present application. One or more of the modules may be a series of computer program instruction segments capable of performing specific functions that are used to describe the execution of the computer program 430 in the control device 400. For example, the computer program 430 may implement the control method of the hoisting system provided in the embodiment of the present application.
The control device 400 may include, but is not limited to, a processor 410, a memory 420. It will be understood by those skilled in the art that fig. 4 is merely an example of the control apparatus 400, and does not constitute a limitation of the control apparatus 400, and may include more or less components than those shown, or combine some components, or different components, for example, the control apparatus may further include input and output devices, network access devices, buses, and the like.
The processor 410 may be a central processing unit, but may also be other general purpose processors, digital signal processors, application specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 420 may be an internal storage unit of the control device 400, such as a hard disk or a memory of the control device 400. The memory 420 may also be an external storage device of the control apparatus 400, such as a plug-in hard disk, a smart memory card, a flash memory card, etc. provided on the control apparatus 400. Further, the memory 420 may also include both an internal storage unit of the control apparatus 400 and an external storage device.
The embodiment of the present application provides a computer-readable storage medium, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method for controlling a hoisting system as in the above embodiments is implemented.
Embodiments of the present application provide a computer program product, which when running on a control device, causes the control device to execute the control method of the hoisting system in the above embodiments.
Embodiments of the present application provide a hoisting system comprising a hoisting rope, a disc brake for providing a braking torque to the hoisting rope, and a control device of the hoisting system as in the previous embodiments, the disc brake being connected to the control device.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A method of controlling a hoisting system, characterized in that the hoisting system comprises a traction rope and a disc brake; the method comprises the following steps:
acquiring a first speed error and a speed error change rate of the traction rope at the current moment and each historical speed error of the traction rope at each historical moment;
determining a first adjusting parameter of the current running speed of the traction rope at the current moment according to the first speed error, the speed error change rate and each historical speed error;
determining a second adjusting parameter of the current running speed according to the first speed error and the speed error change rate;
determining a target braking torque according to the first adjusting parameter and the second adjusting parameter, and controlling the disc brake to output the target braking torque; and at the target braking torque, a second speed error of the running speed of the traction rope at the next moment is smaller than the first speed error.
2. The method of claim 1, wherein said determining a first adjustment parameter for a current operating speed of the tractive line at the current time based on the first speed error, the rate of change of speed error, and each of the historical speed errors comprises:
determining a product of the first speed error and a first preset weight as a first compensation value;
calculating accumulated errors of all the historical speed errors, performing integral processing on the accumulated errors, and determining the product of the accumulated errors after integral processing and a second preset weight as a second compensation value;
determining a product of the speed error change rate and a third preset weight as a third compensation value;
determining the first compensation value, the second compensation value, and the third compensation value as the first adjustment parameter.
3. The method of claim 1, wherein said determining a second adjustment parameter for the current operating speed at the current time based on the first speed error and the rate of change of speed error comprises:
determining a target error membership range corresponding to a first speed error according to a first fuzzy relation between a preset speed error and a preset error membership range;
determining a target change rate membership degree interval corresponding to the first speed error change rate according to a second fuzzy relation between a preset speed error change rate and a preset change rate membership degree interval;
and determining the target error membership degree interval and the second adjusting parameter corresponding to the target change rate membership degree interval according to the incidence relation among the preset error membership degree interval, the preset change rate membership degree interval and the preset adjusting parameter.
4. The method of claim 1, wherein determining a target braking torque based on the first and second tuning parameters comprises:
determining a total compensation value of the traction rope according to the first adjusting parameter and the second adjusting parameter;
and determining the sum of the total compensation value and the braking torque output by the disc brake at the current moment as the target braking torque.
5. The method of claim 4, wherein said determining a total compensation value for the traction rope based on the first and second adjustment parameters comprises:
calculating the product of the second adjusting parameter and a target preset weight;
determining a sum of the product and the first adjustment parameter as the total compensation value.
6. The method according to any one of claims 1-5, further comprising:
and if the current running speed is greater than the preset critical speed, controlling the disc brake to stop outputting the braking torque.
7. The method according to any one of claims 1-5, further comprising:
if a lifting container connected with the traction rope in the lifting system reaches a target position, controlling the disc brake to stop outputting brake torque;
the controlling the disc brake to output the target braking torque includes:
and if the lifting container does not reach the target position, controlling the disc brake to output the target braking torque.
