CN102381652A - Control device for winching mechanism and winching mechanism test platform - Google Patents

Control device for winching mechanism and winching mechanism test platform Download PDF

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Publication number
CN102381652A
CN102381652A CN2011103356090A CN201110335609A CN102381652A CN 102381652 A CN102381652 A CN 102381652A CN 2011103356090 A CN2011103356090 A CN 2011103356090A CN 201110335609 A CN201110335609 A CN 201110335609A CN 102381652 A CN102381652 A CN 102381652A
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China
Prior art keywords
hoisting mechanism
rotating speed
speed
signal
control setup
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CN2011103356090A
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CN102381652B (en
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陈华
匡爱武
习可
赵健
颜祯
吴江
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Zoomlion Heavy Industry Science and Technology Co Ltd
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Zoomlion Heavy Industry Science and Technology Co Ltd
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Priority to CN2011103356090A priority Critical patent/CN102381652B/en
Publication of CN102381652A publication Critical patent/CN102381652A/en
Priority to PCT/CN2012/082279 priority patent/WO2013060217A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/20—Control systems or devices for non-electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/42—Control devices non-automatic
    • B66D1/44—Control devices non-automatic pneumatic of hydraulic
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

A winching mechanism test platform is disclosed, and comprises a winching mechanism which comprises a hydraulic driving system for driving the winching mechanism, wherein the hydraulic driving system comprises a hydraulic motor and a proportional solenoid associated with the hydraulic motor. The test platform further comprises a rotate speed detector coupled with the winching mechanism for detecting the rotate speed of the winching mechanism and outputting corresponding rotate speed signals; a controller electrically coupled with the winching mechanism and configured to receive the rotate speed signal from the rotate speed detector and compare the detected rotate speed with preset standard one, to generate corresponding control signals according to the comparison result and output the control signal to the proportional solenoid so as to adjust the output power of the hydraulic motor by adjusting the openness of the solenoid to control the rotate speed of the winching mechanism to be matched with the standard rotate speed.

Description

The control setup and method and the hoisting mechanism test platform that are used for hoisting mechanism
Technical field
The present invention relates to be used for control setup and the method and the hoisting mechanism test platform of hoisting mechanism.
Background technology
The hoisting mechanism test platform is used to study, the disorder cable of mechanically all kinds of hydraulically driven winch structures of betterment works, friction are big, climb problem such as layer difficulty.The hoisting mechanism test platform generally includes hoisting mechanism, stand and control setup.Stand and hoisting crane are similar, for example tower crane.Hoisting mechanism is divided into motor frequency conversion drive-type and hydraulic drive type, and the hydraulic drive type hoisting mechanism is to drive through the fluid power system that comprises HM Hydraulic Motor.The scheme drawing of such fluid power system has been shown among Fig. 1.As shown in Figure 1, fluid power system mainly can comprise fuel tank 14, HM Hydraulic Motor 16 proportion magnetic valves 18 and the main oil pump 12 that is driven by motor 10.Proportion magnetic valve 18 can be arranged on the oil circuit between main oil pump 12 and the HM Hydraulic Motor 16 or can be arranged in the bypass between main oil pump 12 outlets and the fuel tank 14.Direct motor drive main oil pump 12 is delivered to HM Hydraulic Motor 16 with the hydraulic oil pump in the fuel tank 14 and is driven hoisting mechanism; And the horsepower output of the aperture of proportion magnetic valve 18 and HM Hydraulic Motor 16 exists corresponding relation; There are corresponding relation in the horsepower output of HM Hydraulic Motor 16 and the rotating speed of hoisting mechanism; Therefore can come the horsepower output of modulated pressure motor 16 through control ratio electromagnetic valve 18 (aperture of for example coming control ratio electromagnetic valve 18) through the size of controlling the drive current on these proportion magnetic valve 18 circuit loops, thus the rotating speed of control hoisting mechanism.But because the hydraulic oil temperature influence in the fluid power system is big, variation of temperature causes the variation of hydraulic oil viscosity, causes the horsepower output of HM Hydraulic Motor 16 to change thus.This will cause under different temperature keeping the rotating speed of hoisting mechanism under the identical situation of the drive current of proportion magnetic valve 18 to change.And hydraulic drive type hoisting mechanism of the prior art can not be monitored the elevator rotating speed in real time, just when dispatching from the factory, just sets the corresponding fixing drive current output of static stall, perhaps utilizes continuous variation of stroke of handle action to change drive current.This dual mode all can not be controlled the rotating speed of hoisting mechanism well.
Summary of the invention
The purpose of this invention is to provide a kind of hoisting mechanism test platform, this test platform can be controlled the rotating speed of hoisting mechanism well.
To achieve these goals, one aspect of the present invention provides a kind of method that is used for hoisting mechanism, and this method comprises the tach signal that receives the said hoisting mechanism rotating speed of indication; From said tach signal, obtain the rotating speed of said hoisting mechanism, and this rotating speed and standard revolving speed are compared; If said rotating speed greater than said standard revolving speed, then generates the control signal that is used to reduce said hoisting mechanism rotating speed; If said rotating speed less than said standard revolving speed, then generates the control signal that is used to increase said hoisting mechanism rotating speed; And export said control signal.
Another aspect of the present invention provides a kind of control setup that is used for hoisting mechanism, comprising: reception facilities is configured to receive the tach signal of indicating said hoisting mechanism rotating speed; Treatment facility, with said reception facilities coupling, this treatment facility is configured to receive the said tach signal from said reception facilities; From this tach signal, obtain the rotating speed of said hoisting mechanism; This rotating speed and standard revolving speed are compared, if said rotating speed greater than said standard revolving speed, then generates the control signal that is used to reduce said hoisting mechanism rotating speed; If said rotating speed less than said standard revolving speed, then generates the control signal that is used to increase said hoisting mechanism rotating speed; And transmitter, with the coupling of said treatment facility, this transmitter is configured to receive from the control signal of said treatment facility and exports this control signal.
Another aspect of the present invention provides a kind of hoisting mechanism test platform, and this test platform comprises hoisting mechanism, is used to drive the fluid power system of hoisting mechanism, and this fluid power system comprises HM Hydraulic Motor and the proportion magnetic valve that is associated with HM Hydraulic Motor; Wherein, said test platform also comprises: with the speed detecting unit of said hoisting mechanism coupling, be used to detect the rotating speed of said hoisting mechanism and the tach signal of the said rotating speed of output indication; With the control setup of said speed detecting unit electrical hookup, this control setup is electrically connected with said proportion magnetic valve to transmit control signal to this proportion magnetic valve, and wherein this control setup is above-mentioned control setup.
Pass through technique scheme; Speed detecting unit can detect the rotating speed of hoisting mechanism in real time and export the corresponding rotating speeds signal and give control setup, and control setup receives this tach signal, from this tach signal, obtains the hoisting mechanism rotating speed; This rotating speed and predefined standard revolving speed are compared; Generate control signal corresponding according to comparative result, and this control signal is exported to proportion magnetic valve, proportion magnetic valve is carried out corresponding action after receiving this control signal; Size with the horsepower output of regulator solution pressure motor; Thereby regulate the rotating speed of hoisting mechanism, this rotating speed and standard revolving speed are complementary, can make the rotating speed of hoisting mechanism not receive the hydraulic oil in the fluid power system like this because temperature traverse causes viscosity to change the adverse effect of bringing.
Other features and advantages of the present invention will partly specify in the specific embodiment subsequently.
Description of drawings
Accompanying drawing is to be used to provide further understanding of the present invention, and constitutes the part of specification sheets, is used to explain the present invention with the following specific embodiment, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the scheme drawing that is used to drive the fluid power system of hoisting mechanism in the prior art;
Fig. 2 is the structural representation according to the hoisting mechanism test platform of an embodiment of the invention; And
Fig. 3 is the structural representation according to the control setup that is used for hoisting mechanism of an embodiment of the invention.
The specific embodiment
Be elaborated below in conjunction with the accompanying drawing specific embodiments of the invention.Should be understood that the specific embodiment described herein only is used for explanation and explains the present invention, is not limited to the present invention.
Fig. 2 shows the structural representation of hoisting mechanism test platform according to the embodiment of the present invention.As shown in Figure 2; According to an embodiment of the invention; A kind of hoisting mechanism test platform is disclosed; This experiment porch can comprise hoisting mechanism 20, be used to drive the fluid power system of hoisting mechanism 20, and this fluid power system can comprise HM Hydraulic Motor 16 and the proportion magnetic valve 18 that is associated with HM Hydraulic Motor 16; Wherein, said test platform can comprise:
Can with the speed detecting unit 30 of said hoisting mechanism 20 couplings, be used to detect the rotating speed and the said tach signal of output indication of said hoisting mechanism 20;
Can with the control setup 40 of said speed detecting unit 30 electrical hookups, this control setup 40 can be electrically connected to transmit control signal to this proportion magnetic valve 18 with said proportion magnetic valve 18.
This control setup 40 can be configured to receive the said tach signal from said speed detecting unit 30; And from this tach signal, obtain the rotating speed of said hoisting mechanism 20; Said rotating speed and predefined standard revolving speed are compared; Generate control signal corresponding and this control signal is exported to said proportion magnetic valve 18 according to comparative result; Coming the horsepower output of regulator solution pressure motor 16 through the aperture of regulating this proportion magnetic valve 18, thereby rotating speed and the said standard revolving speed of controlling said hoisting mechanism 20 are complementary.
Said speed detecting unit 30 can well known to a person skilled in the art the device that is used to detect rotating speed.In an embodiment of the invention, said speed detecting unit 30 can comprise:
Coder, this coder can be connected with the rotating shaft of said hoisting mechanism 20 is coaxial, is used to detect the number of turns that the rotating shaft of this hoisting mechanism 20 is rotated, and the signal of this number of turns of output indication;
Counting machine is used to receive the signal of said this number of turns of indication, this number of turns is counted, and output comprises the tach signal of the count value of this number of turns;
Said control setup 40 can be configured to receive this tach signal, from this tach signal, obtains said count value, calculates the rotating speed of said hoisting mechanism 20 according to count value.
Coder can for example have orthogonal increment type coder, absolute type encoder etc.Be that example is described with orthogonal increment type coder in the following description, but it will be appreciated by those skilled in the art that the coder that also can use other types.
The protruding axle of orthogonal increment type coder can be connected with the rotating shaft of hoisting mechanism 20 is coaxial through the coupler (not shown).The not high minor axis that causes of right alignment during for fear of installation, preferably said coupler can be an elastic coupling.Orthogonal increment type coder for example can be divided into two of A and B mutually, and resolution can for example be 1800.That is, the moving circle of the rotating shaft revolution of hoisting mechanism 20, orthogonal increment type coder just sends 1800 impulse singlas.If A mutually in advance then represent that hoisting mechanism 20 is just changeing, B then representes hoisting mechanism 20 counter-rotatings mutually in advance, and vice versa.
Counting machine can be counted the number of pulse signals that receives from orthogonal increment type coder, at set intervals (for example 100ms) output count value.The count value of supposing current output is X 2, the count value of last output is X 1, the time gap of twice output count value is t, and the resolution of orthogonal increment type coder is n, and then control setup can calculate the rotating speed s of hoisting mechanism 20 through following formula:
s = X 2 - X 1 Nt (formula 1)
Control setup 40 can compare this rotating speed and predefined standard revolving speed, and whether the difference of confirming this rotating speed and standard revolving speed according to comparative result is in the tolerable scope.If difference is in the tolerable scope; Then control setup 40 is judged rotating speed and standard revolving speed coupling; If above-mentioned difference is beyond the tolerable scope, then control setup 40 judges that rotating speed and standard revolving speed do not match, at this moment; Control setup 40 generates control signal corresponding (for example pwm signal) and this control signal is exported to proportion magnetic valve 18 according to comparative result; When receiving this control signal, proportion magnetic valve 18 makes corresponding action (the for example change of proportion magnetic valve 18 apertures), with the horsepower output of change HM Hydraulic Motor 16, thus the rotating speed of change hoisting mechanism 20.In the time of in said difference is in the tolerable scope (for example; Absolute value/standard revolving speed＜the σ of the difference of hoisting mechanism 20 rotating speeds and standard revolving speed; Wherein σ is the boundary value of the tolerable scope of setting), control setup 40 no longer generates control signal according to comparative result.
Control setup 40 can be the known control conveniences of one of ordinary skill in the art.For instance, appropriate control device 40 can include but not limited to: micro controller system, PLC control setup, dsp chip and peripheral circuit thereof, field programmable gate array (FPGA) circuit, special IC etc.In a preferred embodiment of this invention, control setup 40 is the PLC control setup.More preferably; Control setup 40 can have and is used for the interface that communicates with input equipment/outdevice; Input equipment can be mouse, keyboard, touch pad etc. for example, and outdevice can for example be loud speaker, Liquid Crystal Display (LCD) or Organic Light Emitting Diode display unit.In a preferred embodiment of this invention, said input equipment and outdevice can be integrated on the individual equipment, for example touch-screen.
Said standard revolving speed can be according to the determined rotating speed of design requirement.And standard revolving speed can be for a plurality of.For example, hoisting mechanism 20 can have plurality of operating modes, and for example minimum speed pattern, maximum speed pattern etc. can be directed against every kind of mode initialization standard revolving speed.When hoisting mechanism 20 moves under certain pattern, can with detected real-time rotating speed with compare corresponding to the standard revolving speed of this pattern.
In a preferred embodiment of this invention, can carry out comparing with standard revolving speed again after the numerical value processing to speed detecting unit 30 detected rotating speeds earlier.Preferred implementation of the present invention can be carried out the moving average computing to detected rotating speed.Thus, said control setup 40 can be configured to:
From said tach signal, obtain to have one group of rotating speed of time gap;
This group rotating speed is carried out the moving average computing to obtain sliding average; And
Sliding average that obtains and said standard revolving speed are compared.
Particularly, control setup 40 interval (for example 100ms) at regular intervals obtains a rotating speed from tach signal, to obtain one group of continuous rotating speed.This group rotating speed is carried out the moving average computing to obtain the sliding average of rotating speed.The length of the sliding window of said moving average computing can for example be 10.For example, the length of supposing sliding window is 3, and then per 3 continuous rotating speeds are one group and get its sliding average in this group rotating speed.
The rotating speed of said control setup 40 control hoisting mechanisms 20 can adopt various control algorithm as known in the art.Pid control algorithm is a kind of algorithm of comparative maturity wherein, and the present invention preferably can select pid control algorithm to control.Thus, according to an embodiment of the invention, said control setup 40 can be configured to:
The comparative result that obtains after comparing according to said sliding average and said standard revolving speed also generates said control signal based on pid algorithm.
In some applications, the operational process medium speed at hoisting mechanism 20 does not always remain unchanged.For example, in the application of the automatic mode of hoisting mechanism test platform, in the process of hoisting; Hoisting mechanism 20 moves under the minimum speed pattern earlier; Lower minimum speed with initial is mentioned lift heavy, accelerates to maximum speed then to get into the maximum speed pattern, under the maximum speed pattern, keeps maximum speed after operation a period of time; Do decelerated movement again to minimum speed, band-type brake at last stops after lift heavy is raised to point station.In the decline process, also be to begin to accelerate to maximum speed from lower minimum speed earlier, keep maximum speed after operation a period of time, do decelerated movement again to minimum speed, band-type brake at last stops after lift heavy is reduced to point station.
Therefore; At said hoisting mechanism 20 under situation about moving under the minimum speed pattern; Said standard revolving speed comprises the minimum sandards rotating speed; Said control setup 40 is configured to said rotating speed and this minimum sandards rotating speed are compared, and also this control signal is exported to said proportion magnetic valve 18 according to the comparative result generation control signal corresponding of this rotating speed and minimum sandards rotating speed.
At said hoisting mechanism 20 under situation about moving under the maximum speed pattern; Said standard revolving speed comprises maximum standard revolving speed; Said control setup 40 is configured to said rotating speed and this maximum standard revolving speed are compared, and also this control signal is exported to said proportion magnetic valve 18 according to the comparative result generation control signal corresponding of this rotating speed and maximum standard revolving speed.
Control signal is used to regulate the aperture of proportion magnetic valve 18 and comes the horsepower output of regulator solution pressure motor 16, thereby controls the minimum speed of said hoisting mechanism 20 and said minimum sandards rotating speed is complementary and/or maximum speed and maximum standard revolving speed are complementary.
The above-mentioned operational process of hoisting mechanism 20 can be controlled by said control setup 40.Thus, said control setup 40 can also be configured to:
Control the horsepower output of said HM Hydraulic Motor 16 through controlling said proportion magnetic valve 18, make said hoisting mechanism 20 under the minimum speed pattern, move;
Control the horsepower output of said HM Hydraulic Motor 16 through controlling said proportion magnetic valve 18, make said hoisting mechanism 20 begin to quicken to get into the maximum speed pattern; And
Under remaining on this maximum speed pattern, after operation a period of time, control the horsepower output of said HM Hydraulic Motor 16, make said hoisting mechanism 20 reduce speed now to get into the minimum speed pattern through controlling said proportion magnetic valve 18.
Above-mentioned operational process can be realized through giving control setup 40 setting control sequential and controlled variable in advance.Specifically, following parameter can suitablely according to actual needs be set: the cooresponding rotating speed of minimum speed pattern, the cooresponding rotating speed of maximum speed pattern, holding time, from the maximum speed pattern to the required time of minimum speed pattern etc. from the minimum speed pattern to required time of maximum speed pattern, maximum speed pattern.To control setup 40, control setup 40 comes executivecontrol function according to predefined program and these parameters with these parameter inputs (for example through input equipment/outdevice).Because the aperture of proportion magnetic valve 18 is corresponding with the horsepower output of HM Hydraulic Motor 16; Thereby corresponding with the rotating speed of hoisting mechanism 20, so 40 of control setups need the aperture of control ratio electromagnetic valve 18 just can control hoisting mechanism 20 with minimum speed or maximum speed operation.
In yet another embodiment of the present invention, control setup 40 control hoisting mechanisms 20 reduce speed now and can be triggered by external event from operation under the maximum speed pattern.Trigger event can comprise the manual triggers incident, for example operator's M/C (lift heavy of for example slinging when hoisting mechanism 20 rises or when dropping to a certain position, the operator reduces speed now through control lever operation hoisting mechanism 20) or trigger event automatically.In the embodiment of automatic trigger event, said test platform can also comprise:
Adapter shaft bonded assembly travel switch 50 with said hoisting mechanism 20; The trip switch 50 is used to detect the lift heavy that said hoisting mechanism 20 slings and whether reaches deceleration point, and arrives at this lift heavy under the situation of deceleration point and send restriction signal to said control setup 40;
Said control setup 40 is configured to also receiving under the situation of said restriction signal that the output deceleration control signal is given said proportion magnetic valve 18 so that said hoisting mechanism 20 beginning to do to slow down to rotate from operation under said maximum speed pattern.
Said travel switch 50 can be to well known to a person skilled in the art to be used for spacing switchgear.The trip switch 50 can with hoisting mechanism 20 same axle mountings; Can be used for rising or decline operational process setting forced deceleration point at lift heavy; Avoid because procedural problem or speed detecting unit fault cause the normal logic control fails, pound ground thereby cause rising rushing to summit or descending at a high speed.
Though described control setup 40 is controlled hoisting mechanism 20 through control ratio electromagnetic valve 18 above-mentioned operational process in embodiments of the present invention; But one of ordinary skill in the art are appreciated that; Control setup 40 can be controlled the rotating speed of hoisting mechanism 20 through the parts beyond the control ratio electromagnetic valve 18; For example utmost point speed regulation device arranged by what a plurality of electromagnetic valves were formed; Corresponding different hoisting mechanism 20 rotating speeds of wherein different electromagnetic valve combination, for example under the minimum speed pattern with the maximum speed pattern under rotating speed.In addition, also can carry out hoisting mechanism 20 above-mentioned operational processs by the control setup beyond the control setup 40.Therefore, scope of the present invention is not limited to the specific mode of describing in the embodiment.
When control setup 40 or other control systems control hoisting mechanism 20 moves under the minimum speed pattern; Control setup 40 can send control signal to proportion magnetic valve 18 according to above-mentioned control process and be complementary with rotating speed and the minimum sandards rotating speed of controlling hoisting mechanism 20; (for example; The difference of rotating speed and minimum sandards rotating speed is in the tolerable scope), only after rotating speed and minimum sandards rotating speed were complementary, hoisting mechanism 20 just began to quicken.Similarly; After hoisting mechanism 20 enters into the maximum speed pattern; Control setup 40 sends control signal to proportion magnetic valve 18 and is complementary (for example, the difference of rotating speed and maximum standard revolving speed is in the tolerable scope) with rotating speed and the maximum standard revolving speed of controlling hoisting mechanism 20.Said minimum sandards rotating speed and maximum standard revolving speed can be set at respectively at the rotating speed of hoisting mechanism 20 under the standard condition in minimum velocity pattern and maximum speed pattern.
Can find out through above description; Because the rotating speed that uses the real-time hoisting mechanism 20 that detects of speed detecting unit is as feedback; The rotating speed that can guarantee hoisting mechanism 20 can be consistent in the different temperatures environment basically, does not receive the influence of variation of temperature to hoisting mechanism 20 rotating speeds thus.This is especially favourable to using experiment porch to carry out the elevator test, because elevator TR rotating speed keeps consistency.
What more than describe is the advantage that according to the embodiment of the present invention test platform is stablized hoisting mechanism 20 rotating speeds, will describe other advantages of test platform below.
Test platform according to the embodiment of the present invention can also calculate the terrain clearance of the lift heavy that hoisting mechanism 20 slings and can proofread and correct the height value that is calculated, and will describe in detail below.
Control setup 40 can calculate the rotating speed s of hoisting mechanism 20 according to the tach signal that is received, and supposes that the grooving quantity on the reel of hoisting mechanism 20 is a, and the current of steel rope is m around the volume number of plies; The steel rope radius is r; Radius is R at the bottom of the reel, when lift heavy when just liftoff (this moment be called transformation point), and lift heavy terrain clearance h=0; Steel rope is positioned at the ground floor (m=1) of reel, this moment reel on wiring length be designated as L 1, then at the groove of the wiring quantity a of transformation point 0For:
a 0 = L 1 2 π × ( R + r ) Formula (2)
Steel rope is used to calculate the also variation thereupon of radius C of girth around the every variation one deck of volume:
Figure BDA0000103409560000102
Wherein i is from the wiring number of plies of outermost layer to inside counting, i=1 when outermost layer, i=m during ground floor.The elevator wiring when layer (outermost layer) around groove count D and be:
D = [ x p - ( m - 1 ) a + a 0 ]
Height h is:
H=2 π * D * C I=1+ 2 π * a * C-L 1Formula (3)
In the embodiment of above-mentioned orthogonal increment type coder, formula (3) can be rewritten into:
Figure BDA0000103409560000104
Formula (4)
Wherein, a is the grooving quantity on the reel of hoisting mechanism 20, and x is the count value of the quantity of the impulse singla that sends of counting machine pair of orthogonal incremental encoder, and when h=0, setting x=0, p is the resolution of orthogonal increment type coder.
Judge that current coiling number of stories m can calculate through following formula:
[ x p - ( m - 1 ) a + a 0 ] ≥ 0 , Promptly m ≤ x p × a + a 0 a + 1 , M round numbers formula (5) wherein
Confirming of m value can be with the value fractions omitted part of
Figure BDA0000103409560000113
calculating gained in the formula (5) in program, and round numbers part assignment is given m.
Because there is stretching effect in steel rope, has the phenomenon that is elongated after a period of time at lift heavy, this can cause control setup 40 calculated altitudes inaccurate.In order to increase the accuracy of high computational; According to preferred implementation of the present invention; This test platform can also comprise load lifting limiter 60, and this load lifting limiter 60 is used to detect the stressed size of said hoisting mechanism 20, judges that according to this stressed size it still is liftoff state that said lift heavy is in the state of landing; And judging said lift heavy by landing state-transition during, to said control setup 40 transmit status convert signals to liftoff state;
The position that said control setup 40 also is configured to said lift heavy when receiving said state-transition signal is set to the zero elevation point.
Load lifting limiter 60 is the known equipment of one of ordinary skill in the art, can load lifting limiter 60 be installed on the steel rope track adjusting wheel at the stand top of test platform for example, is used to detect the stressed size of steel rope.When hoisting mechanism 20 is being mentioned in the liftoff process of lift heavy; Steel rope receives pulling force and can change; Load lifting limiter 60 can be judged lift heavy from just liftoff moment according to the variation of this pulling force, and judge that lift heavy is firm can be when liftoff to control setup 40 transmit status convert signals.Control setup 40 carries out zero-setting operation once receiving this state-transition signal to the current lift heavy terrain clearance that calculates, and that is to say, the position at the place of lift heavy is set to the zero elevation point at this moment.Whenever lift heavy all can carry out the zero correction operation to the height that calculates from landing state-transition during to liftoff state, further increase the accuracy of high computational thus.
In other embodiments of the present invention, some additional features are provided also.For example; In an embodiment of the invention; Said test platform can also comprise weight hammer type limit switch (not shown), and this weight hammer type limit switch can be installed in a certain position under the top of stand, and the weight of weight hammer type limit switch can be installed near the steel rope the suspender; Whether the suspender that the weight hammer type limit switch can be used to detect hoisting mechanism 20 is near stand top (for example detect and whether arrive a certain position under the top); When detecting lift heavy near the stand top, send the pressure stop signal, this pressure stop signal can be sent out to control setup 40, when control setup 40 receives this pressure stop signal; Stop other operations, and control hoisting mechanism 20 band-type brakes stop.One of ordinary skill in the art are appreciated that said pressure stop signal not necessarily must send to control setup 40, and it can be sent to and carry out any other devices that band-type brake stops and is associated, for example brake activation valve.
Correspondingly; According to another aspect of the present invention, the control method that is used for hoisting mechanism 20 is provided also, this hoisting mechanism 20 is by hydraulic drive system drives; This fluid power system can comprise HM Hydraulic Motor 16 and the proportional control valve that is associated with this HM Hydraulic Motor 16, and this method can comprise:
Receive the tach signal of indication hoisting mechanism 20 rotating speeds;
From said tach signal, obtain the rotating speed of said hoisting mechanism 20, and rotating speed and standard revolving speed are compared;
If said rotating speed greater than said standard revolving speed, then generates the control signal that is used to reduce said hoisting mechanism 20 rotating speeds; If said rotating speed less than said standard revolving speed, then generates the control signal that is used to increase said hoisting mechanism 20 rotating speeds; And
Export said control signal.
This control signal can be sent to proportion magnetic valve 18; Proportion magnetic valve 18 is made corresponding action (the for example change of its aperture) according to this control signal; With the horsepower output of regulator solution pressure motor 16, thereby the rotating speed of said hoisting mechanism 20 and said standard revolving speed are complementary.
Here, can generate said control signal based on pid algorithm.
Likewise as stated; Before comparing, can carry out data handing to rotating speed; Therefore according to an embodiment of the invention, from said tach signal, obtain the rotating speed of said hoisting mechanism 20, and the step that this rotating speed and standard revolving speed compare can be comprised::
From said tach signal, obtain to have one group of rotating speed of time gap;
This group rotating speed is carried out the moving average computing to obtain sliding average; And
Sliding average and said standard revolving speed are compared.
As stated, said time gap can for example be 100ms.
Likewise, as stated, under situation about moving under the minimum speed pattern, said standard revolving speed comprises the minimum sandards rotating speed at said hoisting mechanism 20, rotating speed and standard revolving speed is compared comprise said rotating speed and this minimum sandards rotating speed are compared; And/or
Under situation about moving under the maximum speed pattern, said standard revolving speed comprises maximum standard revolving speed at said hoisting mechanism 20, rotating speed and standard revolving speed is compared comprise said rotating speed and this maximum standard revolving speed are compared.
Here, generate control signal corresponding according to the comparative result of rotating speed and minimum sandards rotating speed and/or the comparative result of rotating speed and maximum standard revolving speed.
This control signal can send to said proportion magnetic valve 18; Proportion magnetic valve 18 is made corresponding actions (the for example change of the aperture of proportion magnetic valve 18) according to this control signal; With the horsepower output of regulator solution pressure motor 16, thereby control the rotating speed of said hoisting mechanism 20 and said minimum sandards rotating speed is complementary and/or rotating speed and maximum standard revolving speed are complementary.
Preferably, said method can also comprise:
Receive restriction signal; And
Output makes the control signal that said hoisting mechanism 20 slows down when receiving restriction signal.
Preferably, said method can also comprise the terrain clearance of the lift heavy of slinging according to the said hoisting mechanism 20 of said revolution speed calculating.
In an embodiment of the invention, said method can also be used for the terrain clearance of calculating lift heavy is calibrated, and thus, said method can also comprise:
Receive the indication lift heavy is changed to liftoff state by the state of landing state-transition signal; And
Terrain clearance with the lift heavy that calculates when receiving said state-transition signal resets to zero.
The state-transition signal can be produced by aforesaid load lifting limiter 60.
Fig. 3 is the structural representation according to the control setup that is used for hoisting mechanism 20 of an embodiment of the invention.As shown in Figure 3, according to an embodiment of the invention, a kind of control setup that is used to carry out said method is provided also, this control setup can comprise:
Reception facilities 310 is configured to receive the tach signal of indicating hoisting mechanism 20 rotating speeds;
Treatment facility 300 with said reception facilities 310 couplings, and can be configured to receive the said tach signal from said reception facilities 310; From this tach signal, obtain the rotating speed of said hoisting mechanism 20; Rotating speed and standard revolving speed are compared, if said rotating speed greater than said standard revolving speed, then generates the control signal that is used to reduce said hoisting mechanism 20 rotating speeds; If said rotating speed less than said standard revolving speed, then generates the control signal that is used to increase said hoisting mechanism 20 rotating speeds; And
Transmitter 320 with 300 couplings of said treatment facility, and can be configured to receive from the control signal of said treatment facility 300 and exports this control signal.
Here, said treatment facility 300 can be configured to generate said control signal based on pid algorithm.
Correspondingly, according to an embodiment of the invention, said treatment facility 300 can be configured to:
From said tach signal, obtain to have one group of rotating speed of time gap;
This group rotating speed is carried out the moving average computing to obtain sliding average; And
Said sliding average and said standard revolving speed are compared.
Wherein, under situation about moving under the minimum speed pattern, said standard revolving speed comprises the minimum sandards rotating speed at said hoisting mechanism 20, and said treatment facility 300 is configured to said rotating speed and this minimum sandards rotating speed are compared; And/or
Under situation about moving under the maximum speed pattern, said standard revolving speed comprises maximum standard revolving speed at said hoisting mechanism 20, and said treatment facility 300 is configured to said rotating speed and this maximum standard revolving speed are compared.
Preferably, said reception facilities 310 can also be configured to receive restriction signal and send this restriction signal to said treatment facility 300; And
Said treatment facility 300 can also be configured to the control signal that output is slowed down said hoisting mechanism 20 when receiving said restriction signal.
Preferably, said treatment facility 300 can also be configured to calculate according to said tach signal the terrain clearance of said lift heavy.Thus, said reception facilities 310 can also be configured to receive the indication lift heavy and change to the state-transition signal of liftoff state by the state of landing, and this state-transition signal is sent to said treatment facility 300; Said treatment facility 300 can also be configured to when receiving said state-transition signal the terrain clearance of the lift heavy that calculates is reset to zero.
Here, described control setup can be the control setup 40 in the above-mentioned hoisting mechanism experiment porch.
Said reception facilities 310, treatment facility 300 and transmitter 320 can be realized through the combination of software, hardware and software and hardware.In embodiments of the present invention, reception facilities 310 can be that independent assembly maybe can be integrated into assembly, for example a transceiver with transmitter 320.
More than combine accompanying drawing to describe preferred implementation of the present invention in detail; But; The present invention is not limited to the detail in the above-mentioned embodiment; In technical conceive scope of the present invention, can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
Need to prove in addition; Each concrete technical characterictic described in the above-mentioned specific embodiment under reconcilable situation, can make up through any suitable manner; For fear of unnecessary repetition, the present invention is to the explanation no longer separately of various possible array modes.
In addition, also can carry out combination in any between the various embodiment of the present invention, as long as it is without prejudice to thought of the present invention, it should be regarded as the disclosed content of the present invention equally.

Claims (19)

1. method that is used for hoisting mechanism, this method comprises:
Receive the tach signal of indication said hoisting mechanism (20) rotating speed;
From said tach signal, obtain the rotating speed of said hoisting mechanism (20), and this rotating speed and standard revolving speed are compared;
If said rotating speed greater than said standard revolving speed, then generates the control signal that is used to reduce said hoisting mechanism (20) rotating speed; If said rotating speed less than said standard revolving speed, then generates the control signal that is used to increase said hoisting mechanism (20) rotating speed; And
Export said control signal.
2. method according to claim 1 wherein, obtains the rotating speed of said hoisting mechanism (20) from said tach signal, and the step that this rotating speed and standard revolving speed compare is comprised:
From said tach signal, obtain to have one group of rotating speed of time gap;
This group rotating speed is carried out the moving average computing to obtain sliding average; And
Said sliding average and said standard revolving speed are compared.
3. method according to claim 1; Wherein, Under situation about moving under the minimum speed pattern, said standard revolving speed comprises the minimum sandards rotating speed at said hoisting mechanism (20), rotating speed and standard revolving speed is compared comprise said rotating speed and this minimum sandards rotating speed are compared; And/or
Under situation about moving under the maximum speed pattern, said standard revolving speed comprises maximum standard revolving speed at said hoisting mechanism (20), rotating speed and standard revolving speed is compared comprise said rotating speed and this maximum standard revolving speed are compared.
4. method according to claim 1 wherein, generates said control signal based on pid algorithm.
5. method according to claim 1, this method also comprises:
Receive restriction signal; And
Output makes the control signal that said hoisting mechanism (20) slows down when receiving restriction signal.
6. method according to claim 1, this method also comprise the terrain clearance of the lift heavy of slinging according to the said hoisting mechanism of said revolution speed calculating (20).
7. method according to claim 6, this method also comprises:
Receive the lift heavy of indicating said hoisting mechanism (20) to sling is changed to liftoff state by the state of landing state-transition signal; And
The terrain clearance of the said lift heavy that when receiving said state-transition signal, will calculate resets to zero.
8. control setup that is used for hoisting mechanism comprises:
Reception facilities (310) is configured to receive the tach signal of indicating said hoisting mechanism (20) rotating speed;
Treatment facility (300); Be coupled with said reception facilities (310); This treatment facility (300) is configured to receive the said tach signal from said reception facilities (310), from this tach signal, obtains the rotating speed of said hoisting mechanism (20), and this rotating speed and standard revolving speed are compared; If said rotating speed is greater than said standard revolving speed; Then generate the control signal that is used to reduce said hoisting mechanism (20) rotating speed, if said rotating speed less than said standard revolving speed, then generates the control signal that is used to increase said hoisting mechanism (20) rotating speed; And
Transmitter (320), with said treatment facility (300) coupling, this transmitter (320) is configured to receive from the control signal of said treatment facility (300) and exports this control signal.
9. control setup according to claim 8, wherein, said treatment facility (300) is configured to:
From said tach signal, obtain to have one group of rotating speed of time gap;
This group rotating speed is carried out the moving average computing to obtain sliding average; And
Said sliding average and said standard revolving speed are compared.
10. control setup according to claim 8; Wherein, Under situation about moving under the minimum speed pattern, said standard revolving speed comprises the minimum sandards rotating speed at said hoisting mechanism (20), and said treatment facility (300) is configured to said rotating speed and this minimum sandards rotating speed are compared; And/or
Under situation about moving under the maximum speed pattern, said standard revolving speed comprises maximum standard revolving speed at said hoisting mechanism (20), and said treatment facility (300) is configured to said rotating speed and this maximum standard revolving speed are compared.
11. control setup according to claim 8, wherein, said treatment facility (300) is configured to generate said control signal based on pid algorithm.
12. control setup according to claim 8, wherein, said reception facilities (310) also is configured to receive restriction signal and sends this restriction signal to said treatment facility (300); And
Said treatment facility (300) also is configured to the control signal that output is slowed down said hoisting mechanism (20) when receiving said restriction signal.
13. control setup according to claim 8, wherein, said treatment facility (300) also is configured to calculate according to said tach signal the terrain clearance of said lift heavy.
14. control setup according to claim 13; Wherein, Said reception facilities (310) also is configured to receive lift heavy that the said hoisting mechanism of indication (20) slings and changes to the state-transition signal of liftoff state by the state of landing, and this state-transition signal is sent to said treatment facility (300); Said treatment facility (300) also is configured to when receiving said state-transition signal the terrain clearance of the lift heavy that calculates is reset to zero.
15. a hoisting mechanism test platform, this test platform comprise hoisting mechanism (20), are used to drive the fluid power system of hoisting mechanism (20), this fluid power system comprises HM Hydraulic Motor (16) and the proportion magnetic valve (18) that is associated with HM Hydraulic Motor (16); It is characterized in that said test platform also comprises:
With the speed detecting unit (30) of said hoisting mechanism (20) coupling, be used to detect the rotating speed of said hoisting mechanism (20) and the tach signal of the said rotating speed of output indication;
Control setup (40) with said speed detecting unit (30) electrical hookup; This control setup (40) is electrically connected with said proportion magnetic valve (18) to transmit control signal to this proportion magnetic valve (18), and wherein this control setup (40) is any described control setup of claim in according to Claim 8-14.
16. test platform according to claim 15, wherein, said speed detecting unit (30) comprising:
Coder, the coaxial connection of rotating shaft of this coder and said hoisting mechanism (20), be used to detect the number of turns that the rotating shaft of this hoisting mechanism (20) is rotated, and the signal of this number of turns of output indication;
Counting machine is used to receive the signal of said this number of turns of indication, this number of turns is counted, and output comprises the tach signal of the count value of this number of turns;
Said control setup (40) is configured to receive this tach signal, from this tach signal, obtains said count value, calculates the rotating speed of said hoisting mechanism (20) according to count value.
17. test platform according to claim 16, wherein, said coder is an orthogonal increment type coder.
18. test platform according to claim 15; Wherein, This test platform also comprises the adapter shaft bonded assembly travel switch (50) with said hoisting mechanism (20); The trip switch (50) is used to detect the lift heavy that said hoisting mechanism (20) slings and whether reaches deceleration point, and arrives at this lift heavy under the situation of deceleration point and send restriction signal to said control setup (40).
19. test platform according to claim 15; Wherein, This test platform also comprises load lifting limiter (60), and this load lifting limiter (60) is used to detect the stressed size of said hoisting mechanism (20), judges that according to this stressed size it still is liftoff state that said lift heavy is in the state of landing; And judging said lift heavy by landing state-transition during, to said control setup (40) transmit status convert signals to liftoff state.
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