CN102249162A - Machine-mounted dipping sonar winch with multiple retractable means and control method thereof - Google Patents
Machine-mounted dipping sonar winch with multiple retractable means and control method thereof Download PDFInfo
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Abstract
The invention discloses a machine-mounted dipping sonar winch with multiple retractable means and a control method thereof. The dipping sonar winch comprises a cable position angle sensor (1), a length measuring pulley (2), a cable length sensor (3), a cable rope (4), a winding drum (5), a cable arranging pulley (6), a cable arranging shaft (7), a lower limit sensor (8), a speed measuring generator (9), a brake (10), a proximity sensor (11), an emergency motor (12), a reduction gearbox (13), a hydraulic motor (14), a servo valve (15), a solenoid valve (16), an upper limit sensor (17), a cable breaking device (18) and a control box (19). According to the invention, three hydraulic, electric and hand operation retractable means and two motor/pump hydraulic motor modes are provided; the control precision of the cable rope is enhanced via the length measuring pulley and the cable length sensor; and the retractable speed of the cable rope is controlled according to the stable/unstable work situations of the winch by using the specialist system of embedded predictive control.
Description
Technical field
The present invention relates to the technology category of airborne dipping sonar winch, relate in particular to embedded predictive control expert system, the dipping sonar of overcharging the section of letting go winch is provided.
Background technology
The carrier-based helicopter of equipment dipping sonar is antisubmarine powerful mean, under the prior art condition, occupies a clear edge in the game of anti-submarine helicopter and submarine.Dipping sonar has that size is little, in light weight, maneuverability, speed of response are fast, can survey, discern and follow the trail of a plurality of targets, and advantage such as can prolonged and repeatedly use." enemy finds earlier " is the most important condition that information war is won, because the erecting stage of dipping sonar is a carrier-based helicopter, the voyage of helicopter in fact is exactly the distance of escort helicopter aircraft carrier " enemy finds earlier ".On the other hand, no matter be the interference that the submarine or the shipboard sonar of antisubmarine plane mother ship carrier all are subjected to the naval vessels self-noise, cause the effectiveness of shipboard sonar to be had a greatly reduced quality; And helicopter and dipping sonar lay respectively at gas, two kinds of working mediums of liquid, be that helicopter noise can not disturb the work of dipping sonar substantially, be difficult for being surveyed by submarine sonar yet, this not only helps dipping sonar " enemy finds earlier ", more helps the safety of helicopter self.Therefore, airborne dipping sonar obtains the very big concern of various countries naval; Equally, airborne dipping sonar must join extension and retraction system--winch also becomes the research focus.Dipping sonar originates from the U.S. of late 1940s, and equipment is AN/AQS-1 ,-3 the earliest; Other countries are by the product of the introduction U.S., or imitated or development voluntarily, as the HS-12 of France, and Muscovite В Г С-3 etc.The extension and retraction system that airborne dipping sonar must be joined--winch, typical products has: the AN/AQS-13/18 of the U.S., AN/AQS-22, France DUAV-1(-1B), HS-70, HS-71(DUAV-4), HS-73, HS-12 etc.
China has carried out omnibearing digesting and assimilating and independent research on the basis of introducing external dipping sonar winch, obtained a series of achievements.At present, oneself builds consensus the technical characterictic that the dipping sonar winch should possess: safe and reliable and high availability, lightweight and high efficiency, to the adaptive capacity of varying environment (unsettled air-flow or helicopter essential battlefield motor-driven) and with critical design-calculated cooperation of helicopter etc.So-called critical design is meant each system of helicopter mostly by the critical value design of material, device, and its design margin is significantly smaller than common engineering design.Obviously, the demand that satisfies the dipping sonar winch is the baptism to design effort.
Summary of the invention
A kind of airborne dipping sonar winch with multiple folding and unfolding means comprises cable parallactic angle sensor (1), count long pulley (2), tension pick-up (3), hawser (4), reel (5), row's cable pulley (6), row's cable axle (7), lower limited sensor (8), tachogenerator (9), brake (10), proximity transducer (11), emergent motor (12), drop-gear box (13), HM Hydraulic Motor (14), servovalve (15), electromagnetic valve (16), upper limit sensor (17), disconnected cable device (18), cable long pass sensor (19), control capsule (19), control capsule (19) comprises telltale (1901), controller (1902), emergency switch (1903), promote switch (1904), transfer switch (1905); Wherein, hawser (4) one ends are fixed on the reel (5), the other end of hawser (4) is successively through row's cable pulley (6), count long pulley (2), cable parallactic angle sensor (1), upper limit sensor (17), disconnected cable device (18), count long pulley (2) and be positioned at the exit of hawser (4), cable long pass sensor (3) is installed on the long pulley of meter (2), row's cable pulley (6) links to each other with row's cable axle (7), reel (5) respectively with lower limited sensor (8), drop-gear box (13) links to each other, drop-gear box (13) and tachogenerator (9), brake (10), proximity transducer (11), emergent motor (12), HM Hydraulic Motor (14) links to each other, HM Hydraulic Motor (14) links to each other with servovalve (15), electromagnetic valve (16) with the brake (10) link to each other, control capsule (19) respectively with cable parallactic angle sensor (1), cable long pass sensor (3), lower limited sensor (8), tachogenerator (9), proximity transducer (11), servovalve (15), electromagnetic valve (16), upper limit sensor (17) links to each other.
A kind of hawser of the airborne dipping sonar winch with multiple folding and unfolding means calculates the number of turns of long pulley rotation, according to formula according to the impulse singla of cable long pass sensor
L=N*D*π calculates cable laying length, wherein
LBe cable laying length,
N isCount long pulley rotating cycle,
DFor counting long diameter of pulley.
A kind of control capsule circuit with airborne dipping sonar winch of multiple folding and unfolding means: the pin 22 of controller links to each other with the pin 11 of telltale, the pin 26 of controller links to each other with the pin 12 of telltale, the pin 29 of controller links to each other with the pin 15 of telltale, the pin 30 of controller links to each other with the pin 16 of telltale, the pin 31 of controller links to each other with the pin 17 of telltale, the pin 21 and the capacitor C 1 of telltale, link to each other with Vdd after the end parallel connection of C2, the pin 4 of telltale links to each other with an end of resistance R 1, the pin 3 of telltale links to each other with an end of capacitor C 3, the pin 2 and the capacitor C 4 of telltale, link to each other with Vcc after the end parallel connection of C5, the pin 19 of telltale, 20 with capacitor C 1, C2, C3, C4, ground connection after the other end parallel connection of the other end of C5 and resistance R 1, the pin 2 that promotes switch links to each other with controller pin 38, the pin 1 that promotes switch links to each other with an end of resistance R 3, the pin 2 of transferring switch links to each other with controller pin 39, the pin 1 of transferring switch links to each other with an end of resistance R 2, the pin 2 of emergency switch links to each other with the introduction 45 of controller, the pin 1 of emergency switch links to each other with an end of resistance R 4, the other end of resistance R 2 and resistance R 3, meet Vcc after the other end parallel connection of R4; Its middle controller adopts ARM7 chip LPC2114, and telltale adopts OS128064P.
A kind of control method with airborne dipping sonar winch of multiple folding and unfolding means adopts the key control unit of winch control capsule as winch, reception is from the winch status signal of cable parallactic angle sensor, tension pick-up, lower limited sensor, tachogenerator, proximity transducer, upper limit sensor, cable long pass sensor, the action of control electromagnetic valve and servovalve, controller provides RS-422 serial interface, send the status information of winch, be used for helicopter in hover control and when being in an emergency, start the disconnected cable self-insurance of disconnected cable device; The expert system of the embedded predictive control of winch control capsule, expert system according to helicopter height change, velocity amplitude differentiate winch steadily/the outside operating mode of non-stationary, long and helicopter height value, expert system output hawser folding and unfolding velocity setting value and implement prediction of speed and control with reference to cable; Under steady operating mode, winch makes cable releasing speed reach 4m/s in the shortest time, and remain a constant speed up to the distance sea level and evenly to slow down 4 meters the time, on the distance sea level 1 meter the time with speed control at 2m/s, the entry after-acceleration is to 4m/s, the even deceleration when 2 meters of distance destinations, arriving slows down behind the assigned address stops; Under the non-stationary operating mode, winch makes cable releasing speed reach 2m/s with even acceleration, and remains a constant speed up to entry, and the entry after-acceleration is to 3.5m/s, the even deceleration when 3 meters of distance destinations, and arriving slows down behind the assigned address stops; HM Hydraulic Motor (14) when winch folding and unfolding sonar with two kinds of different mode work of motor/pump; When winch promoted load, HM Hydraulic Motor (14) was in the motor operations pattern: high pressure oil promotes HM Hydraulic Motor (14) rotation through the A mouth of servovalve (15) the A chamber to HM Hydraulic Motor (14), oil from HM Hydraulic Motor (14) B chamber, direct oil sump tank.HM Hydraulic Motor (14) rotation is wrapped in hawser (4) on the reel (5) by deceleration strip movable reel (5) rotation, hawser (4) drives load and promotes, in lifting process, the B mouth of servovalve (15) is not used, the servovalve of four-way (15) is used as threeway and is being used, and gradually servovalve (15) control current is reduced to zero when stopping, and winch speed is decelerated to gradually and stops, with electromagnetic valve (16) outage, brake (10) is braked then; When winch is transferred load, HM Hydraulic Motor (14) is in the pump work pattern: HM Hydraulic Motor (14) is from the oil suction of B chamber, the oil that pumps in HM Hydraulic Motor (14) A chamber leads to servovalve (15) T mouth through servovalve (15) A mouth and returns HM Hydraulic Motor (14) B chamber, formed a loop, by the mode balanced load power of meter out; Gradually servovalve (15) control current is reduced to zero when stopping, the resistance of valve port liquid increases gradually, and the flow that HM Hydraulic Motor (14) pumps reduces gradually, and the winch lowering velocity reduces gradually, stops at last.
A kind of control method with airborne dipping sonar winch of multiple folding and unfolding means, the expert system that it is characterized in that described embedded predictive control comprises man-machine interface, explanation facility, inference machine, knowledge acquisition, data bank, knowledge base 6 part compositions, wherein embedded predictive control unit in the inference machine.Expert system is to dipping sonar winch control RBR machine, and wherein, the knowledge base of expert system comprises following 10 rules
If limit switch closure
Then motor stall
If air-flow instability
Helicopter attitude is regulated successfully
Then winch enters steady operating mode
If air-flow instability
Helicopter attitude is regulated failure
Then winch enters the non-stationary operating mode
If skew appears in cable parallactic angle signal
Helicopter adjusting motion attitude then
If helicopter horizontal maneuver
Lateral excursion appears in cable parallactic angle signal
Then cable quick-action attitude correction
Rule 6
If near the limit switch closure
Then winch is in place at a slow speed
Rule 7
If helicopter high-speed motion
Then take-up fast
Rule 8
If winch hydraulic pressure, electric retractable control fails
Then switch manual master mode
Rule 9
If beginning take-up
HM Hydraulic Motor switching working mode then
If winch breaks down
Helicopter attitude is uncontrollable
Cable in a hurry then
The objective of the invention is to overcome the deficiency of existing hawser winch, provide three kinds of folding and unfolding means of a kind of configuration have safe and reliable and high availability, adopt the expert system of embedded predictive control possess the varying environment of adaptation and with the efficient dipping sonar winch of the lightweight of the critical design fits of helicopter.
The present invention compares with background technology, and the beneficial effect that has is:
1) the dipping sonar winch provides hydraulic pressure, electronic, manual three kinds of folding and unfolding means, and the expeditious measures of disconnected cable self-insurance (helicopter and technical attendant) under the emergency situation, has reached the safe and reliable and high availability of winch;
2) during winch folding and unfolding sonar, HM Hydraulic Motor with two kinds of different mode work of motor/pump, has realized with the critical design-calculated of helicopter good fit respectively;
3) cable long pass sensor is installed on the long pulley of the meter in hawser exit, the error that each layer row cable diameter differs when having eliminated winch multilayer row cable has improved control accuracy;
4) the dipping sonar winch adopts the expert system of embedded predictive control, expert system is differentiated the outer operating mode of steady/non-stationary of winch according to helicopter height change, velocity amplitude, export hawser folding and unfolding velocity setting value and implement prediction of speed control with reference to cable length and helicopter height value, expert system, not only satisfy the compatible with environment requirement, and taken into account the highly effective and safe requirement.
Description of drawings
Fig. 1 is dipping sonar winch structure figure;
Fig. 2 is a cable long pass sensor schematic diagram;
Fig. 3 A is cable long pass sensor cw (CW) output signal diagram;
Fig. 3 B is cable long pass sensor conter clockwise (CCW) output signal diagram;
Fig. 4 is a cable long pass sensor erection plan;
Fig. 5 is the control capsule circuit diagram of dipping sonar winch;
Fig. 6 is dipping sonar winch control structure figure;
Fig. 7 is steady operating mode cable releasing speed figure;
Fig. 8 is non-stationary industry control cable releasing speed figure;
Fig. 9 is a dipping sonar winch hydraulic schematic diagram;
Figure 10 is the expert system block diagram of embedded predictive control;
Figure 11 simplifies hydraulic system principle figure;
Figure 12 is the expert system rule machine;
Figure 13 is a dipping sonar Winch control system diagram of circuit.
The specific embodiment
As Fig. 1, shown in Figure 2, a kind of airborne dipping sonar winch with multiple folding and unfolding means comprises cable parallactic angle sensor (1), count long pulley (2), tension pick-up (3), hawser (4), reel (5), row's cable pulley (6), row's cable axle (7), lower limited sensor (8), tachogenerator (9), brake (10), proximity transducer (11), emergent motor (12), drop-gear box (13), HM Hydraulic Motor (14), servovalve (15), electromagnetic valve (16), upper limit sensor (17), disconnected cable device (18), cable long pass sensor (19), control capsule (19), control capsule (19) comprises telltale (1901), controller (1902), emergency switch (1903), promote switch (1904), transfer switch (1905); Wherein, hawser (4) one ends are fixed on the reel (5), the other end of hawser (4) is successively through row's cable pulley (6), count long pulley (2), cable parallactic angle sensor (1), upper limit sensor (17), disconnected cable device (18), count long pulley (2) and be positioned at the exit of hawser (4), cable long pass sensor (3) is installed on the long pulley of meter (2), row's cable pulley (6) links to each other with row's cable axle (7), reel (5) respectively with lower limited sensor (8), drop-gear box (13) links to each other, drop-gear box (13) and tachogenerator (9), brake (10), proximity transducer (11), emergent motor (12), HM Hydraulic Motor (14) links to each other, HM Hydraulic Motor (14) links to each other with servovalve (15), electromagnetic valve (16) with the brake (10) link to each other, control capsule (19) respectively with cable parallactic angle sensor (1), cable long pass sensor (3), lower limited sensor (8), tachogenerator (9), proximity transducer (11), servovalve (15), electromagnetic valve (16), upper limit sensor (17) links to each other.
The long principle of sensors of cable, output signal are shown in Fig. 2, Fig. 3 A, Fig. 3 B, and cable long pass sensor is increment photoelectric rotary encoder (model E6B2-CWZ6C).
This winch selects for use the shaft type tension pick-up that tension force is directly detected, and model is: LMP20-49, range is: 0 ~ 1000kg, the output signal after amplifying is: 4 ~ 20mA.
Speed sensor detects the speed of hawser folding and unfolding, and its signal is as the feedback signal of speed closed loop control; The speed sensor of this winch is a tachogenerator, and model is: 45CY004.
Whether upper limit sensor is used to examine the car winch and hawser is regained fully.Upper limit sensor selects for use micro-switch to trigger with mechanical system.The micro-switch model is: XCG3Z1, use its normally closed contact, corresponding terminal 1,2, the contact open when upper limit is triggered.
Whether lower limited sensor is used to detect hawser and has been put.Prevent that excessive cable laying from causing hawser to be lost.Lower limited sensor also adopts micro-switch, and model is: XCF3Z1, use its open contact, and corresponding terminal 1,4 before the arrival lower limit, is pushed down micro-switch by hawser and is made the closing of contact, and when hawser was put to lower limit, hawser left micro-switch, contact open.
Proximity transducer is used for that 3m provides signal before hawser is regained fully, and Winch control system carries out speed limit according to this signal to winch, makes winch with in place at a slow speed.With the protection hawser with by the instrument and equipment of folding and unfolding.Proximity transducer is selected micro-switch for use, and model is: XCG3Z1, use its normally closed contact, corresponding terminal 1,2, near the time, contact open.
Cable parallactic angle sensor is used for detecting the angle winch flat that hangs hawser off-center position on the vertical and horizontal both direction when helicopter in hover can adjust the position of platform according to cable parallactic angle signal, make hawser vertical with horizontal surface all the time, can guarantee like this to be convenient to the instrument and equipment high performance operation by the attitude stabilization of folding and unfolding instrument and equipment.The cable level sensor is selected the contactless high-accuracy potential device of Hall type for use, and signal output area after amplifying coupling is: 0～± 5V.Cable parallactic angle signal has two-way, and one the tunnel detects the biased angle of moving of horizontal cable, and one the tunnel is used to detect vertical cable position deviation angle.
Hydraulic unlock brake when electromagnetic valve is used for the winch startup; Servovalve is used for the rotating speed and the rotation direction of modulated pressure motor, and HM Hydraulic Motor is rotated by retarder deceleration rear drive reel again.
When hydraulic system fails, winch can be regained the cable that runs out by emergency motor.
Winch can also carry out folding and unfolding to cable by hand being lifted in the short range, is unsuitable for long apart from folding and unfolding.
In emergency circumstances, can cut off the sonar hawser rapidly by disconnected cable device.Disconnected cable device adopts the electric ignition explosive to promote to cut off hawser.
As shown in Figure 4, detect the length that winch is emitted hawser, count by the number of turns that reel is rotated usually and realize; The inherent defect of this mode is: during winch multilayer row cable, because the diameter of every layer of row's cable is different, count value and cable length that reel rotates the number of turns are being linear relationships with one deck only, need between the different layers to revise according to diameter Comparative Examples coefficient, calculate loaded down with trivial details and the introduction error; In addition, the long also influence of the neat degree of the row's of being subjected to cable of precision of cable.In order to improve the long precision of cable, count the exit that long pulley is positioned at hawser, cable long pass sensor is installed on the long pulley of meter, and during the winch folding and unfolding, controller calculates the number of turns of long pulley rotation, according to formula according to the impulse singla of cable long pass sensor
L=N*D*π calculates cable laying length, wherein
LBe cable laying length,
N isCount long pulley rotating cycle,
DFor counting long diameter of pulley.Because diameter was a definite value when hawser was crossed guide wheel, the number of turns count value of guide wheel and cable length are simple linear relationships, and irrelevant with row's cable regularity.
As shown in Figure 5, a kind of control capsule circuit with airborne dipping sonar winch of multiple folding and unfolding means: the pin 22 of controller links to each other with the pin 11 of telltale, the pin 26 of controller links to each other with the pin 12 of telltale, the pin 29 of controller links to each other with the pin 15 of telltale, the pin 30 of controller links to each other with the pin 16 of telltale, the pin 31 of controller links to each other with the pin 17 of telltale, the pin 21 and the capacitor C 1 of telltale, link to each other with Vdd after the end parallel connection of C2, the pin 4 of telltale links to each other with an end of resistance R 1, the pin 3 of telltale links to each other with an end of capacitor C 3, the pin 2 and the capacitor C 4 of telltale, link to each other with Vcc after the end parallel connection of C5, the pin 19 of telltale, 20 with capacitor C 1, C2, C3, C4, ground connection after the other end parallel connection of the other end of C5 and resistance R 1, the pin 2 that promotes switch links to each other with controller pin 38, the pin 1 that promotes switch links to each other with an end of resistance R 3, the pin 2 of transferring switch links to each other with controller pin 39, the pin 1 of transferring switch links to each other with an end of resistance R 2, the pin 2 of emergency switch links to each other with the introduction 45 of controller, the pin 1 of emergency switch links to each other with an end of resistance R 4, the other end of resistance R 2 and resistance R 3, meet Vcc after the other end parallel connection of R4; Its middle controller adopts ARM7 chip LPC2114, and telltale adopts OS128064P.
As shown in Figure 6, a kind of control method with airborne dipping sonar winch of multiple folding and unfolding means, adopt the key control unit of winch control capsule as winch, reception is from the winch status signal of cable parallactic angle sensor, tension pick-up, lower limited sensor, tachogenerator, proximity transducer, upper limit sensor, cable long pass sensor, the action of control electromagnetic valve and servovalve, controller provides RS-422 serial interface, send the status information of winch, be used for helicopter in hover control and when being in an emergency, start the disconnected cable self-insurance of disconnected cable device; The expert system of the embedded predictive control of winch control capsule, expert system according to helicopter height change, velocity amplitude differentiate winch steadily/the outside operating mode of non-stationary, long and helicopter height value, expert system output hawser folding and unfolding velocity setting value and implement prediction of speed and control with reference to cable; As shown in Figure 7, under steady operating mode, winch makes cable releasing speed reach 4m/s in the shortest time, and remain a constant speed up to the distance sea level and evenly to slow down 4 meters the time, on the distance sea level 1 meter the time with speed control at 2m/s, the entry after-acceleration is to 4m/s, the even deceleration when 2 meters of distance destinations, and arriving slows down behind the assigned address stops; Extremely-50 meters are example apart from the sea level with the 15 meters highly aerial cable layings in distance sea level: when establishing sonar input destination apart from 15 meters to 10 meters on the distance sea level, winch evenly accelerates to 4m/s and the operation that remains a constant speed, when 4 meters on distance sea level, begin even deceleration, speed is reduced to 2m/s 1 meter the time on the distance sea level, the entry after-acceleration is to 4m/s, to apart from the sea level-48 meters all slow down, arriving slows down behind the assigned address stops; As shown in Figure 8, under the non-stationary operating mode, winch makes cable releasing speed reach 2m/s with even acceleration, and remains a constant speed up to entry, and the entry after-acceleration is to 3.5m/s, the even deceleration when 3 meters of distance destinations, and arriving slows down behind the assigned address stops.-50 meters are example apart from the sea level with the 15 meters highly aerial cable layings in distance sea level: in the time of 15 meters to 10 meters on the distance sea level, winch evenly accelerates to 2m/s and the operation that remains a constant speed, until entry, the entry after-acceleration is to 3.5m/s, to apart from the sea level-47 meters all slow down, arriving slows down behind the assigned address stops.As shown in Figure 9, HM Hydraulic Motor (14) when winch folding and unfolding sonar with two kinds of different mode work of motor/pump; When winch promoted load, HM Hydraulic Motor (14) was in the motor operations pattern: high pressure oil promotes HM Hydraulic Motor (14) rotation through the A mouth of servovalve (15) the A chamber to HM Hydraulic Motor (14), oil from HM Hydraulic Motor (14) B chamber, direct oil sump tank.HM Hydraulic Motor (14) rotation is wrapped in hawser (4) on the reel (5) by deceleration strip movable reel (5) rotation, hawser (4) drives load and promotes, in lifting process, the B mouth of servovalve (15) is not used, the servovalve of four-way (15) is used as threeway and is being used, and gradually servovalve (15) control current is reduced to zero when stopping, and winch speed is decelerated to gradually and stops, with electromagnetic valve (16) outage, brake (10) is braked then; When winch is transferred load, HM Hydraulic Motor (14) is in the pump work pattern: HM Hydraulic Motor (14) is from the oil suction of B chamber, the oil that pumps in HM Hydraulic Motor (14) A chamber leads to servovalve (15) T mouth through servovalve (15) A mouth and returns HM Hydraulic Motor (14) B chamber, formed a loop, by the mode balanced load power of meter out; Gradually servovalve (15) control current is reduced to zero when stopping, the resistance of valve port liquid increases gradually, and the flow that HM Hydraulic Motor (14) pumps reduces gradually, and the winch lowering velocity reduces gradually, stops at last.
As shown in figure 10, a kind of expert system of embedded predictive control of the airborne dipping sonar winch with multiple folding and unfolding means comprises that man-machine interface, explanation facility, inference machine, knowledge acquisition, data bank, 6 parts of knowledge base form, wherein embedded predictive control unit in the inference machine.In order to improve the work efficiency of inference engine of expert system, expert system is simplified the hydraulic efficiency pressure system of winch, and the hydraulic efficiency pressure system after the simplification is a triple valve modulated pressure motor, as shown in figure 11.
Because the frequency range of servovalve supposes that much larger than hydraulic natural frequency servovalve is approximately proportioning element, motor operations was in the motor operating mode when winch promoted, and the linearization flow equation of valve is
Wherein
, have
Q in the formula
L---load flow;
K
q---servo valve flow gam;
x
v---the valve core of servo valve displacement;
K
c---servovalve flow rate pressure coefficient;
P
c---the control presssure of HM Hydraulic Motor control chamber;
K
i---pilot control electric current and spool displacement proportionality coefficient;
K
Sv---servovalve proportionality coefficient, K
Sv=K
qK
i
i
v---the pilot control electric current.
Motor operations was in the pump operating mode when winch was transferred load, and the linearization flow equation of valve is
To HM Hydraulic Motor control chamber application traffic continuity equation, then
Flow continuity equation when winch promotes load is
Flow continuity equation when winch is transferred load is
D in the formula
m---the HM Hydraulic Motor discharge capacity;
---the corner of HM Hydraulic Motor;
C
Tm---total leakage coefficient of HM Hydraulic Motor;
V
c---HM Hydraulic Motor control chamber volume;
---the oil effective bulk modules of system.
This system does not have elastic load, and the viscosity load that causes owing to fluid resistance is arranged, and the torque balance equation of HM Hydraulic Motor and load can be written as
When winch promotes
When winch is transferred
T in the formula
g---the torque that HM Hydraulic Motor produces
J
t---total inertia of HM Hydraulic Motor and load (converting on the motor drive shaft);
B
m---the viscous damping coefficient of the load (converting on the motor drive shaft) of HM Hydraulic Motor;
G---loading spring rigidity;
T
L---act on any outer load torque on the HM Hydraulic Motor axle.
Formula (5) (6) also can be written as
Formula (2) (3) (4) (7) (8) is carried out Laplace transformation to be got
（10）
（11）
By parameter Q in the middle of these three equation cancellations of formula (9) (10) (12)
LAnd P
c, can obtain when promoting operating mode I
vAnd T
LAct on total output of system simultaneously
Or be
In the formula
---total flow-pressure coefficient.
By parameter Q in the middle of these three equation cancellations of formula (9) (11) (13)
LAnd P
c, can obtain when transferring operating mode I
vAnd T
LAct on total output of system simultaneously
Or be
The embedded predictive control of expert system adopts the GPC algorithm, because there is the non-stationary random perturbation in helicopter hoist when work, adopt controlled autoregressive integration moving average model CARIMA (Controlled Auto-Regressive Integrated Moving-Average) that system is described:
（20）
Wherein
,
,
For system outlet, input and average are zero, variance is
White noise;
Be difference operator,
(21),
(22),
(23), wherein
,
,
Be
,
,
Carry out the n rank constant after n class number launches.
Suppose
=1, find the solution following diophantus (Diophantine) equation, just can obtain
jStep prediction output:
In formula (24), (25),
J=1,2 ... P, PBe the step number of prediction,
(26),
(27),
(28),
(29).
For the convenience of representing, below omit backward shift operator
, then
PThe step prediction can further be represented:
（30）
Wherein,
(31).
The purpose of generalized predictive control (GPC) is to make the tracking error minimum of prediction output to reference locus, can determine following performance figure in view of the above:
（31）
Wherein,
(32), in the formula (32)
Be
K+iThe reference locus in step, wherein
The expression expectation value,
Be weighting factor, order
(33), obtain following optimizing control rule:
Order
First the row
(35)
And
(36)
According to the principle of rolling optimization and feedback compensation, can get generalized predictive control rule and be:
The prediction of output model of CARIMA model is:
（38）
Wherein,
,
Be
,
Well-determined multinomial when knowing for oneself with prediction length j, and
(39),
(40) wherein
,
Be
Carry out the constant after launch on the n rank.Formula (40) is the prediction of output device equation based on the leading j step of formula (20) institute representation model.
As shown in figure 12, expert system is carried out the RBR machine.Wherein, the knowledge base of expert system comprises following 10 rules
If limit switch closure
Then motor stall
If air-flow instability
Helicopter attitude is regulated successfully
Then winch enters steady operating mode
If air-flow instability
Helicopter attitude is regulated failure
Then winch enters the non-stationary operating mode
If skew appears in cable parallactic angle signal
Helicopter adjusting motion attitude then
If helicopter horizontal maneuver
Lateral excursion appears in cable parallactic angle signal
Then cable quick-action attitude correction
Rule 6
If near the limit switch closure
Then winch is in place at a slow speed
Rule 7
If helicopter high-speed motion
Then take-up fast
Rule 8
If winch hydraulic pressure, electric retractable control fails
Then switch manual master mode
Rule 9
If beginning take-up
HM Hydraulic Motor switching working mode then
If winch breaks down
Helicopter attitude is uncontrollable
Cable in a hurry then
As shown in figure 13, the dipping sonar Winch control system carries out self check behind the system initialization after startup, if find fault, then carries out prompting operation person and carries out fault handling, carries out self check again after finishing fault handling.After by self check, show winch current state and controlled variable, and read input information.If then upgrading, spacing information stops zone bit, if input parameter prompting winch is in the smooth working environment, then steady operating mode Predictive Control System is selected by system in experts database, otherwise, if be in the non-stationary working environment, then non-stationary operating mode Predictive Control System is selected by system in experts database.If limit switch, the prompting hawser arrives spacing, and then winch quits work.If find abnormal condition to occur, then system start-up emergency handling comprises the disconnected cable self-insurance under the dangerous situation.
Claims (5)
1. airborne dipping sonar winch with multiple folding and unfolding means, its feature comprises cable parallactic angle sensor (1), count long pulley (2), tension pick-up (3), hawser (4), reel (5), row's cable pulley (6), row's cable axle (7), lower limited sensor (8), tachogenerator (9), brake (10), proximity transducer (11), emergent motor (12), drop-gear box (13), HM Hydraulic Motor (14), servovalve (15), electromagnetic valve (16), upper limit sensor (17), disconnected cable device (18), cable long pass sensor (19), control capsule (19), control capsule (19) comprises telltale (1901), controller (1902), emergency switch (1903), promote switch (1904), transfer switch (1905); Wherein, hawser (4) one ends are fixed on the reel (5), the other end of hawser (4) is successively through row's cable pulley (6), count long pulley (2), cable parallactic angle sensor (1), upper limit sensor (17), disconnected cable device (18), count long pulley (2) and be positioned at the exit of hawser (4), cable long pass sensor (3) is installed on the long pulley of meter (2), row's cable pulley (6) links to each other with row's cable axle (7), reel (5) respectively with lower limited sensor (8), drop-gear box (13) links to each other, drop-gear box (13) and tachogenerator (9), brake (10), proximity transducer (11), emergent motor (12), HM Hydraulic Motor (14) links to each other, HM Hydraulic Motor (14) links to each other with servovalve (15), electromagnetic valve (16) with the brake (10) link to each other, control capsule (19) respectively with cable parallactic angle sensor (1), cable long pass sensor (3), lower limited sensor (8), tachogenerator (9), proximity transducer (11), servovalve (15), electromagnetic valve (16), upper limit sensor (17) links to each other.
2. a kind of airborne dipping sonar winch with multiple folding and unfolding means according to claim 1 is characterized in that the impulse singla of described hawser according to cable long pass sensor, calculates the number of turns of long pulley rotation, according to formula
L=N*D*π calculates cable laying length, wherein
LBe cable laying length,
N isCount long pulley rotating cycle,
DFor counting long diameter of pulley.
3. a kind of airborne dipping sonar winch according to claim 1 with multiple folding and unfolding means, it is characterized in that described control capsule circuit is: the pin 22 of controller links to each other with the pin 11 of telltale, the pin 26 of controller links to each other with the pin 12 of telltale, the pin 29 of controller links to each other with the pin 15 of telltale, the pin 30 of controller links to each other with the pin 16 of telltale, the pin 31 of controller links to each other with the pin 17 of telltale, the pin 21 and the capacitor C 1 of telltale, link to each other with Vdd after the end parallel connection of C2, the pin 4 of telltale links to each other with an end of resistance R 1, the pin 3 of telltale links to each other with an end of capacitor C 3, the pin 2 and the capacitor C 4 of telltale, link to each other with Vcc after the end parallel connection of C5, the pin 19 of telltale, 20 with capacitor C 1, C2, C3, C4, ground connection after the other end parallel connection of the other end of C5 and resistance R 1, the pin 2 that promotes switch links to each other with controller pin 38, the pin 1 that promotes switch links to each other with an end of resistance R 3, the pin 2 of transferring switch links to each other with controller pin 39, the pin 1 of transferring switch links to each other with an end of resistance R 2, the pin 2 of emergency switch links to each other with the introduction 45 of controller, the pin 1 of emergency switch links to each other with an end of resistance R 4, the other end of resistance R 2 and resistance R 3, meet Vcc after the other end parallel connection of R4; Its middle controller adopts ARM7 chip LPC2114, and telltale adopts OS128064P.
4. control method with airborne dipping sonar winch of multiple folding and unfolding means, it is characterized in that adopting the key control unit of winch control capsule as winch, reception is from the winch status signal of cable parallactic angle sensor, tension pick-up, lower limited sensor, tachogenerator, proximity transducer, upper limit sensor, cable long pass sensor, the action of control electromagnetic valve and servovalve, controller provides RS-422 serial interface, send the status information of winch, be used for helicopter in hover control and when being in an emergency, start the disconnected cable self-insurance of disconnected cable device; The expert system of the embedded predictive control of winch control capsule, expert system according to helicopter height change, velocity amplitude differentiate winch steadily/the outside operating mode of non-stationary, long and helicopter height value, expert system output hawser folding and unfolding velocity setting value and implement prediction of speed and control with reference to cable; Under steady operating mode, winch makes cable releasing speed reach 4m/s in the shortest time, and remain a constant speed up to the distance sea level and evenly to slow down 4 meters the time, on the distance sea level 1 meter the time with speed control at 2m/s, the entry after-acceleration is to 4m/s, the even deceleration when 2 meters of distance destinations, arriving slows down behind the assigned address stops; Under the non-stationary operating mode, winch makes cable releasing speed reach 2m/s with even acceleration, and remains a constant speed up to entry, and the entry after-acceleration is to 3.5m/s, the even deceleration when 3 meters of distance destinations, and arriving slows down behind the assigned address stops; HM Hydraulic Motor (14) when winch folding and unfolding sonar with two kinds of different mode work of motor/pump; When winch promotes load, HM Hydraulic Motor (14) is in the motor operations pattern: high pressure oil is through the A mouth of servovalve (15) the A chamber to HM Hydraulic Motor (14), promote HM Hydraulic Motor (14) rotation, oil is from HM Hydraulic Motor (14) B chamber, direct oil sump tank, HM Hydraulic Motor (14) rotation is wrapped in hawser (4) on the reel (5) by deceleration strip movable reel (5) rotation, hawser (4) drives load and promotes, in lifting process, the B mouth of servovalve (15) is not used, the servovalve of four-way (15) is used as threeway and is being used, gradually servovalve (15) control current is reduced to zero when stopping, winch speed is decelerated to gradually and stops, with electromagnetic valve (16) outage, brake (10) is braked then; When winch is transferred load, HM Hydraulic Motor (14) is in the pump work pattern: HM Hydraulic Motor (14) is from the oil suction of B chamber, the oil that pumps in HM Hydraulic Motor (14) A chamber leads to servovalve (15) T mouth through servovalve (15) A mouth and returns HM Hydraulic Motor (14) B chamber, formed a loop, by the mode balanced load power of meter out; Gradually servovalve (15) control current is reduced to zero when stopping, the resistance of valve port liquid increases gradually, and the flow that HM Hydraulic Motor (14) pumps reduces gradually, and the winch lowering velocity reduces gradually, stops at last.
5. a kind of control method according to claim 4 with airborne dipping sonar winch of multiple folding and unfolding means, the expert system that it is characterized in that described embedded predictive control comprises man-machine interface, explanation facility, inference machine, knowledge acquisition, data bank, 6 part compositions of knowledge base, embedded predictive control unit in the inference machine wherein, expert system is to dipping sonar winch control RBR machine, wherein, the knowledge base of expert system comprises following 10 rules
Rule 1
If limit switch closure
Then motor stall
Rule 2
If air-flow instability
Helicopter attitude is regulated successfully
Then winch enters steady operating mode
Rule 3
If air-flow instability
Helicopter attitude is regulated failure
Then winch enters the non-stationary operating mode
Rule 4
If skew appears in cable parallactic angle signal
Helicopter adjusting motion attitude then
Rule 5
If helicopter horizontal maneuver
Lateral excursion appears in cable parallactic angle signal
Then cable quick-action attitude correction
Rule 6
If near the limit switch closure
Then winch is in place at a slow speed
Rule 7
If helicopter high-speed motion
Then take-up fast
Rule 8
If winch hydraulic pressure, electric retractable control fails
Then switch manual master mode
Rule 9
If beginning take-up
HM Hydraulic Motor switching working mode then
Rule 10
If winch breaks down
Helicopter attitude is uncontrollable
Cable in a hurry then.
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| CN103043553A (en) * | 2013-01-15 | 2013-04-17 | 镇江赛尔尼柯自动化有限公司 | System and method for controlling hydrological winch |
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| CN103310672A (en) * | 2013-05-27 | 2013-09-18 | 中国人民解放军92728部队 | Winch keyboard box device used for helicopter hoisting simulation training |
| CN104310258A (en) * | 2014-07-25 | 2015-01-28 | 国家海洋局北海海洋技术保障中心 | Control system and control method for marine geological winch based on environmental parameter analysis |
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