8. Control arrangement for a hoisting system, characterized in that the hoisting system comprises a traction rope and a disc brake; the device comprises:
the first obtaining module is used for obtaining a first speed error and a speed error change rate of the traction rope at the current moment and each historical speed error of the traction rope at each historical moment;
the first determining module is used for determining a first adjusting parameter of the current running speed of the traction rope at the current moment according to the first speed error, the speed error change rate and each historical speed error;
the second determining module is used for determining a second adjusting parameter of the current running speed of the traction rope at the current moment according to the first speed error and the speed error change rate;
the third determining module is used for determining a target braking torque to be output by the disc brake according to the first adjusting parameter and the second adjusting parameter; and at the target braking torque, a second speed error of the running speed of the traction rope at the next moment is smaller than the first speed error.
9. A control device of a hoisting system comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any one of claims 1 to 7 when executing the computer program.
10. A hoisting system comprising a traction rope, a disc brake for providing a braking torque to the traction rope, and a control device of the hoisting system as claimed in claim 8 or 9, the disc brake being connected to the control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211215407.7A CN115432527B (en) | 2022-09-30 | 2022-09-30 | Control method and device of lifting system and lifting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211215407.7A CN115432527B (en) | 2022-09-30 | 2022-09-30 | Control method and device of lifting system and lifting system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115432527A true CN115432527A (en) | 2022-12-06 |
| CN115432527B CN115432527B (en) | 2024-04-05 |
Family
ID=84250699
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211215407.7A Active CN115432527B (en) | 2022-09-30 | 2022-09-30 | Control method and device of lifting system and lifting system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115432527B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118646306A (en) * | 2024-08-13 | 2024-09-13 | 西安西部可静机电设备科技有限公司 | Motor drive control method and system for PC steel bar production line |
| CN119873538A (en) * | 2025-03-24 | 2025-04-25 | 洛阳九亿重工集团有限公司 | Intelligent safety control method and system for mine hoist |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102209677A (en) * | 2008-11-12 | 2011-10-05 | 三菱电机株式会社 | Elevator control apparatus |
| CN102621892A (en) * | 2012-04-06 | 2012-08-01 | 杭州电子科技大学 | Control method of speed regulator of servo system of flat knitting machine |
| US20150107556A1 (en) * | 2012-04-05 | 2015-04-23 | Scania Cv Ab | Method and system for control of at least a speed regulator |
| CN104932268A (en) * | 2015-06-08 | 2015-09-23 | 武汉理工大学 | Fuzzy PID based automobile cruise control system |
| CN108249238A (en) * | 2018-01-11 | 2018-07-06 | 深圳市英威腾电气股份有限公司 | A kind of elevator is without detent torque compensation method, the apparatus and system of weighing |
| US20180229976A1 (en) * | 2017-02-14 | 2018-08-16 | Kabushiki Kaisha Kobe Seiko Sho (Kobe Steel, Ltd.) | Winch control apparatus and crane |
| CN110533182A (en) * | 2019-08-01 | 2019-12-03 | 北京三快在线科技有限公司 | A kind of data processing method and device |
| CN111016679A (en) * | 2019-11-28 | 2020-04-17 | 珠海格力电器股份有限公司 | Automobile control method and device, storage medium and automobile |
| CN111173628A (en) * | 2019-07-29 | 2020-05-19 | 中国第一汽车股份有限公司 | Engine rotating speed control method and system and vehicle |
| CN111513839A (en) * | 2020-04-30 | 2020-08-11 | 湖南菁益医疗科技有限公司 | Electrosurgical system and control method |
| CN113357036A (en) * | 2021-07-27 | 2021-09-07 | 潍柴动力股份有限公司 | Engine rotating speed adjusting method and device |
| CN113431767A (en) * | 2021-07-30 | 2021-09-24 | 深圳市中金岭南有色金属股份有限公司凡口铅锌矿 | Operation control method and device for hollow press in mine, terminal equipment and medium |
| CN113651239A (en) * | 2021-07-15 | 2021-11-16 | 深圳市海浦蒙特科技有限公司 | A speed adjustment method, device and equipment for a crane system |
| CN114852868A (en) * | 2022-04-29 | 2022-08-05 | 中联重科股份有限公司 | Control method, controller, device and crane for crane boom |
-
2022
- 2022-09-30 CN CN202211215407.7A patent/CN115432527B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102209677A (en) * | 2008-11-12 | 2011-10-05 | 三菱电机株式会社 | Elevator control apparatus |
