CN105540393A - Tension release controlling device and method of cage hovering and locking of elevator - Google Patents

Abstract

The invention relates to a tension release controlling device and method of cage hovering and locking of an elevator. By the adoption of the device and method, in the whole cage locking process, impact caused by large elastic stretching and retracting of a steel wire rope can be eliminated when light-loaded objects or heavy-loaded objects are loaded and unloaded, it is guaranteed that the objects can enter and get out of the cage stably, accurate control over releasing of cage hovering and locking for a short time or even for a long time is achieved, and the safety and reliability are improved; meanwhile, the time that the objects enter and get out of the cage is shortened, the operation and maintenance workload is reduced, and the production efficiency is improved.

Description

A kind of gig hovering lock tank tension releasing control apparatus and method

Technical field

The present invention relates to a kind of control method, be specifically related to gig hovering lock tank tension releasing control apparatus and method, belong to mining hoist control technology field.

Background technology

Mine is the throat of underground mine, and mine hoisting system is the important component part of Mine Safety in Production.Mine hoist is the contact bridge on down-hole and ground, it mainly adopts the visibly moved device/cage of rope belt etc. to be elevated in the wellbore, to complete the task of convey materials or personnel, it is the vital main equipment of mining production, mine hoist can be safe and reliable operation, by the productive capacity of the life security and colliery that directly have influence on coal production personnel.

One of nucleus equipment of mine hoisting system is lifting container/cage etc., mainly carry material or personnel on the carrying task of going into the well, along with the high speed development of coal in China industry, the object of mine hoisting system presents the developing state of deep-well, weight, therefore cage is also tending towards maximizing, with satisfied modern mine integral type, maximization, high weight equipment on the work requirements of going into the well.When cage carries out loading and unloading heavy wares at vertical and the junction such as well head, shaft bottom, due to the change of hoisting cable end load, be easy to the elastic telescopic causing steel rope, cage can therefore unexpected up and down play, steel rope is skidded and behaviour's vehicle device operational difficulty, cause mine car impact cage guide so that cage guide are out of shape or damage, even cause the accident.Meanwhile, as an important component part of mine hoist, steel rope carries the task of hanging lifting container (cage) and carry-over moment, and it is in lifting process, particularly stressed comparatively complicated various when lifting container loading and unloading heavy wares, not only there is steel rope striction phenomenon, and when being subject to external force such as Dynamic And Static Loads, volume sth. made by twisting power etc., during repeated action, very easily cause steel rope to damage, affect rope service-life, even can cause the grave accidents such as disconnected rope.

For this reason, in order to ensure reliable, safety that mine hoisting runs, usual domestic coal production enterprise all arranges at the upper and lower stop position of mine and accepts lock tank arrangement, during to reduce heavy wares turnover cage because steel rope is flexible play up and down, avoid external force to wear and tear steel rope simultaneously.At present, cage undertaking lock tank arrangement conventional during domestic vertical cage promotes to be passed through cage chair, lock claw and drives hydraulic ram to realize, but in use still there are some problems.When cage chair is accepted, cage is full suspended state, cage and cage chair Hard link, cage chair overlaps the chassis of cage from above, lock tank by lock claw, energy changing mainly concentrates on the conversion between steel rope and cage chair and lock claw, and this needs accurately to control hydraulic ram, guarantee the synchronous working of three, can the elastic deformation that steel rope causes when entering tank such as compensation equipment or goods, when discharging cage, steel rope elastic elongation amount is changed accordingly because heavy wares or goods go out the load change that cage brings and adequate compensation cannot be obtained, and then fluctuate after causing cage to discharge, its amount of floating can easily exceed safety allowance thus steel rope is skidded, larger impact is produced to lifting means, moreover, if the too fast release of hydraulic pressure, also steel rope and cage is easily caused to be wriggled up and down, hydraulic pressure discharged slow, driving time is lengthened, reduce coal production operating efficiency, safety cannot be met, the requirement of High-efficient Production, therefore, a kind of new technical scheme of exigence solves above-mentioned technical matters.

Summary of the invention

For above-mentioned prior art Problems existing, the invention provides a kind of gig hovering lock tank tension force releasing control method and device, the method realizes in short-term and even the hovering of long-time cage accurately controls, improve safety and reliability, shorten the time of article turnover cage simultaneously, reduce operating maintenance work capacity, improve production efficiency.

Possess in short-term for making mine hoist control setup and even hover for a long time and promote the ability of thing, lock tank tension force release control can be realized simultaneously, the invention provides a kind of gig hovering lock tank tension releasing control apparatus, it is characterized in that, comprise gig, power inverter, hovering tension force release control system, non-linear DC-motor control system, data processing and data interaction system, man-machine system.Power inverter is connected with gig and non-linear DC-motor control system respectively, hovering tension force release control system is connected with data interaction system with data processing with non-linear DC-motor control system respectively, and man-machine system exports control signal and data processing and data interaction system and carries out data interaction.Coordinate release tension force progressively to realize by Hovering control, by the control to moment, reach steel rope slow releasing, do not shake up and down, thus ensure that cage is steady.

Further, the tension force release control system that hovers comprises speed controller, Hovering control device, steel wire rope tension controller, PLC composition.Described speed controller is connected with Hovering control device and steel wire rope tension controller respectively, and Hovering control device is connected with speed controller, steel wire rope tension controller respectively, and its mouth is connected with non-linear DC-motor control system.Speed controller picking rate Setting signal ω _refwith gig actual speed ω _r, form closed loop control, export actual speed ω by the comparison to velocity information amount, process simultaneously _rand amplitude | ω _r|, velocity deviation amount Δ ω _rand amplitude | Δ ω _r|.

Further, described Hovering control device is by gathering actual speed ω _rand amplitude | ω _r|, velocity deviation amount Δ ω _rand amplitude | Δ ω _r| export the electromagnetic torque given information amount T controlled needed for gig _refto steel wire rope tension controller and non-linear DC-motor control system.Steel wire rope tension controller gathers the electromagnetic torque given information amount T that Hovering control device exports simultaneously _refand the stroke distances of PLC transmission, signal such as lock tank, release etc., exports the gig load signal T corresponding with steel wire rope tension to non-linear DC-motor control system.

Further, non-linear DC-motor system exports energizing signal, controls power inverter work, carries out parallel communication with data processing and data interaction system simultaneously.Described data processing and data interaction system carry out information communication by Industrial Ethernet and man-machine system.

Concrete, when PLC detects the information of release cage, hovering tension force release control system detects because heavy wares or goods go out the load change that cage brings, and controls steel wire rope tension.

A kind of gig hovering lock tank tension force releasing control method, is characterized in that, said method comprising the steps of:

1) after steel wire rope tension controller is primarily implemented in the release of lock tank, gig hovering is to when starting acceleration and deceleration, adaptive equalization makes the tension force of steel rope elastic elongation amount by load change, carry out tension force release control, fluctuate after avoiding cage to discharge, concrete performing step is:

11) degree of depth L transferred by the cage that steel wire rope tension controller collection PLC transmits, and from mechanics of elasticity, steel wire rope tension model is:

$F=\mathrm{\ξ}\·S\·\frac{\∂L}{\∂x};$

In formula, S is the area of section of steel rope, and E is the modulus of elasticity of steel rope;

12) if hoist point to the tension force elongation of the steel rope of cage is x, acceleration/accel when Hovering control release cage starts is a, and steel rope every meter quality is m, is transferred or the Partial Differential Equation Model of lifting heavy from steel rope:

$F=\mathrm{\ξ}\·S\·\frac{\∂L}{\∂x}=[m\frac{{\∂}^{2}L}{\∂x^2}-\frac{\∂F}{\∂x}-\mathrm{maF}]\mathrm{\Δx};$

13) speed of transmission of elasticity tension depends on the inherent parameters of steel rope, has:

$v=\sqrt{\mathrm{\ξ}\·S/m}$

14) consider that Hovering control exports electromagnetic torque, building steel wire rope tension model is:

In formula, g is acceleration due to gravity, meet matheematical equation solution:

Can obtain steel rope maximum/minimum tension is:

2) ramp function of moment with acceleration change is set up, by progressively reducing tension compensating amount Δ T, at the t of setting ₁moment reaches the minimum release tension force of steel rope, and to mate the elastic expansion range of steel rope, realize tension force release control, its ramp function is:

Relative to prior art, advantage of the present invention is as follows: by progressively increasing torque compensation increment, realize the slow releasing of tension force, and avoid increasing suddenly moment increment and cause, tension force abrupt release causes steel rope elasticity to shake; This gig hovering lock tank tension force releasing control method is without the need to additionally increasing hardware investment, can eliminate in whole lock tank process, the impact that loading, unloading underloading or heavily loaded article turnover cage come because of steel rope elastic telescopic multi-band, ensure the steady of turnover cage, realize in short-term so that the hovering of long-time cage accurately control, improve safety and reliability, shorten the time of article turnover cage simultaneously, reduce operating maintenance work capacity, improve production efficiency.

Accompanying drawing explanation

Fig. 1 is control setup structural representation of the present invention;

Fig. 2 moment is with the ramp function of acceleration change;

In figure: 1, gig, 2, power inverter, 3, hovering tension force release control system, 4, non-linear DC-motor control system, 5, data processing and data interaction system, 6, man-machine system, 7, cage.

Detailed description of the invention

In order to deepen, to understanding of the present invention and understanding, to introduce technical scheme of the present invention further below in conjunction with the drawings and specific embodiments.

Embodiment:

See Fig. 1, a kind of gig hovering lock tank tension releasing control apparatus, comprise gig 1, power inverter 2, hovering tension force release control system 3, non-linear DC-motor control system 4, data processing and data interaction system 5, man-machine system 6, power inverter 2 is connected with gig 1 and non-linear DC-motor control system 4 respectively, hovering tension force release control system 3 is connected with interactive system 5 with data processing with non-linear DC-motor control system 4 respectively, and man-machine system 6 exports control signal and data processing and data interaction system 5 and carries out data interaction.Gig 1 adopts wire-wound asynchronous motor as lifting motor, and power inverter 2 is many level PWMs changer, and its power device is that IGBT or IGCT etc. controls device entirely; Hovering tension force release control system 3 comprises speed controller 31, Hovering control device 32, steel wire rope tension controller 33, PLC 34, and wherein PLC 34 adopts Siemens S7-300 Programmable Logic Controller.Speed controller 31 is connected with Hovering control device 32 and steel wire rope tension controller 33 respectively, and Hovering control device 32 is connected with speed controller 31, steel wire rope tension controller 33 respectively, and its mouth is connected with non-linear DC-motor control system 4.Speed controller 31 picking rate Setting signal ω _refwith gig actual speed ω _r, form closed loop control, export actual speed ω by the comparison to velocity information amount, process simultaneously _rand amplitude | ω _r|, velocity deviation amount Δ ω _rand amplitude | Δ ω _r|.Hovering control device 32 is by gathering actual speed ω _rand amplitude | ω _r|, velocity deviation amount Δ ω _rand amplitude | Δ ω _r| export the electromagnetic torque given information amount T controlled needed for gig _refto steel wire rope tension controller 33 and non-linear DC-motor control system 4.Steel wire rope tension controller 33 gathers the electromagnetic torque given information amount T that Hovering control device 32 exports simultaneously _refand the stroke distances that PLC 34 is transmitted, signal such as lock tank, release etc., exports the gig load signal T corresponding with steel wire rope tension to non-linear DC-motor control system 4.Non-linear DC-motor system 4 adopts nonlinear feedback linearization technique or multilayer sliding-mode control to carry out the control of wire-wound asynchronous motor, for multi-level power converter, non-linear DC-motor system 4 adopts equivalent carrier modulation strategy to export adjustable energizing signal control power inverter 2 and works, while meeting controller performance, reduce system-computed amount.Non-linear DC-motor system 4 adopts SPI communication modes and data processing and data interaction system 5 to carry out serial communication, and data processing and data interaction system 5 carry out information communication by Industrial Ethernet and man-machine system 6.

When PLC detects the information of release cage, hovering tension force release control system 3 detects because heavy wares or goods go out the load change that cage brings, steel wire rope tension is controlled, concrete being realized by following steps of hovering lock tank tension force releasing control method, 1) after steel wire rope tension controller is primarily implemented in the release of lock tank, gig hovering is to when starting acceleration and deceleration, adaptive equalization makes the tension force of steel rope elastic elongation amount by load change, carry out tension force release control, fluctuate after avoiding cage to discharge, concrete performing step is:

11) degree of depth L transferred by the cage that steel wire rope tension controller collection PLC transmits, and from mechanics of elasticity, steel wire rope tension model is:

$F=\mathrm{\ξ}\·S\·\frac{\∂L}{\∂x};$

In formula, S is the area of section of steel rope, and E is the modulus of elasticity of steel rope;

12) if hoist point to the tension force elongation of the steel rope of cage is x, acceleration/accel when Hovering control release cage starts is a, and steel rope every meter quality is m, is transferred or the Partial Differential Equation Model of lifting heavy from steel rope:

$F=\mathrm{\ξ}\·S\·\frac{\∂L}{\∂x}=[m\frac{{\∂}^{2}L}{\∂x^2}-\frac{\∂F}{\∂x}-\mathrm{maF}]\mathrm{\Δx};$

13) speed of transmission of elasticity tension depends on the inherent parameters of steel rope, has:

$v=\sqrt{\mathrm{\ξ}\·S/m}$

14) consider that Hovering control exports electromagnetic torque, building steel wire rope tension model is:

In formula, g is acceleration due to gravity, meet matheematical equation solution:

Can obtain steel rope maximum/minimum tension is:

2) ramp function of moment with acceleration change is set up, by progressively reducing tension compensating amount Δ T, at the t of setting ₁moment reaches the minimum release tension force of steel rope, and to mate the elastic expansion range of steel rope, realize tension force release control, its ramp function is:

It should be noted that above-described embodiment is only preferred embodiment of the present invention, be not used for limiting protection scope of the present invention, equivalents done on the basis of technique scheme or the alternative scope all falling into the claims in the present invention and protect.

Claims (4)

1. a gig hovering lock tank tension releasing control apparatus and method, it is characterized in that, comprise gig, power inverter, hovering tension force release control system, non-linear DC-motor control system, data processing and data interaction system, man-machine system, power inverter is connected with gig and non-linear DC-motor control system respectively, hovering tension force release control system is connected with data interaction system with data processing with non-linear DC-motor control system respectively, non-linear DC-motor control system and data processing and data interaction system adopt serial communication mode, man-machine system exports control signal and carries out data interaction by Industrial Ethernet and data processing and data interaction system.

2. a kind of gig hovering lock tank tension releasing control apparatus according to claim 1, it is characterized in that, described power inverter is multi-level converter, and power device adopts IGBT or IGCT.

3. a kind of gig hovering lock tank tension releasing control apparatus according to claim 2, it is characterized in that, the motor control method of non-linear DC-motor control system is nonlinear control method, and its modulation strategy is equivalent carrier modulation strategy.

4. a gig hovering lock tank tension force releasing control method, is characterized in that, said method comprising the steps of;

1) steel wire rope tension controller realizes when the rear gig hovering of lock tank release is to startup acceleration and deceleration, and adaptive equalization makes the tension force of steel rope elastic elongation amount by load change, carries out tension force release control, and concrete performing step is:

11) degree of depth L transferred by the cage that steel wire rope tension controller collection PLC transmits, and from mechanics of elasticity, steel wire rope tension model is:

In formula, S is the area of section of steel rope, and E is the modulus of elasticity of steel rope;

12) if hoist point to the tension force elongation of the steel rope of cage is x, acceleration/accel when Hovering control release cage starts is a, and steel rope every meter quality is m, is transferred or the Partial Differential Equation Model of lifting heavy from steel rope:

13) speed of transmission of elasticity tension depends on the inherent parameters of steel rope, has:

14) consider that Hovering control exports electromagnetic torque, building steel wire rope tension model is:

In formula, g is acceleration due to gravity, meet matheematical equation solution:

Can obtain steel rope maximum/minimum tension is:

2) ramp function of moment with acceleration change is set up, by progressively reducing tension compensating amount Δ T, at the t of setting ₁moment reaches the minimum release tension force of steel rope, and to mate the elastic expansion range of steel rope, realize tension force release control, its ramp function is: