CN101865745A - Method for measuring tension of cable of multi-cavity hydraulic motor-driven cable towing machine - Google Patents
Method for measuring tension of cable of multi-cavity hydraulic motor-driven cable towing machine Download PDFInfo
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Abstract
The invention discloses a method for measuring the tension of a cable of a multi-cavity hydraulic motor-driven cable towing machine, which sequentially comprises the following steps of: drawing the rated angle rotation speed relationship line of each work cavity in a hydraulic motor in a coordinate system; arranging a pressure sensor, a coder and a rotation speed sensor at a position to be measured; computing the work pressure, the deviating angle and the motor rotation speed of the hydraulic motor according to a pressure signal, an angle signal and a rotation speed signal which are transmitted by the sensor to obtain a real-time angle rotation speed point; comparing the angle rotation speed point with the rated angle rotation speed relationship line to ensure the work cavity of the motor, so as to ensure the motor output torque and the rotary drum output torque; and measuring the force arm of the cable relative to the center of the rotary drum to obtain the tension of the cable of the cable towing machine. The method has wider application range, is particularly suitable for a field which is difficult to arrange the sensor, is easily controlled and has high accuracy.
Description
Technical field
The present invention relates to a kind of measuring method of cable tension, relate in particular to a kind of measuring method of towing winch cable tension of multi-cavity hydraulic motor driving, specifically be adapted to the measurement of the towing winch cable tension of three chamber fluid motor-driven.
Background technology
In industrial application, the normal operation of a large industry equipment often has a plurality of process variables to need to measure, present measuring method mainly is that various process variable sensors are installed on parts to be measured, and the transducing signal that sends by various sensors is measured required process variable then.
A plurality of process variables that normally have too of oceanographic engineering need to measure, and towing winch is as a kind of large-scale towing apparatus, and it is bringing into play enormous function in the traction field of oceanographic engineering.In the towing winch traction course of work, each characteristic quantity of how measuring towing winch comprehensively and accurately is directly connected to ship and operating personnel's safety.Wherein, directly be connected, so the measurement of cable tension seems particularly important owing to hawser with the traction ship.But in the towing winch course of work, hawser one end is wrapped on the towing winch cylinder, the other end links to each other with towing apparatus, and be in the course of work of take-up or cable laying always, this duty make can't be on hawser the installation process quantity sensor, directly record the tension force of hawser as pulling force sensor, this shows, in this occasion that is difficult for sensor installation, above-mentioned traditional measuring method obviously is difficult to satisfy need of work.
The Chinese patent Granted publication number is CN1138133C; Granted publication day is the method that the patent of invention on February 11st, 2004 discloses a kind of rotatable cantilevered dynamometer and measuring cable rope tension thereof; the method of rotatable cantilevered dynamometer of this kind and measuring cable rope tension thereof belongs to ocean engineering model test field; it is made up of device for measuring force, protective device and data processing equipment; sensing chip in this invention does not contact with the external world; better to measurement environment adaptability; the direction of force plate is adjustable, and data are handled automatically.Though simple to operate in the time of should inventing measurement, can reduce labour intensity, its accommodation is narrower, and is stronger to the dependence of sensor, is not suitable for the occasion that is difficult for sensor installation, can't be applied to the measurement of above-mentioned towing winch hawser pull.
Summary of the invention
The objective of the invention is to overcome the accommodation that exists in the prior art narrower, be not suitable for the defective and the problem that are difficult for the sensor installation occasion, the measuring method that a kind of accommodation is wide, be applicable to the towing winch cable tension that the multi-cavity hydraulic motor that is difficult for the sensor installation occasion drives is provided.
For realizing above purpose, technical solution of the present invention is: the measuring method of the towing winch cable tension that a kind of multi-cavity hydraulic motor drives, and this measuring method may further comprise the steps successively:
The first step: set up a coordinate system earlier, the horizontal ordinate of this coordinate system is a motor rotary speed, and unit is rev/min, and ordinate is the handle deviation angle, and unit draws out the specified angle rotation speed relation line of each working chamber in the multi-cavity hydraulic motor then for degree in coordinate system;
The corresponding respectively pressure transducer that is used to measure the oil motor working pressure, the absolute value rotary encoder and the speed probe that is used to measure the towing winch drum rotation speed that is used to measure oil motor operating grip deviation angle installed on oil motor pumping plant, oil motor operating grip and towing winch cylinder again;
Second step: calculate the working pressure P of oil motor, the deviation angle y of oil motor operating grip and the drum rotation speed of towing winch cylinder according to the pressure signal that transmits respectively on above-mentioned pressure transducer, scrambler and the speed probe, angle signal and tach signal earlier, drum rotation speed and overall ratio i according to the towing winch cylinder calculates motor rotary speed x again, mark the angle rotating speed point of this moment then in above-mentioned coordinate system, the horizontal ordinate of this point is that x, ordinate are y; Described x is a motor rotary speed, and unit is rev/min; Y is a deviation angle, and unit is degree; I is the overall ratio of towing winch cylinder;
The 3rd step: earlier the specified angle rotation speed relation line of each working chamber in above-mentioned angle rotating speed point that marks and the coordinate system is contrasted to determine the oil motor working chamber of this moment, determine the T of oil motor then according to fixed working chamber
MaxWith P
Max, subsequently again according to the T that determines
MaxWith P
MaxCalculate the motor output torque T of oil motor
M, unit is kgm, computing formula is T
M=T
Max÷ P
Max* P * 10, wherein T
MaxBe maximum output torque, unit is kgm; P
MaxBe maximum working pressure (MWP), unit is bar; P is the working pressure of oil motor, and unit is MPa;
Again according to motor output torque T
M, the overall ratio i of towing winch cylinder and towing winch cylinder mechanical efficiency η calculate the cylinder output torque T of towing winch cylinder
L, unit is kgm, computing formula is T
L=T
M* i * η;
The 4th step: calculate the arm of force D of towing winch cylinder upper cable earlier with respect to the centre of the drum place
P, computing formula is D
P=L/2 π, wherein L is a n layer individual pen cable length, and unit is m, and n is the number of plies of twining hawser on the reel; Calculate the tension force F of towing winch cylinder upper cable then, unit is N, and computing formula is F=(T
L* 9.8) ÷ D
P=(T
M* i * η * 9.8) ÷ D
P=T
Max÷ P
Max* P * 10 * i * η * 9.8 ÷ D
P
Described oil motor is three chamber oil motors, and its motor rotary speed and handle deviation angle are the direct ratio linear relationship; The specified angle rotation speed relation line of described each working chamber is a straight line, its specified slope K
Volume=y
Volume/ x
Volume, x
VolumeBe specified motor rotary speed, unit is rev/min; y
VolumeFor with x
VolumeCorresponding specified deviation angle, unit is degree;
The concrete operations that the described angle rotation speed relation line that each working chamber in the angle rotating speed point drawn out and the coordinate system is specified contrasts with the working chamber of determining oil motor this moment are:
Earlier the angle rotating speed point of drawing out is linked to each other to obtain instant line the specified slope K of the nominal angle rotation speed relation line in first, second and third chamber in slope K that then will this instant line and the coordinate system with coordinate origin
VolumeBe that K1, K2, K3 contrast described K=y/x;
When K1-0.05≤K≤K1+0.05, working chamber is a chamber;
When K2-0.05≤K≤K2+0.05, working chamber is two chambeies;
When K3-0.05≤K≤K3+0.05, working chamber is three chambeies.
K in the described coordinate system
Volume=Hy
Volume/ x
Volume, K=Hy/x, H are amplification factor, H is a natural number.
Described H=3.
Described K1=0.8, K2=1, K3=1.33, and the maximum output torque T in its first, second and third chamber
MaxBe respectively 460kgm, 920kgm, 2300kgm, maximum working pressure (MWP) P
MaxBe respectively 46bar, 41bar, 65bar.
Described maximum output torque T
MaxWith maximum working pressure (MWP) P
MaxError smaller or equal to 2%.
The computing formula of described L is L=2.85 * D+2.85 * 1.1 * d * [0.866 * (2n-1)+0.134], and wherein D is the diameter of reel, and unit is m; D is the diameter of hawser, and unit is m; N is the number of plies of twining hawser on the reel.
Described i=11.9, η=0.72-0.78.
Described η=0.77.
Compared with prior art, beneficial effect of the present invention is:
1. because the measuring method of the towing winch cable tension that a kind of multi-cavity hydraulic motor of the present invention drives need not come the measuring cable rope tension by sensor installation on hawser, and only need export the pulling force that the arm of force at torque and centre of the drum place can be measured hawser by determining cylinder, and cylinder output torque only need can be determined by the working chamber of determining oil motor, thereby broken away from dependence, enlarged range of application pulling force sensor.Therefore accommodation of the present invention more extensively, especially is adapted to be difficult for the occasion of sensor installation.
2. because the measuring method of the towing winch cable tension that a kind of multi-cavity hydraulic motor of the present invention drives is determined working chamber by the processing of angle signal and tach signal earlier in specific operation process, thereby determine cylinder output torque, and then the pulling force of definite hawser, and the processing of signal and data is undertaken by the PLC signal processing unit that is arranged on the towing winch fuselage, data are accurate, and processing speed is fast.Therefore not only control principle is simple, control, and accuracy height easily in the present invention.
3. because the measuring method of the towing winch cable tension that a kind of multi-cavity hydraulic motor of the present invention drives is based on existing equipment, the concrete enforcement of this method only need pressure boost sensor, absolute value rotary encoder and speed probe just can obtain required data on existing equipment, thereby can determine working chamber and hawser pull, be convenient to very much the improvement of existing equipment.Therefore application cost of the present invention is lower, is convenient to promote.
Description of drawings
Fig. 1 is the oil motor angle rotation speed relation figure of embodiments of the invention 1.
Embodiment
The present invention is further detailed explanation below in conjunction with description of drawings and embodiment
Referring to Fig. 1, the measuring method of the towing winch cable tension that a kind of multi-cavity hydraulic motor drives, this measuring method may further comprise the steps successively:
The first step: set up a coordinate system earlier, the horizontal ordinate of this coordinate system is a motor rotary speed, and unit is rev/min, and ordinate is the handle deviation angle, and unit draws out the specified angle rotation speed relation line of each working chamber in the multi-cavity hydraulic motor then for degree in coordinate system;
The corresponding respectively pressure transducer that is used to measure the oil motor working pressure, the absolute value rotary encoder and the speed probe that is used to measure the towing winch drum rotation speed that is used to measure oil motor operating grip deviation angle installed on oil motor pumping plant, oil motor operating grip and towing winch cylinder again;
Second step: calculate the working pressure P of oil motor, the deviation angle y of oil motor operating grip and the drum rotation speed of towing winch cylinder according to the pressure signal that transmits respectively on above-mentioned pressure transducer, scrambler and the speed probe, angle signal and tach signal earlier, drum rotation speed and overall ratio i according to the towing winch cylinder calculates motor rotary speed x again, mark the angle rotating speed point of this moment then in above-mentioned coordinate system, the horizontal ordinate of this point is that x, ordinate are y; Described x is a motor rotary speed, and unit is rev/min; Y is a deviation angle, and unit is degree; I is the overall ratio of towing winch cylinder;
The 3rd step: earlier the specified angle rotation speed relation line of each working chamber in above-mentioned angle rotating speed point that marks and the coordinate system is contrasted to determine the oil motor working chamber of this moment, determine the T of oil motor then according to fixed working chamber
MaxWith P
Max, subsequently again according to the T that determines
MaxWith P
MaxCalculate the motor output torque T of oil motor
M, unit is kgm, computing formula is T
M=T
Max÷ P
Max* P * 10, wherein T
MaxBe maximum output torque, unit is kgm; P
MaxBe maximum working pressure (MWP), unit is bar; P is the working pressure of oil motor, and unit is MPa;
Again according to motor output torque T
M, the overall ratio i of towing winch cylinder and towing winch cylinder mechanical efficiency η calculate the cylinder output torque T of towing winch cylinder
L, unit is kgm, computing formula is T
L=T
M* i * η;
The 4th step: calculate the arm of force D of towing winch cylinder upper cable earlier with respect to the centre of the drum place
P, computing formula is D
P=L/2 π, wherein L is a n layer individual pen cable length, and unit is m, and n is the number of plies of twining hawser on the reel; Calculate the tension force F of towing winch cylinder upper cable then, unit is N, and computing formula is F=(T
L* 9.8) ÷ D
P=(T
M* i * η * 9.8) ÷ D
P=T
Max÷ P
Max* P * 10 * i * η * 9.8 ÷ D
P
Described oil motor is three chamber oil motors, and its motor rotary speed and handle deviation angle are the direct ratio linear relationship; The specified angle rotation speed relation line of described each working chamber is a straight line, its specified slope K
Volume=y
Volume/ x
Volume, x
VolumeBe specified motor rotary speed, unit is rev/min; y
VolumeFor with x
VolumeCorresponding specified deviation angle, unit is degree;
The concrete operations that the described angle rotation speed relation line that each working chamber in the angle rotating speed point drawn out and the coordinate system is specified contrasts with the working chamber of determining oil motor this moment are:
Earlier the angle rotating speed point of drawing out is linked to each other to obtain instant line the slope K of the nominal angle rotation speed relation line in first, second and third chamber in slope K that then will this instant line and the coordinate system with coordinate origin
VolumeBe that K1, K2, K3 contrast described K=y/x;
When K1-0.05≤K≤K1+0.05, working chamber is a chamber;
When K2-0.05≤K≤K2+0.05, working chamber is two chambeies;
When K3-0.05≤K≤K3+0.05, working chamber is three chambeies.
K in the described coordinate system
Volume=Hy
Volume/ x
Volume, K=Hy/x, H are amplification factor, H is a natural number.
Described H=3.
Described K1=0.8, K2=1, K3=1.33, and the maximum output torque T in its first, second and third chamber
MaxBe respectively 460kgm, 920kgm, 2300kgm, maximum working pressure (MWP) P
MaxBe respectively 46bar, 41bar, 65bar.
Described maximum output torque T
MaxWith maximum working pressure (MWP) P
MaxError smaller or equal to 2%.
The computing formula of described L is L=2.85 * D+2.85 * 1.1 * d * [0.866 * (2n-1)+0.134], and wherein D is the diameter of reel, and unit is m; D is the diameter of hawser, and unit is m; N is the number of plies of twining hawser on the reel.
Described i=11.9, η=0.72-0.78.
Described η=0.77.
The present invention includes following hardware facility:
Pressure transducer: be installed on oil motor pumping plant place, be used to measure the working pressure of oil motor.
Absolute value rotary encoder: be installed on oil motor operating grip place, be used to measure the deviation angle of oil motor operating grip.
Speed probe: be installed on the cylinder place, be used to measure the rotating speed of towing winch cylinder.
PLC signal processing unit: the pilothouse that is installed on towing winch, and wired connection between the sensor, this PLC signal processing unit can receive the signal from pressure transducer, scrambler and speed probe, and can try to achieve numerical value such as oil motor rotating speed, oil motor output pressure, oil motor output torque, cable tension according to these signals.
Principle of work of the present invention is described as follows:
At first, the power transmission process of towing winch is: the output torque of oil motor is delivered on the towing winch cylinder through gear train, and drive cylinder and rotate, thus the take-up and the cable laying of realization hawser.Gear train is between oil motor and towing winch cylinder, it act as transferring power, can be a secondary gear transmission in actual applications, promptly drive the former moving gear motion of gear train one side by hydraulic motor output shaft, to follower gear, follower gear drives drum movement to former moving gear with transmission of power.
Secondly, the oil motor characteristic of towing winch: multi-cavity hydraulic motor is controlled the motor rotary speed of oil motor by the deviation angle of the operating grip on the operation oil motor, deviation angle is big more, motor rotary speed is high more, but when working in different working chambers, its output torque, output pressure and motor rotary speed all are different.With three chamber oil motors is example, three working chambers respectively corresponding underloading (at a high speed), in carry (middling speed) and heavily loaded (low speed), and oil motor can carry out the automatic switchover of three working chambers according to load characteristic.In use, can control the duty of oil motor by the deviation angle of the operating grip on the operation oil motor, but when the working chamber of oil motor not simultaneously, even the deviation angle of operating grip is the same, its duty also is different, thereby, though three chamber oil motors are when operate as normal, be an approximate linear between its motor rotary speed and operating grip, but when oil motor was worked respectively in three working chambers, the maximum speed that each working chamber can reach, output torque and working pressure were different.
Once more, reasoning process of the present invention is as follows:
By preamble as can be known, because the hawser of towing winch is in running order always, therefore the measurement of its cable tension is not suitable for current measuring methods, directly measuring cable rope tension of pulling force sensor promptly is set on hawser, and for this reason, the present invention takes round-about way to record the tension force of hawser, promptly calculate the tension force of hawser according to F=T/L, in order to try to achieve the tension force F of hawser, just must try to achieve T and L earlier, the T among the present invention is cylinder output torque T
L, L is the arm of force D at centre of the drum place
PBut as can be known by the oil motor characteristic of aforementioned towing winch, the output torque of oil motor under its different operating chamber is different, the present invention's tension force that will measure hawser just must solve following two problems for this reason: will judge oil motor earlier and be in which working chamber, thereafter, how cable tension is tried to achieve in the output torque of the oil motor when being in this working chamber.Problem solves as follows:
The judgement of working chamber: as can be known by the characteristic of aforementioned hydraulic motor, when motor when working chamber is worked, the rotating speed of motor is to increase gradually along with the increase of operating grip deviation angle, and motor obtains maximum speed when operating grip is offset to maximum angle, especially in three chamber oil motors, between the two a kind of linear approximate relationship.Therefore, when the deviation angle with operating grip is an ordinate, with the rotating speed of oil motor is that horizontal ordinate is when setting up coordinate system, pass in the oil motor between the motor rotary speed of each working chamber and the handle deviation angle ties up to and just shows as an angle rotation speed relation line in the coordinate system, on this line arbitrarily the ordinate of any refer to the handle deviation angle of this moment, corresponding horizontal ordinate then be the pairing oil motor rotating speed of this handle deviation angle at this moment.In coordinate system, draw out earlier the angle rotation speed relation line of each working chamber among the present invention, and then the angle rotating speed of measuring in the practical operation sectioned out in coordinate system, its coordinate is the (x that measures, y), will put then with coordinate system in angle rotation speed relation line contrast to determine the working chamber of this moment.
Contrast method is: can judge to be which working chamber this moment on which bar angle rotation speed relation line by observing this point in theory, but in practice, because the existence of error also can be brought the horizontal ordinate x of this point into every angle rotation speed relation line, then with the y that draws
CalculateCompare with y, which is the most approaching, and which chamber is the working chamber of this moment so.
Aforementioned is the general method of contrasting, if the deviation angle of oil motor and handle is a linear relationship, the process of contrasting so will be more simple and convenient, because this moment, the angle rotation speed relation line of each working chamber was a straight line, and the slope of straight line is promptly represented the angle rotating ratio of this working chamber, because the maximum deviation angle of oil motor handle is certain, and the maximum speed of each working chamber of oil motor is different, therefore the specified angle rotating ratio K volume of each working chamber is different, thereby the slope of each bar straight line also is different in the coordinate system of setting up.Therefore need only the angle rotating ratio K when measuring the oil motor real work, again the slope of angle rotating ratio K and each bar straight line is contrasted, in theory, as long as angle rotating ratio K meets the wherein slope of straight line, just can determine that oil motor is in the pairing working chamber of this straight line at this moment, but because error effect, the specified angle rotating ratio of each working chamber has one, and the width of cloth is moving up and down, therefore the specified angle rotating ratio of each working chamber is a scope, in reality is judged, as long as angle rotating ratio K is in the specified angle rotating ratio scope of working chamber, can judge that this moment, oil motor was in this working chamber.Simultaneously, in actual applications in order in coordinate system, to show the linear approximate relationship between handle deviation angle and the oil motor rotating speed more clearly, generally the ratio with handle deviation angle and oil motor rotating speed amplifies, promptly by multiply by an amplification factor H amplifying the slope of coordinate system cathetus, thereby accelerate according to speed.
The measurement of cable tension: by fundamental relation formula F=T/L as can be known, the tension force on the hawser equals oil motor and is applied to the arm of force D that the moment on the hawser is located with respect to centre of the drum divided by hawser
P, establishing the torque that oil motor is added on the hawser is T
L, the arm of force is D
P, cable tension is F.
T
LDetermine: after determining working chamber, can determine the maximum output torque T of oil motor
MaxWith maximum working pressure (MWP) P
Max, subsequently again according to the T that determines
MaxWith P
MaxCalculate the motor output torque T of oil motor
M, unit is kgm, computing formula is T
M=T
Max÷ P
Max* P * 10, wherein T
MaxUnit be kgm, P
MaxUnit be bar, P is the working pressure of oil motor, unit is MPa; Because P
MaxUnit be bar, and the unit of P is MPa, the conversion relation between them is 1MPa=10bar, so multiply by a coefficient 10 in the following formula;
Subsequently again according to T
L=T
M* i * η calculates T
L, wherein i is the overall ratio of towing winch cylinder, η is the mechanical efficiency of towing winch cylinder.
D
PDetermine: computing formula is D
P=L/2 π, wherein L is a n layer individual pen cable length, unit is m, in fact this formula is exactly the pitch radius that hawser is located to centre of the drum, owing to will consider the influence of wire rope distortion, so the computing formula of L is L=2.85 * D+2.85 * 1.1 * d * [0.866 * (2n-1)+0.134], and n is the number of plies of twining hawser on the reel, D is the diameter of reel, and unit is m; D is the diameter of hawser, and unit is m,
The final of cable tension F determined: F=(T
L* 9.8) ÷ D
P=(T
M* i * η * 9.8) ÷ D
P=T
Max÷ P
Max* P * 10 * i * η * 9.8 ÷ D
P, because T in the formula
MUnit be kgm, and the unit of torque is Nm in GB, the transformational relation between them is kgm=9.8Nm, therefore multiply by coefficient 9.8 in following formula.
Embodiment 1: the towing winch with three chamber fluid motor-driven is an example.
Referring to Fig. 1, this figure is this oil motor angle rotation speed relation figure, because when the oil motor handle carries out the clockwise direction action, the positive hour hands of motor rotate, drive cylinder and realize payout process, and carry out counter clockwise direction when moving when the oil motor handle, motor rotates counterclockwise, drive cylinder and realize the take-up process, when operating grip was positioned at meta, motor was motionless, so the figure among the figure is a zhou duicheng tuxing, one side is a payout process, and opposite side is the take-up process.
The oil motor model is the TL-1000 type, be linear relationship between oil motor rotating speed and the handle deviation angle, the maximum deviation angle of handle is 40 degree, the maximum motor rotary speed in one chamber is that 150 rev/mins, the maximum motor rotary speed in two chambeies are that 120 rev/mins, the maximum motor rotary speed in three chambeies are 90 rev/mins, n=2, D=0.8m, d=0.056m.
Be the slope of clear demonstration straight line, H gets 3 among the figure, then K
Volume=3y
Volume/ x
Volume, K=3y/x, the therefore specified angle rotating ratio K in three chambeies
VolumeBe respectively K1=0.8, K2=1, K3=1.33, the oscillation amplitude of every K line represents that the K value fluctuates 0.15 among the figure, so:
When 0.75≤K≤0.85, working chamber is a chamber;
When 0.95≤K≤1.05, working chamber is two chambeies;
When 1.28≤K≤1.38, working chamber is three chambeies.
The T in three chambeies
MaxWith P
MaxData see the following form:
The T of table 1 three chamber oil motors
MaxWith P
MaxData form
| The 3rd chamber | Second chamber | First chamber | |
| Maximum output torque T Max(kg*m) | ??2300 | ??920 | ??460 |
| The 3rd chamber | Second chamber | First chamber | |
| Maximum working pressure (MWP) P Max(bar) | ??65 | ??41 | ??46 |
The measuring method of the towing winch cable tension of three chamber fluid motor-driven may further comprise the steps successively:
The first step: set up a coordinate system earlier, the horizontal ordinate of this coordinate system is a motor rotary speed, unit is rev/min, ordinate is the handle deviation angle, unit is degree, in coordinate system, draw out the specified angle rotation speed relation line of each working chamber in the three chamber oil motors then, the specified slope K that the nominal angle rotation speed relation line of first, second and third chamber correspondence shows in Fig. 1
VolumeBe respectively K1=0.8, K2=1, K3=1.33;
The corresponding respectively pressure transducer that is used to measure the oil motor working pressure, the absolute value rotary encoder and the speed probe that is used to measure the towing winch drum rotation speed that is used to measure oil motor operating grip deviation angle installed on oil motor pumping plant, oil motor operating grip and towing winch cylinder again;
Second step: working pressure P=4MPa, oil motor operating grip deviation angle y=30 ° that calculates earlier oil motor according to the pressure signal that transmits respectively on above-mentioned pressure transducer, scrambler and the speed probe, angle signal and tach signal, the velocity of rotation of cylinder is 7.4rad/min, the motor rotary speed x=88rad/min that calculates oil motor according to the drum rotation speed and the overall ratio i=11.9 of towing winch cylinder again, calculate the ratio of deviation angle y and motor rotary speed x at last, i.e. angle rotating ratio K=3y/x=3 * 30 ÷ 88=1.02;
The 3rd step: the nominal angle rotation speed relation line of each working chamber of oil motor that shows among the angle rotating ratio K=1.02 that aforementioned calculation is gone out and Fig. 1 contrasts earlier, determine that oil motor is in second working chamber, referring to table 1, can determine the T of this working chamber by table 1 again
MaxBe 920kgm, P
MaxBe 41bar, calculate T subsequently
M=T
Max÷ P
Max* P * 110=920 calculates T again
L=T
M* i * η=920 * 11.9 * 0.77=8430kgm;
The 4th step: calculate the arm of force D of towing winch cylinder upper cable earlier with respect to the centre of the drum place
P, computing formula is D
P=L/2 π={ 2.85 * D+2.85 * 1.1 * d * [0.866 * (2n-1)+0.134] }/2 π={ 2.85 * 0.8+2.85 * 1.1 * 0.056 * [0.866 * (2 * 2-1)+0.134] }/2 π=0.44m calculates the tensile force f=(T of towing winch hawser at last
L* 9.8) ÷ D
P=(T
M* i * η * 9.8) ÷ D
P=T
Max÷ P
Max* P * 10 * i * η * 9.8 ÷ D
P=8430 * 9.8 ÷ 0.44=187800N.
The actual service load that applies among the embodiment 1 is 19T, i.e. 190000N.Error is:
(190000-187800)/100000×100％＝2.2％
Test method according to CCS (CCS) permission proves, this measuring method error can be controlled in ± 5% in, be qualified effectively.
Claims (9)
1. the measuring method of the towing winch cable tension that drives of a multi-cavity hydraulic motor is characterized in that this measuring method may further comprise the steps successively:
The first step: set up a coordinate system earlier, the horizontal ordinate of this coordinate system is a motor rotary speed, and unit is rev/min, and ordinate is the handle deviation angle, and unit draws out the specified angle rotation speed relation line of each working chamber in the multi-cavity hydraulic motor then for degree in coordinate system;
The corresponding respectively pressure transducer that is used to measure the oil motor working pressure, the absolute value rotary encoder and the speed probe that is used to measure the towing winch drum rotation speed that is used to measure oil motor operating grip deviation angle installed on oil motor pumping plant, oil motor operating grip and towing winch cylinder again;
Second step: calculate the working pressure P of oil motor, the deviation angle y of oil motor operating grip and the drum rotation speed of towing winch cylinder according to the pressure signal that transmits respectively on above-mentioned pressure transducer, scrambler and the speed probe, angle signal and tach signal earlier, drum rotation speed and overall ratio i according to the towing winch cylinder calculates motor rotary speed x again, mark the angle rotating speed point of this moment then in above-mentioned coordinate system, the horizontal ordinate of this point is that x, ordinate are y; Described x is a motor rotary speed, and unit is rev/min; Y is a deviation angle, and unit is degree; I is the overall ratio of towing winch cylinder;
The 3rd step: earlier the specified angle rotation speed relation line of each working chamber in above-mentioned angle rotating speed point that marks and the coordinate system is contrasted to determine the oil motor working chamber of this moment, determine the T of oil motor then according to fixed working chamber
M axWith P
M ax, subsequently again according to the T that determines
M axWith P
M axCalculate the motor output torque T of oil motor
M, unit is kgm, computing formula is T
M=T
M ax÷ P
M ax* P * 10, wherein T
M axBe maximum output torque, unit is kgm; P
M axBe maximum working pressure (MWP), unit is bar; P is the working pressure of oil motor, and unit is MPa;
Again according to motor output torque T
M, the overall ratio i of towing winch cylinder and towing winch cylinder mechanical efficiency η calculate the cylinder output torque T of towing winch cylinder
L, unit is kgm, computing formula is T
L=T
M* i * η;
The 4th step: calculate the arm of force D of towing winch cylinder upper cable earlier with respect to the centre of the drum place
P, computing formula is D
P=L/2 π, wherein L is a n layer individual pen cable length, and unit is m, and n is the number of plies of twining hawser on the reel; Calculate the tension force F of towing winch cylinder upper cable then, unit is N, and computing formula is F=(T
L* 9.8) ÷ D
P=(T
M* i * η * 9.8) ÷ D
P=T
M ax÷ P
M ax* P * 10 * i * η * 9.8 ÷ D
P
2. the measuring method of the towing winch cable tension that a kind of multi-cavity hydraulic motor according to claim 1 drives is characterized in that:
Described oil motor is three chamber oil motors, is linear relationship between its motor rotary speed and the handle deviation angle; The specified angle rotation speed relation line of described each working chamber is a straight line, and the slope of straight line is specified slope K
Volume=y
Volume/ x
Volume, x
VolumeBe specified motor rotary speed, unit is rev/min; y
VolumeFor with x
VolumeCorresponding specified deviation angle, unit is degree;
The concrete operations that the described angle rotation speed relation line that each working chamber in the angle rotating speed point that marks and the coordinate system is specified contrasts to determine oil motor working chamber this moment are:
Earlier the angle rotating speed point that marks is linked to each other to obtain instant line the K of the nominal angle rotation speed relation line in first, second and third chamber in slope K that then will this instant line and the coordinate system with coordinate origin
VolumeBe that K1, K2, K3 contrast described K=y/x;
When K1-0.05≤K≤K1+0.05, working chamber is a chamber;
When K2-0.05≤K≤K2+0.05, working chamber is two chambeies;
When K3-0.05≤K≤K3+0.05, working chamber is three chambeies.
3. the measuring method of the towing winch cable tension that a kind of multi-cavity hydraulic motor according to claim 2 drives is characterized in that: the K in the described coordinate system
Volume=Hy
Volume/ x
Volume, K=Hy/x, H are amplification factor, H is a natural number.
4. the measuring method of the towing winch cable tension that a kind of multi-cavity hydraulic motor according to claim 3 drives is characterized in that: described H=3.
5. the measuring method of the towing winch cable tension that a kind of multi-cavity hydraulic motor according to claim 2 drives is characterized in that: described K1=0.8, K2=1, K3=1.33, and the maximum output torque T in its first, second and third chamber
M axBe respectively 460kgm, 920kgm, 2300kgm, maximum working pressure (MWP) P
M axBe respectively 46bar, 41bar, 65bar.
6. the measuring method of the towing winch cable tension that a kind of multi-cavity hydraulic motor according to claim 5 drives is characterized in that: described maximum output torque T
M axWith maximum working pressure (MWP) P
M axError smaller or equal to 2%.
7. the measuring method of the towing winch cable tension that a kind of multi-cavity hydraulic motor according to claim 1 and 2 drives, it is characterized in that: the computing formula of described L is L=2.85 * D+2.85 * 1.1 * d * [0.866 * (2n-1)+0.134], wherein D is the diameter of reel, and unit is m; D is the diameter of hawser, and unit is m; N is the number of plies of twining hawser on the reel.
8. the measuring method of the towing winch cable tension that a kind of multi-cavity hydraulic motor according to claim 1 and 2 drives is characterized in that: described i=11.9, η=0.72-0.78.
9. the measuring method of the towing winch cable tension that a kind of multi-cavity hydraulic motor according to claim 8 drives is characterized in that: described η=0.77.
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| CN2010101503211A CN101865745B (en) | 2010-04-14 | 2010-04-14 | Method for measuring tension of cable of multi-cavity hydraulic motor-driven cable towing machine |
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| CN2010101503211A CN101865745B (en) | 2010-04-14 | 2010-04-14 | Method for measuring tension of cable of multi-cavity hydraulic motor-driven cable towing machine |
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Cited By (1)
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| CN112729672A (en) * | 2020-12-17 | 2021-04-30 | 南京航空航天大学 | Ground calibration device of aerial towing cable system and working method thereof |
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| CN201173836Y (en) * | 2007-11-09 | 2008-12-31 | 上海市电力公司超高压输变电公司 | Transmission and control device for wire rope tension detection |
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| JP2004205432A (en) * | 2002-12-26 | 2004-07-22 | Matsushita Electric Ind Co Ltd | Cord-like pressure sensor input device |
| CN2780709Y (en) * | 2004-12-06 | 2006-05-17 | 徐州工程机械科技股份有限公司徐工研究院 | Cable modified constant tensile force automatic refration device |
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| CN112729672A (en) * | 2020-12-17 | 2021-04-30 | 南京航空航天大学 | Ground calibration device of aerial towing cable system and working method thereof |
| CN112729672B (en) * | 2020-12-17 | 2021-10-22 | 南京航空航天大学 | Ground calibration device of aerial towing cable system and working method thereof |
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| CN101865745B (en) | 2011-11-16 |
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