CN104836484A - Redundant backup-based rope driving system and control method thereof - Google Patents
Redundant backup-based rope driving system and control method thereof Download PDFInfo
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- CN104836484A CN104836484A CN201510282794.XA CN201510282794A CN104836484A CN 104836484 A CN104836484 A CN 104836484A CN 201510282794 A CN201510282794 A CN 201510282794A CN 104836484 A CN104836484 A CN 104836484A
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Abstract
The invention discloses a redundant backup-based rope driving system and a control method thereof, and belongs to the field of automatic control and space robots. The rope driving system includes an unfolding line roller, a folding line roller, a line roller reduction box A, a line roller reduction box B, a motor reduction box A, a motor reduction box B, a backup motor gearbox A, a backup motor gearbox B, an unfolding motor, an unfolding backup motor, a folding motor, a folding backup motor, an unfolding rope A, an unfolding rope B and a folding rope. On the basis of normally working motors, the redundant backup-based rope driving system provided by the invention adds the backup motors which can replace main motors to work when the main motors cannot work normally, and when an accident occurs, for example, the system encounters an unpredictable unknown load, when driving force of the main motors is insufficient, the backup motors and the main motors can coordinate with each other and work together, thereby substantially improving operation driving force.
Description
Technical field
The invention belongs to and automatically control and robot for space field, be specifically related under a kind of outer space environment based on the rope drive system of redundancy backup and control method thereof.
Background technology
Outer space environment has the feature such as high vacuum, microgravity, and therefore outer space implement cannot use the drive forms such as traditional internal combustion engine.Compared to other drive form, rope driving has that quality is light, volume is little, inertia is little, and has certain compliance, is widely used in all kinds of automation or Semi-automatic device.
But due to rope, can to bear tension force general less, if when in rope, pulling force is greater than the pulling force allowable driving rope for a long time, generations was lost efficacy and ruptured by rope, while rope flexibility cause in operation process, driving rope to be easy to rewind.Outer space environment is full of the unknown, has very large uncertainty, and extremely low to the failure rate tolerance of equipment, and how drive system avoids these problems, how to ensure that reliably working at strange environment is the current problem needing solution badly.
Summary of the invention
The present invention, for realizing outer space operation, provides a kind of rope drive system based on redundancy backup, and provides a kind of control method independently can analyzing identification electrical fault, intelligent running mode switching.
Rope drive system based on redundancy backup provided by the invention, mainly comprises mechanical part and control system.Mechanical part comprises: evolute roller, draw line roller, line roller reduction box A, line roller reduction box B, motor reduction gearbox A, motor reduction gearbox B, backup motor gearbox A, backup motor gearbox B in, launch motor, launch backup motor, draw motor in, draw backup motor in, launch rope A, launch rope B and draw rope in.
Described expansion rope A, expansion rope B and gathering rope are called to drive restricts, and each driving is separately installed with tension pick-up A, tension pick-up B and tension pick-up C on restricting.Described one end of launching rope A connects the left side reel of evolute roller, other end access operating system; The one end of launching rope B connects the right side reel of evolute roller, other end access operating system; The one end of drawing rope in connects the reel drawing line roller in, other end access operating system.The left side reel of evolute roller, right side reel are all fixed on evolute roller, and left side reel, right side reel remain synchronous axial system.The reel drawing line roller in is fixed on and draws on line roller.
Launch rope A, launch rope B and draw in restrict to adopt Dual-motors Driving (launch motor and draw motor in), evolute roller is separate with gathering line roller, respectively with launching motor and drawing motor driving in.Due to evolute roller with draw that the rotating speed of line roller is all very low in and moment of torsion is larger, so need to be connected with motor reduction gearbox A by line roller reduction box A between the line roll shaft of evolute roller and the motor shaft launching motor, draw between the line roll shaft of line roller and the motor shaft drawing motor in and need to be connected with motor reduction gearbox B by line roller reduction box B, increase moment of torsion to reduce rotating speed.In order to increase the reliability of driving, often overlapping the driving of line roller and all having prepared backup motor, namely launch backup motor and draw in back up motor.Launch backup motor is connected on the power shaft of motor reduction gearbox A with expansion motor together with backup motor gearbox A, draws backup motor in and is connected on the power shaft of motor reduction gearbox B together with backup motor gearbox B with gathering motor.
Control system forms primarily of control cubicle, PC host computer and reponse system.
Described control cubicle is the core of control system of the present invention.Specifically comprise a main control chip (being selected from STM32), four relays, four drivers, a guidance panel and LCD display.Wherein LCD display, guidance panel and four drivers are all by serial ports (USART) mode and main control chip communication, and four relays by I/O mouth control relay, and then control motor power and driver, electric inter-machine communication.Each motor is all equipped with driver.It is after mechanically operated four motors power on that main control chip controls four relays, and four drivers can control corresponding four motors and run.For reducing the communication cost between main control chip and four drivers, by CAN networking between four drivers.Four drivers are numbered respectively (address in CAN net), and main control chip issues the driving instruction of band address in CAN net, only have the driver met with address just can perform to drive and order.Guidance panel is integrated with many action buttons and knob, in order to send control command to main control chip.The real-time display control program information of LCD display, comprises running status (operation, time-out, stopping, error message), drives rope tension, current of electric and the information that puts in place.Four described relays are respectively relay A, relay B, relay C and relay D, four described drivers are respectively driver A, driver B, driver C and driver D, and four described motors are respectively and launch motor, launch backup motor, draw motor and gathering backup motor in.
PC host computer is responsible for data acquisition.In operation process, the data acquisition software in PC host computer can obtain drive system real time information, comprises running status (operation, time-out, stopping, error message), drives rope tension, current of electric, put in place information.PC host computer is only opened when needs image data, analysis data, and the rope drive system based on redundancy backup of the present invention is normally run and do not relied on PC host computer.
Reponse system is made up of location switch and tension pick-up.In operation process, operation original position and operation final position are all provided with location switch, and when actuator advances to the position of this location switch, location switch sends the information of putting in place, notice main control chip.Three tension pick-up Real-Time Monitorings three drive the tension force in restricting, and are convenient to judge that system mode and tension force control.
Rope Driving Scheme based on redundancy backup of the present invention plurality of operating modes: single motor single moves, single motor linkage, bi-motor single action, bi-motor links.
The invention has the advantages that:
(1) a kind of rope driving control system based on redundancy backup of the present invention, for improving system reliability, normal work drive motor basis adds backup motor, not only substitute mair motor work when mair motor cannot normally work, can also fortuitous event encountered, as system runs into unpredictable unknown load, when initiatively motor actuating force is not enough, backup motor can be coordinated mutually with mair motor, works together, significantly improves operation actuating force.
(2) a kind of rope driving control system based on redundancy backup of the present invention, main control chip, relay, driver, guidance panel, LCD display are designed to separate assembly, reduce the electromagnetic interference between each assembly, be convenient to maintenance simultaneously and change.Main control chip, relay, driver, guidance panel, LCD display form the hub-and-spoke configuration centered by main control chip, and structure is simple, control is relatively simple.Mainly through serial communication between each assembly and main control chip, interface is unified.
(3) a kind of rope drive system control method based on redundancy backup of the present invention, devises plurality of operating modes, comprises multiple-working mode and debugging mode.A kind of rope drive system based on redundancy backup of the present invention according to different operating mode, can automatically switch between multiple mode of operation.Described debugging mode can provide corresponding drive form for operating system maintenance, repair.
(4) a kind of rope drive system control method based on redundancy backup of the present invention, propose a kind of bi-motor coordination mode, make system in the normal mode of operation, one of two motors are as active motor, another motor, as backup motor, backs up motor and replaces initiatively machine operation when mair motor breaks down; And when some special operation condition, two motor in synchrony work, improve operating system load capacity.
(5) a kind of rope drive system control method based on redundancy backup of the present invention, devises stopping enable button.When enable button is pressed, system enters halted state, and in guidance panel, except mains switch, scram button and stop button itself, other action buttons all lost efficacy, and can avoid touching the fortuitous event that action button causes by mistake.The place that this enable button is better than common switch is, activation stop enable after, must close stop enable could continuing operate and in this process system be in running status.
(6) a kind of rope drive system control method based on redundancy backup of the present invention, devises multiple safety protection measure.Comprise driving rope overload protection, motor current overload protection, touch operation protection by mistake.
Accompanying drawing explanation
Fig. 1 is the structural representation of the rope drive system based on redundancy backup of the present invention;
Fig. 2 is the Control system architecture schematic diagram of the rope drive system based on redundancy backup of the present invention;
Fig. 3 is that in the present invention, main control chip controls single motor structural representation;
Fig. 4 is that pay-off wire roller drives rope back-roll schematic diagram;
Fig. 5 is pay-off wire roller speeds control block diagram;
Fig. 6 is the rope drive system control flow chart based on redundancy backup.
In figure:
1. evolute roller; 2. draw line roller in; 3. line roller reduction box A; 4. line roller reduction box B;
5. motor reduction gearbox A; 6. motor reduction gearbox B; 7. back up motor gearbox A; 8. back up motor gearbox B;
9. launch motor; 10. launch backup motor; 11. draw motor in; 12. draw backup motor in;
13. launch rope A; 14. launch rope B; 15. draw rope in; 16. tension pick-up A;
17. tension pick-up B; 18. tension pick-up C.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in detail.
The invention provides a kind of described rope drive system based on redundancy backup and control method thereof, as shown in Figure 1, the mechanical part of described rope drive system comprises the mechanical structure of described rope drive system: evolute roller 1, draw line roller 2, line roller reduction box A3, line roller reduction box B4, motor reduction gearbox A5, motor reduction gearbox B6, backup motor gearbox A7, backup motor gearbox B8 in, launch motor 9, launch backup motor 10, draw motor 11 in, draw backup motor 12 in, launch rope A13, launch rope B14 and draw rope 15 in.
Described expansion rope A13, expansion rope B14 and gathering rope 15 are called to drive restricts, and each driving is separately installed with tension pick-up A16, tension pick-up B17 and tension pick-up C18 on restricting.Described one end of launching rope A13 connects the left side reel of evolute roller 1, other end access operating system; The one end of launching rope B14 connects the right side reel of evolute roller 1, other end access operating system; The one end of drawing rope 15 in connects the reel drawing line roller 2 in, other end access operating system.The left side reel of evolute roller 1, right side reel are all fixed on evolute roller 1, and left side reel, right side reel remain synchronous axial system.The reel drawing line roller 2 in is fixed on and draws on line roller 2.
Launch rope A13, expansion rope B14 and draw rope 15 in adopt Dual-motors Driving (launching motor and gathering motor), as shown in Figure 1, evolute roller 1 is separate with gathering line roller 2, drives respectively with expansion motor 9 and gathering motor 11.Due to evolute roller 1 with draw that the rotating speed of line roller 2 is all very low in and moment of torsion is larger, so need to be connected with motor reduction gearbox A5 by line roller reduction box A3 between the line roll shaft of evolute roller 1 and the motor shaft launching motor 9, draw between the line roll shaft of line roller 2 and the motor shaft drawing motor 11 in and need to be connected with motor reduction gearbox B6 by line roller reduction box B4, increase moment of torsion to reduce rotating speed.In order to increase the reliability of driving, often overlapping the driving of line roller and all having prepared backup motor, namely launch backup motor 10 and draw in back up motor 12.Launch backup motor 10 is connected on the power shaft of motor reduction gearbox A5 with expansion motor 9 together with backup motor gearbox A7, draws backup motor 12 in and is connected on the power shaft of motor reduction gearbox B6 together with backup motor gearbox B8 with gathering motor 11.
Launch rope A13, launch rope B14 and draw rope 15 in be all connected with the actuator in operating system, thus the action of manipulation actuator, fulfil assignment.
Operating system impulse stroke is divided into two parts: launch stroke and draw stroke in.When entering expansion stroke, evolute roller 1 furls expansion rope A13, launches the B14 that restricts, and draws the release of line roller 2 in and draws rope in; When entering gathering stroke, draw line roller 2 in and furl gathering rope, evolute roller 1 release launches rope A13, expansion rope B14.
Rope drive system Control system architecture based on redundancy backup of the present invention as shown in Figure 2.
Control system forms primarily of control cubicle, PC host computer and reponse system.
Described control cubicle is the core of control system of the present invention.Specifically comprise a main control chip (being selected from STM32), four relays, four drivers, a guidance panel and LCD display.Wherein LCD display, guidance panel and four drivers are all by serial ports (USART) mode and main control chip communication, and four relays by I/O mouth control relay, and then control motor power and driver, electric inter-machine communication.Each motor is all equipped with driver.It is after mechanically operated four motors power on that main control chip controls four relays, and four drivers can control corresponding four motors and run.For reducing the communication cost between main control chip and four drivers, by CAN networking between four drivers.Four drivers are numbered respectively (address in CAN net), and main control chip issues the driving instruction of band address in CAN net, only have the driver met with address just can perform to drive and order.Guidance panel is integrated with many action buttons and knob, in order to send control command to main control chip.The real-time display control program information of LCD display, comprises running status (operation, time-out, stopping, error message), drives rope tension, current of electric and the information that puts in place.Four described relays are respectively relay A, relay B, relay C and relay D, four described drivers are respectively driver A, driver B, driver C and driver D, and four described motors are respectively and launch motor 9, launch backup motor 10, draw motor 11 and gathering backup motor 12 in.
PC host computer is responsible for data acquisition.In operation process, the data acquisition software in PC host computer can obtain drive system real time information, comprises running status (operation, time-out, stopping, error message), drives rope tension, current of electric, put in place information.PC host computer is only opened when needs image data, analysis data, and the rope drive system based on redundancy backup of the present invention is normally run and do not relied on PC host computer.
Mechanical Driven mainly comprises four motors, and wherein four relays control powering on of four motors and power-off respectively, and four driver sending controling instructions also accept motor encoder data.Mechanical Driven provides machine power for the rope drive system based on redundancy backup of the present invention.Main control chip controls single motor process and sees Fig. 3.Main control chip control relay closes, and motor powers on.Main control chip sends working signal to driver, this working signal of driver parses also sends concrete motor message to motor (M in Fig. 3), motor setting in motion, the feedback that driver receives motor inner encoder obtains current motor movement position, and compare with target location, then send new motor message and make motor movement to target location.
Reponse system is made up of location switch and tension pick-up.In operation process, operation original position and operation final position are all provided with location switch, and when actuator advances to the position of this location switch, location switch sends the information of putting in place, notice main control chip.Three tension pick-up Real-Time Monitorings three drive the tension force in restricting, and are convenient to judge that system mode and tension force control.
Rope Driving Scheme based on redundancy backup of the present invention plurality of operating modes: single motor single moves, single motor linkage, bi-motor single action, bi-motor links.
Wherein dynamic, the bi-motor single action of single motor single is debugging mode, only has a side line roller initiatively to draw in and drive rope under this pattern, another side line roller not initiatively unwrapping wire, two the equal deenergizations of motor be connected with this line roller.Debugging mode is used for system and installs, debug and safeguard use.Devise reversal switch under debugging mode, after opening reversal switch, motor meeting counter motion, this switch is only effective under debugging mode.
Single motor linkage, bi-motor interlock belong to mode of operation.Wherein single motor linkage can be divided into mair motor pattern, backup motor mode.Described mair motor refers to and launches motor 9 and draw motor 11 in, and described backup motor refers to and launches backup motor 10 and draw backup motor 12 in.
Mair motor pattern: connect mair motor power supply, disconnects backup motor power, and control system is only for mair motor provides motor message.Now mair motor work, drive the output shaft of the output shaft of backup motor and backup motor gearbox to move together, backup motor can regard the load of mair motor as.Because backup motor power disconnects, cannot form loop, can not produce back electromotive force, therefore bearing power is only the power of motor bearings pivoting friction loss, substantially can ignore; Described backup motor gearbox comprises backup motor gearbox A7 and backup motor gearbox B8.
Backup motor mode: contrary with mair motor pattern, disconnects mair motor power supply, connects backup motor power, and control system is only for backup motor provides motor message; This situation is that mair motor or mair motor driver break down and to use in situation and mair motor mechanical part does not break down;
But these two kinds of patterns are opaque for operator, mair motor pattern and backup motor mode are switched according to certain rule voluntarily by control system inside.When driver detects that motor has fault or driver itself to have problems, driver will send corresponding information to main control chip.
Bi-motor linkage pattern can be referred to as synchronous working pattern again.Under this pattern, connect the power supply of mair motor and backup motor, control system sends the signal that is synchronized with the movement simultaneously, controls mair motor with backup motor with identical rotary speed movement, the common output shaft rotation driving backup motor gearbox.
Mair motor pattern is conventional operating mode, backup motor mode can start when mair motor mode failures even, and synchronous working pattern is then that (on such as sleeve, some pulley bearings is stuck) single motor power can cannot adopt during drive sleeve motion under some particular job condition.
The motor movement mode that table 1 is corresponding under listing each operational mode.
The corresponding motor movement mode of table 1 operational mode
Note: "+", "-" they are motor movement direction, and " 0 " is motor closedown, and wherein "+" represents that this driven by motor institute online roller retracting driving is restricted; "-" represents that the online roller release of this driven by motor institute drives rope.For opening the reversal switch rear motor direction of motion in " () ".
When opening automatic switchover mode switch, control system can according to different operating mode automatic switchover operational mode.
The continuous operation of rope Driving Scheme based on redundancy backup of the present invention and crawl run two kinds of operator schemes, are controlled by corresponding button (often opening touch switch).Under continuous operation mode, click and namely unclamp continuous operation mode button, continuous operation mode activates, and operating system starts operation, causes pattern to change until carry out other operations (as triggered crawl operational mode, stopping); Under crawl operational mode, pin corresponding crawl operational mode button (be called for short crawl and launch button), operating system starts operation, once unclamp crawl operational mode button, crawl operational mode lost efficacy, operating system stops operation, and control system enters holding state, waits input to be operated.Therefore can by repeatedly triggering crawl operational mode, the gradual operation of operating system, slowly approaches target location.
Rope drive system control method based on redundancy backup of the present invention, can accept the speed input of guidance panel, make currently just to equal this input speed in the drive motors speed of the line roller of spiral.
Back-roll refers to drive rope and pay-off wire roller (evolute roller 1 and draw line roller 2 in and be referred to as line roller, and there are take-up and unwrapping wire two kinds of operating states respectively) between adhesion excessive or and line roller on when frictional force is excessive between adjacent driven rope, the driving rope of release is needed not depart from line roller, on the contrary along with the motion of line roller, cause driving on the online roller of rope reverse-winding, release drives rope to become retracting and drives rope as shown in Figure 4.If now drive tension force in rope larger, then can depart from back-roll state, if but drive rope back-roll more than a circle, on the driving rope of the back-roll before the driving rope rewound subsequently covers, drive rope to twine tighter and tighter, back-roll state cannot be departed from, drive rope tension increasing, eventually exceed tension force allowable to rupture, and expendable infringement may be produced to operating system.
For avoiding the driving rope discharged to rewind, control system auto-control, just in the line roller speed of unwrapping wire, makes tension force in the driving rope discharged be maintained within a certain range.
Fig. 5 is shown in by pay-off wire roller speeds control block diagram.V
dfor a upper moment main control chip is sent to the target velocity of unwrapping wire electric machine controller (driver), obtain pay-off wire roller by tension pick-up and furled pulling force in driving rope, compare with tension force desired value after High frequency filter, obtain the speed increment Δ v of unwrapping wire motor.By V
d+ Δ v is as the speed of current time unwrapping wire motor.
The control system of the rope drive system based on redundancy backup of the present invention is ensured to drive rope to keep certain pulling force in operation process by tension control system.Wherein take-up line roller speed inputs (speed regulator) ACTIVE CONTROL by outside, and pay-off wire roller speed adjusts automatically according to pid algorithm, makes to drive the tension force of rope to remain definite value in unwrapping wire process.
The tension force keeping driving to restrict is that the concrete methods of realizing of definite value is as follows:
The first step: obtain tension force in each driving rope.
For any one tension pick-up, (described tension pick-up refers to any one in tension pick-up A16, tension pick-up B17, tension pick-up C18, owing to having identical structure and working method, therefore unification is described), tension pick-up is provided with high frequency filter, again the tension pick-up data collected are carried out anti-impulse disturbances mean filter, i.e. continuous sampling n data, remove the arithmetic mean that then its minimum value and maximum calculate a remaining n-2 data.Be implemented as:
Image data array A [i] a) is set, i=0,1 ..., n-1, n are natural number.
The value of continuous acquisition n tension pick-up, is kept in array A [i] successively.
B) setting minimum value in A [i] is A
min, maximum is A
max.Below for finding out the implementation method of maximum, minimum value:
B1) counter i initialize: i=1; A
min, A
maxinitial value is all set to first data: A
min=A [0]; A
max=A [0];
B2) if A [i] is less than minimum value A
min, then minimum value is upgraded: A
min=A [i], and enter b4); Otherwise next step.
B3) if A [i] is more than or equal to minimum value A
max, then maximum is upgraded: A
max=A [i];
B4) value of counter i adds 1:i=i+1;
B5) if i equals n, terminate; Otherwise enter b2).
C) the untreated image data sum of this array is A
sum:
Removing minimum value A
minwith maximum A
max, namely the arithmetic mean of n-2 remaining data is considered as the value A' of tension pick-up
average:
A'
average＝(A
sum-A
max-A
min)/(n-2)
Second step: drive rope speed according to three tension pick-up value control line roller releases.
When entering expansion stroke, evolute roller 1 furls and launches rope A13 and launch rope B14, draw line roller 2 in and discharge gathering rope 15, then claim to drive the expansion motor 9 of evolute roller 1 and/or expansion backup motor 10 to be take-up motor, claiming to drive the gathering motor 11 of gathering line roller 2 and/or draw backup motor 12 in is unwrapping wire motor.
When entering gathering stroke, draw line roller 2 in and furl gathering rope, evolute roller 1 discharges expansion rope A13, launches rope B14, then claiming the expansion motor 9 of driving evolute roller 1, launching backup motor 10 is unwrapping wire motor, and claiming to drive the gathering motor 11 of gathering line roller 2, drawing backup motor 12 in is take-up motor.
As shown in Figure 1, if the value of tension pick-up A, B, C is respectively Force [i], i=0,1,2.Tension force desired value is D.
Launch in stroke, tension pick-up C18 is positioned at release and drives on rope loop, using D directly as the desired value of PID controller.Adopt increment type PID algorithm, unwrapping wire motor speed increment is:
Δ u=k (Force [2]-D); K is proportionality coefficient.
Therefore current unwrapping wire motor speed is u=u+ Δ u.
Draw in stroke, tension pick-up A16, B17 are positioned at release and drive on rope loop, then the speed increment of take-up motor is:
Δ u=k
1(Force [0]-D)+k
2c (Force [1]-D); k
i(i=1,2) are proportionality coefficient.
In above formula, cause tension pick-up A16, B17 different to the weighing factor of speed increment because mechanical structure may there are differences, so generally k
1≠ k
2.
The control system of the rope drive system based on redundancy backup of the present invention contains the special states such as operating state, halted state, halted state.Operating state refer to operating system of the present invention based on the rope drive system of redundancy backup under the state of normal operation.And under halted state, the on off state of motor remains unchanged, the motor speed of operation is zero, and holding torque exports, and can accept control panel input.Actuator stop motion, keep current location, now actuator can bear a fixed load.Under halted state, mair motor and backup motor speed are zero, disconnect all motor powers, and it are enable to activate stopping, in guidance panel, except mains switch, scram button and stop button itself, other action buttons all lost efficacy, and can avoid touching the fortuitous event that action button causes by mistake.
The control method idiographic flow of the rope drive system based on redundancy backup of the present invention is as follows:
Step S101: control system starts, and guarantee that motor is in closed condition, operating system is in halted state simultaneously.
Step S102: check that whether communication is normal.Main control chip is by sending corresponding confirmation signal to driver, LCD display, driver, LCD display will return oneself state information, guarantee that the normal and each assembly of control circuit, display screen communication normally works, if wrong prompting mistake, then enter halted state, otherwise enter next step.
Step S103: driver and display screen initialization.Driver initialization, after guaranteeing closed electrical electromechanical source, motor can be in initial condition.Motor initial condition specifically refers to: motor non-moment exports, driver can monitor motor status.LCD starts to start simultaneously, display startup interface.Enter next step.
Step S104: accept guidance panel instruction.Judge whether to stop operation? the words being go to step S105, otherwise turn S106;
Step S105: activate halted state, go to step S104;
Step S106: judge whether Suspend Job, the words being activate halted state, go to step S104, otherwise enter next step.
Step S107: select operational mode.Operational mode is divided into single motor single and moves, single motor linkage, bi-motor single action, and bi-motor links.
If automatic switchover mode switch is not opened, belong to which kind of pattern according to the condition adjudgement of guidance panel is current, open corresponding motor by table 1.Under single motor linkage pattern, if initiatively motor feedback information is normal, then selects initiatively motor mode, otherwise switch to backup motor mode.Enter next step.
If automatic switchover mode switch open, switch between single motor linkage and bi-motor interlock according to current value size, switching law is as follows:
(1) if present mode of operation is empty, then present mode of operation is set to single motor linkage;
(2) if present mode of operation is single motor linkage and initiatively current of electric is greater than the threshold value A of setting, then present mode of operation is set to bi-motor interlock;
(3) if present mode of operation is bi-motor interlock and initiatively current of electric is less than the threshold value B of setting, then present mode of operation is set to single motor linkage.
Enter next step.
Described threshold value A and threshold value B, according to selected active motor model and power, set according to actual needs.
Step S108: select operating mode.Control method of the present invention contains crawl expansion, directly expansion, crawl draws in, directly draws in, is controlled, enter next step by corresponding button (often opening touch switch).
Step S109: detect and whether put in place.If location switch provides the signal that puts in place, enter step S114, otherwise enter next step.
Step S110: tension force is protected.Judge to drive tension force in rope whether to exceed tension force allowable, if then go to step S105; Otherwise next step.
Step S111: overcurrent protection.Judge whether current motor electric current exceedes current value allowable, if then go to step S105; Otherwise next step.
Step S112: perform corresponding Electric Machine Control subprogram.According to table 1, the speed of take-up motor is set to the value of speed regulator on control panel, and arranges the speed of unwrapping wire motor by tension pick-up value, concrete mode sees above to state and keeps tension force to be valued methods.
If synchronous working pattern, control system sends the signal that is synchronized with the movement, and control backup motor with the rotary speed movement identical with mair motor, common drive backs up motor gearbox output shaft rotation.
Then next step is entered.
Step S113: display screen is new data more.To running status (operation, time-out, stopping, error message) be comprised, drive the control system information of rope tension, current of electric and the information that puts in place to be sent to display screen, and upgrade display screen, enter next step.
Step S114: whether detect external data interface has request of data, if having, sending control system information, to PC host computer, receives data by host computer data acquisition software and preserves analysis, entering step S104.
Step S115: put in place process subprogram.Operation completes, removal actuating force.Make pulling force in driving rope be in desired value according to tension pick-up value control line roller unwrapping wire or take-up, then go to step S105.
In described control method, be also provided with house dog, monitored the control system including initiatively chip by house dog, the endless loop destruct limit system avoiding the interference etc. of external electromagnetic field to cause normally is run.Once there is endless loop, house dog cannot receive system worked well signal, and control system will restart.In step S101, main control chip starts house dog while starting.Before step S115, main control chip can send system worked well signal to house dog.
Claims (6)
1. based on a rope drive system for redundancy backup, it is characterized in that: comprise evolute roller, gathering line roller, line roller reduction box A, line roller reduction box B, motor reduction gearbox A, motor reduction gearbox B, backup motor gearbox A, backup motor gearbox B, launch motor, motor is backed up in expansion, draw motor in, draw backup motor in, A is restricted in expansion, launch rope B and draw in restrict;
Described expansion rope A, expansion rope B and gathering rope are called to drive restricts, and each driving is separately installed with tension pick-up A, tension pick-up B and tension pick-up C on restricting; Described one end of launching rope A connects the left side reel of evolute roller, other end access operating system; The one end of launching rope B connects the right side reel of evolute roller, other end access operating system; The one end of drawing rope in connects the reel drawing line roller in, other end access operating system; The left side reel of evolute roller, right side reel are all fixed on evolute roller, and left side reel, right side reel remain synchronous axial system; The reel drawing line roller in is fixed on and draws on line roller;
Be connected with motor reduction gearbox A by line roller reduction box A between the line roll shaft of evolute roller and the motor shaft launching motor, draw between the line roll shaft of line roller and the motor shaft drawing motor in and be connected with motor reduction gearbox B by line roller reduction box B; Launch backup motor is connected on the power shaft of motor reduction gearbox A with expansion motor together with backup motor gearbox A, draws backup motor in and is connected on the power shaft of motor reduction gearbox B together with backup motor gearbox B with gathering motor.
2. a kind of rope drive system based on redundancy backup according to claim 1, is characterized in that: described rope drive system has four kinds of operational modes, is respectively that single motor single is dynamic, the interlock of single motor linkage, bi-motor single action and bi-motor;
Wherein dynamic, the bi-motor single action of single motor single is debugging mode, only has a side line roller initiatively to draw in and drive rope under this pattern, another side line roller not initiatively unwrapping wire, two the equal deenergizations of motor be connected with this line roller;
Single motor linkage, bi-motor interlock belong to mode of operation, and wherein single motor linkage is divided into mair motor pattern, backup motor mode, and described mair motor refers to and launches motor and draw motor in, and described backup motor refers to and launches backup motor and draw backup motor in;
Mair motor pattern: connect mair motor power supply, disconnects backup motor power, and control system is only for mair motor provides motor message; Now mair motor work, drive the output shaft of the output shaft of backup motor and backup motor gearbox to move together, the load of mair motor regarded as by backup motor; Described backup motor gearbox comprises backup motor gearbox A and backup motor gearbox B;
Backup motor mode: contrary with mair motor pattern, disconnects mair motor power supply, connects backup motor power, and control system is only for backup motor provides motor message; This situation is that mair motor or mair motor driver break down and to use in situation and mair motor mechanical part does not break down;
Bi-motor linkage pattern is referred to as again synchronous working pattern, under this pattern, connect the power supply of mair motor and backup motor, control system sends the signal that is synchronized with the movement simultaneously, control mair motor with backup motor with identical rotary speed movement, the common output shaft rotation driving backup motor gearbox.
3. a kind of rope drive system based on redundancy backup according to claim 2, is characterized in that: described control system is made up of control cubicle, PC host computer and reponse system;
Described control cubicle comprises a main control chip, four relays, four drivers, a guidance panel and LCD display, wherein LCD display, guidance panel and four drivers are all by serial mode and main control chip communication, four relays by I/O mouth control relay, and then control motor power and driver, electric inter-machine communication; Each motor is all equipped with driver; It is after mechanically operated four motors power on that main control chip controls four relays, and four corresponding four motors of driver control run;
Mechanical Driven mainly comprises four motors, and wherein four relays control powering on of four motors and power-off respectively, and four driver sending controling instructions also accept motor encoder data;
Reponse system is made up of location switch and tension pick-up; In operation process, operation original position and operation final position are all provided with location switch, and when actuator advances to the position of this location switch, location switch sends the information of putting in place, notice main control chip; Three tension pick-up Real-Time Monitorings three drive the tension force in restricting, and are convenient to judge that system mode and tension force control;
PC host computer is responsible for data acquisition; In operation process, the data acquisition software in PC host computer obtains drive system real time information, comprises running status, drives rope tension, current of electric, put in place information.
4. a kind of rope drive system based on redundancy backup according to claim 3, is characterized in that: by CAN networking between four drivers.
5. the control method of a kind of rope drive system based on redundancy backup according to claim 1, is characterized in that:
Step S101: control system starts, and guarantee that motor is in closed condition, operating system is in halted state simultaneously;
Step S102: check that whether communication is normal;
Main control chip is by sending corresponding confirmation signal to driver, LCD display, driver, LCD display will return oneself state information, guarantee that the normal and each assembly of control circuit, display screen communication normally works, if wrong prompting mistake, then enter halted state, otherwise enter next step;
Step S103: driver and display screen initialization;
Driver initialization, after guaranteeing closed electrical electromechanical source, motor can be in initial condition; Motor initial condition specifically refers to: motor non-moment exports, driver can monitor motor status; LCD starts to start simultaneously, display startup interface; Enter next step;
Step S104: accept guidance panel instruction;
Judge whether to stop operation, the words being go to step S105, otherwise turn S106;
Step S105: activate halted state, go to step S104;
Step S106: judge whether Suspend Job, the words being activate halted state, go to step S104, otherwise enter next step;
Step S107: select operational mode;
Step S108: select operating mode;
Step S109: detect and whether put in place; If location switch provides the signal that puts in place, enter step S114, otherwise enter next step;
Step S110: tension force is protected; Judge to drive tension force in rope whether to exceed tension force allowable, if then go to step S105; Otherwise next step;
Step S111: overcurrent protection; Judge whether current motor electric current exceedes current value allowable, if then go to step S105; Otherwise next step;
Step S112: perform corresponding Electric Machine Control subprogram;
Step S113: display screen is new data more;
Step S114: whether detect external data interface has request of data, if having, sending control system information, to PC host computer, receives data by host computer data acquisition software and preserves analysis, entering step S104;
Step S115: put in place process subprogram: operation completes, removal actuating force; Make pulling force in driving rope be in desired value according to tension pick-up value control line roller unwrapping wire or take-up, then go to step S105.
6. the control method of a kind of rope drive system based on redundancy backup according to claim 5, is characterized in that: be provided with house dog in described control method.
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