| US20150107556A1 (en) * | 2012-04-05 | 2015-04-23 | Scania Cv Ab | Method and system for control of at least a speed regulator |
| CN102621892A (en) * | 2012-04-06 | 2012-08-01 | 杭州电子科技大学 | Control method of speed regulator of servo system of flat knitting machine |
| CN104932268A (en) * | 2015-06-08 | 2015-09-23 | 武汉理工大学 | Fuzzy PID based automobile cruise control system |
| US20180229976A1 (en) * | 2017-02-14 | 2018-08-16 | Kabushiki Kaisha Kobe Seiko Sho (Kobe Steel, Ltd.) | Winch control apparatus and crane |
| CN108249238A (en) * | 2018-01-11 | 2018-07-06 | 深圳市英威腾电气股份有限公司 | A kind of elevator is without detent torque compensation method, the apparatus and system of weighing |
| CN111173628A (en) * | 2019-07-29 | 2020-05-19 | 中国第一汽车股份有限公司 | Engine rotating speed control method and system and vehicle |
| CN110533182A (en) * | 2019-08-01 | 2019-12-03 | 北京三快在线科技有限公司 | A kind of data processing method and device |
| CN111016679A (en) * | 2019-11-28 | 2020-04-17 | 珠海格力电器股份有限公司 | Automobile control method and device, storage medium and automobile |
| CN111513839A (en) * | 2020-04-30 | 2020-08-11 | 湖南菁益医疗科技有限公司 | Electrosurgical system and control method |
| CN113651239A (en) * | 2021-07-15 | 2021-11-16 | 深圳市海浦蒙特科技有限公司 | A speed adjustment method, device and equipment for a crane system |
| CN113357036A (en) * | 2021-07-27 | 2021-09-07 | 潍柴动力股份有限公司 | Engine rotating speed adjusting method and device |
| CN113431767A (en) * | 2021-07-30 | 2021-09-24 | 深圳市中金岭南有色金属股份有限公司凡口铅锌矿 | Operation control method and device for hollow press in mine, terminal equipment and medium |
| CN114852868A (en) * | 2022-04-29 | 2022-08-05 | 中联重科股份有限公司 | Control method, controller, device and crane for crane boom |
Non-Patent Citations (2)
| Title |
|---|
| 尹月卿;王孝红;: "模糊PID在加气砼配料过程中的应用", 济南大学学报(自然科学版), vol. 1, no. 02, pages 169 - 144 * |
| 李士勇: "《智能控制系统及其应用第2版》", vol. 1, 中国科学技术大学出版社, pages: 169 - 144 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118646306A (en) * | 2024-08-13 | 2024-09-13 | 西安西部可静机电设备科技有限公司 | Motor drive control method and system for PC steel bar production line |
| CN119873538A (en) * | 2025-03-24 | 2025-04-25 | 洛阳九亿重工集团有限公司 | Intelligent safety control method and system for mine hoist |
| CN119873538B (en) * | 2025-03-24 | 2025-06-03 | 洛阳九亿重工集团有限公司 | Intelligent safety control method and system for mine hoist |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115432527B (en) | 2024-04-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7971688B2 (en) | Adjustment of transport system parameters using a power model | |
| CN115432527A (en) | Control method and device of lifting system and lifting system | |
| CN107487717B (en) | Intelligent swing-proof control system of crane and method based on fuzzy-adaptation PID control | |
| CN104176576B (en) | Attached elevator with safety device | |
| AU2018233055B2 (en) | Control system and control method for rotary car dumpers | |
| US6488128B1 (en) | Integrated shaft sensor for load measurement and torque control in elevators and escalators | |
| CN111807169B (en) | Real-time monitoring method for load rate of elevator | |
| CN115594057A (en) | Speed control method, device and system for hoisting system | |
| JP5334985B2 (en) | Elevator control device | |
| CN107614409A (en) | Elevator device, control method thereof, and remote state judging device for elevator | |
| DE112014005549T5 (en) | Elevator installation and method for its control | |
| CN108792954B (en) | Bridge type ship unloader grabs amount control method | |
| CN109890740A (en) | The bearing calibration of lift appliance and scale device | |
| CN115594056B (en) | Method, device and system for controlling speed of lifting container | |
| CN115594058B (en) | Braking torque control method, device and system of lifting system | |
| CN105016161B (en) | Elevator braking force detection device and method | |
| EP4313829B1 (en) | Method and system for estimating rope slip in an elevator system | |
| CN115490100A (en) | Control method, device and system of lifting system | |
| CN104828665B (en) | A kind of double load capacity scene electrical inspection methods of friction type winder system | |
| US20230150794A1 (en) | Drive system and method for controlling a drive system | |
| US20210284487A1 (en) | Devices, methods and computer programs for monitoring, processing and adjusting an elevator emergency stopping event | |
| CN110422716B (en) | Automatic detection method for weighing-free starting time of elevator | |
| CN117545706A (en) | Method for adapting the counterweight of an elevator installation | |
| RU147927U1 (en) | TAPE CONVEYOR | |
| KR102805885B1 (en) | Control and Measurement Method of Slab Width Using Encoder |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |