CN105540393B - A kind of elevator hovering lock tank tension releasing control apparatus and method - Google Patents
A kind of elevator hovering lock tank tension releasing control apparatus and method Download PDFInfo
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- CN105540393B CN105540393B CN201511010920.2A CN201511010920A CN105540393B CN 105540393 B CN105540393 B CN 105540393B CN 201511010920 A CN201511010920 A CN 201511010920A CN 105540393 B CN105540393 B CN 105540393B
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- steel wire
- wire rope
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- cage
- hovering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B17/00—Hoistway equipment
- B66B17/14—Applications of loading and unloading equipment
- B66B17/28—Applications of loading and unloading equipment electrically controlled
- B66B17/30—Applications of loading and unloading equipment electrically controlled for cars or cages
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- Lift-Guide Devices, And Elevator Ropes And Cables (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The present invention relates to a kind of elevator hovering lock tank tension releasing control apparatus and method, the device and method can be eliminated during entirely lock tank, loading, unloading underloading or heavily loaded article turnover cage because of the impact brought steel wire rope elastic telescopic more, ensure the steady of turnover cage, realize in short-term or even hovering for long-time cage locks the accurate control of tank release, improve security and reliability, while shortening the time that article passes in and out cage, operation maintenance workload is reduced, production efficiency is improved.
Description
Technical field
The present invention relates to a kind of control method, and in particular to elevator 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 of Mine Safety in Production.Mine
Elevator is down-hole and the contact bridge on ground, and it is mainly risen in the wellbore using visibly moved device/cage of rope belt etc.
Drop, is the vital large scale equipment of mining production, can mine hoist safe to complete to convey material or the task of personnel
Reliable operation, by the life security and the production capacity in colliery that directly influence coal production personnel.
One of nucleus equipment of mine hoisting system is hoisting container/cage etc., mainly carries the upper of material or personnel
The carrying task gone into the well, with the high speed development of coal in China industry, deep-well, the hair of weight is presented in the object of mine hoisting system
Open up situation, therefore cage also tends to maximization, with meet modern mine integral type, maximization, high weight equipment on go into the well
Work requirements.When cage is loaded in the junction such as vertical and well head, shaft bottom and unloads jumbo, due to lifting steel wire
The change of rope end load, it is easy to cause the elastic telescopic of steel wire rope, cage meeting therefore unexpected play up and down, play steel wire rope
Sliding and behaviour's vehicle device operation is difficult, causes mine car to impact cage guide so that cage guide is deformed or damaged, or even is caused the accident.It is same with this
When, as an important component of mine hoist, steel wire rope carries suspension hoisting container (cage) and transmission torque
Task, its in lifting process, particularly hoisting container load and unloading jumbo when stress it is complex various, not only
There is steel wire rope striction phenomenon, and work as by external force such as Dynamic And Static Loads, volume twist with the fingers power, during repeated action, easily cause steel
Cord is damaged, and influences rope service-life, or even can cause the major accidents such as disconnected rope.
Therefore, in order to ensure reliable, the safety of mine hoisting operation, generally coal production enterprise of the country is all above and below mine
Parking spot, which is set, accepts lock tank arrangement, with reduce during jumbo turnover cage because steel wire rope is flexible and play up and down, simultaneously
Avoid external force abrasion steel wire rope.At present, it is many by cage chair, lock that the cage commonly used in domestic vertical cage lifting accepts lock tank arrangement
Pawl and driving hydraulic jack are realized, but still suffer from some problems in use.When cage chair is accepted, cage is in full suspention shape
State, cage and cage chair Hard link, cage chair lock tank from the chassis for overlapping cage above by lock claw, and energy variation is concentrated mainly on
Conversion between steel wire rope and cage chair and lock claw, this needs accurately to control hydraulic jack, it is ensured that the synchronous working of three, can
Elastic deformation caused by steel wire rope when compensation equipment or goods etc. enter tank；When discharging cage, because jumbo or goods go out
The load change that cage is brought makes steel wire rope elastic elongation amount change accordingly and can not obtain adequate compensation, in turn results in
Fluctuated after cage release, its amount of floating can easily exceed safety allowance so that steel wire iope slippage, is produced to lifting means
Larger impact, moreover, if the too fast release of hydraulic pressure, is also easily caused above and below steel wire rope and cage and wriggles, hydraulic pressure
Pressure discharged slow so that driving time is lengthened, and reduced coal production operational efficiency, it is impossible to meet wanting for safe efficient production
Ask, therefore, a kind of exigence new technical scheme solves above-mentioned technical problem.
The content of the invention
In view of the above-mentioned problems of the prior art, the present invention provides a kind of elevator hovering lock tank tension force release control side
Method and device, this method is realized in short-term or even the hovering of long-time cage is accurately controlled, and improves security and reliability, simultaneously
Shorten the time that article passes in and out cage, reduce operation maintenance workload, improve production efficiency.
To make, mine hoist control device possesses in short-term or even hovering for a long time lifts the ability of thing, while lock can be realized
Tank tension force release control, the present invention provides a kind of elevator hovering lock tank tension releasing control apparatus, it is characterised in that including carrying
The machine of liter, power inverter, hovering tension force release control system, non-linear DC-motor control system, data processing and data interaction system
System, man-machine system.Power inverter is connected with elevator and non-linear DC-motor control system respectively, hovering tension force release control system
System be connected respectively with non-linear DC-motor control system with data processing with data interaction system, man-machine system output control signal and
Data processing carries out data interaction with data interaction system.Realized, passed through by the release tension force of Hovering control cooperation progressively
Control to torque, reaches that steel wire rope slowly discharges, and does not shake up and down, so as to ensure that cage is steady.
Further, hovering tension force release control system includes speed control, Hovering control device, steel wire rope tension control
Device, PLC composition.Described speed control is connected with Hovering control device and steel wire rope tension controller respectively, hovering
Controller is connected with speed control, steel wire rope tension controller respectively, and its output end is connected with non-linear DC-motor control system.
Speed control picking rate Setting signal ωrefWith elevator actual speed ωr, closed-loop control is constituted, while by speed
The comparison of information content, processing output actual speed ωrAnd its amplitude | ωr|, velocity deviation amount Δ ωrAnd amplitude | Δ ωr|。
Further, the Hovering control device is by gathering actual speed ωrAnd its amplitude | ωr|, velocity deviation amount Δ ωr
And amplitude | Δ ωr| the electromagnetic torque given information amount T needed for output control elevatorrefTo steel wire rope tension controller and non-
Linear electric machine control system.Steel wire rope tension controller gathers the electromagnetic torque given information amount of Hovering control device output simultaneously
TrefAnd the stroke distances of PLC transmission, the signals such as tank, release are locked, elevator load corresponding with steel wire rope tension is exported
Signal T gives non-linear DC-motor control system.
Further, non-linear DC-motor system output trigger signal, control power inverter work, while with data processing with
Data interaction system carries out parallel communication.Described data processing passes through EPA and man-machine system with data interaction system
Carry out information communication.
Specifically, when PLC detects the information of release cage, the detection of hovering tension force release control system due to
Jumbo or goods go out the load change that cage is brought, and steel wire rope tension is controlled.
A kind of elevator hovering lock tank tension force releasing control method, it is characterised in that the described method comprises the following steps：
1) steel wire rope tension controller be primarily implemented in lock tank release after elevator hover to start acceleration and deceleration when, adaptively
Compensation is made the tension force of steel wire rope elastic elongation amount by load change, carries out tension force release control, it is to avoid floated downward on after cage release
Dynamic, concrete implementation step is：
11) the cage decentralization depth L that steel wire rope tension controller collection PLC is transmitted, can by Elasticity
Know, steel wire rope tension model is：
In formula, S is the area of section of steel wire rope, and E is the modulus of elasticity of steel wire rope；
If 12) the tension force elongation of hoist point to the steel wire rope of cage is x, acceleration when Hovering control release cage starts
Spend for a, every meter of quality of steel wire rope is m, transferred from steel wire rope or lifting heavy Partial Differential Equation Model：
13) transmission speed of elasticity tension depends on the inherent parameters of steel wire rope, has：
14) Hovering control output electromagnetic torque is considered, building steel wire rope tension model is：
In formula, g is acceleration of gravity,Meet matheematical equation solution：
The maximum/minimum tension force that steel wire rope can be obtained is：
2) ramp function of the torque with acceleration change is set up, by progressively reducing tension compensating amount Δ T, in the t of setting1
Moment reaches the minimum release tension force of steel wire rope, to match the elastic expansion range of steel wire rope, realizes tension force release control, its slope
Function is：
Relative to prior art, advantages of the present invention is as follows：By being stepped up torque compensation increment, the slow of tension force is realized
On The Drug Release, it is to avoid increase torque increment causes suddenly, tension force abrupt release causes steel wire rope elasticity shake；Elevator hovering lock
Tank tension force releasing control method can be eliminated during entirely lock tank without additionally increasing hardware investment, loading, unloading underloading or
Heavily loaded article turnover cage because of the impact brought steel wire rope elastic telescopic more, it is ensured that turnover cage it is steady, realize in short-term or even
The hovering of long-time cage is accurately controlled, and improves security and reliability, while shorten the time that article passes in and out cage, reduction
Operation maintenance workload, improves production efficiency.
Brief description of the drawings
Fig. 1 is control device structural representation of the present invention；
Fig. 2 torques with acceleration change ramp function；
In figure：1st, elevator, 2, power inverter, 3, hovering tension force release control system, 4, non-linear DC-motor control system
System, 5, data processing and data interaction system, 6, man-machine system, 7, cage.
Embodiment
In order to further enhance the appreciation and understanding of the invention, this hair is further described with reference to the accompanying drawings and detailed description
Bright technical scheme.
Embodiment：
Referring to Fig. 1, a kind of elevator hovering lock tank tension releasing control apparatus, including it is elevator 1, power inverter 2, outstanding
Stop tension force release control system 3, non-linear DC-motor control system 4, data processing and data interaction system 5, man-machine system 6, work(
Rate converter 2 is connected with elevator 1 and non-linear DC-motor control system 4 respectively, hovering tension force release control system 3 respectively with it is non-
Linear electric machine control system 4 is connected with data processing with interactive system 5, the output control signal of man-machine system 6 and data processing with
Data interaction system 5 carries out data interaction.Elevator 1 is using wire-wound asynchronous motor as lifting motor, and power inverter 2 is
Many level PWM converters, its power device is the full-controlled devices such as IGBT or IGCT；The tension force release control system 3 that hovers includes speed
Controller 31, Hovering control device 32, steel wire rope tension controller 33, PLC 34 are spent, wherein PLC 34 is using west
The sub- S7-300 programmable controllers of door.Speed control 31 respectively with Hovering control device 32 and the phase of steel wire rope tension controller 33
Even, Hovering control device 32 is connected with speed control 31, steel wire rope tension controller 33 respectively, its output end and non-linear DC-motor
Control system 4 is connected.The picking rate Setting signal ω of speed control 31refWith elevator actual speed ωr, constitute closed loop control
System, while passing through the comparison to velocity information amount, processing output actual speed ωrAnd its amplitude | ωr|, velocity deviation amount Δ
ωrAnd amplitude | Δ ωr|.Hovering control device 32 is by gathering actual speed ωrAnd its amplitude | ωr|, velocity deviation amount Δ ωrAnd
Amplitude | Δ ωr| the electromagnetic torque given information amount T needed for output control elevatorrefTo steel wire rope tension controller 33 and non-
Linear electric machine control system 4.Steel wire rope tension controller 33 gathers the given letter of electromagnetic torque of the output of Hovering control device 32 simultaneously
Breath amount TrefAnd the stroke distances that PLC 34 is transmitted, the signals such as tank, release are locked, lifting corresponding with steel wire rope tension is exported
Machine load signal T is to non-linear DC-motor control system 4.Non-linear DC-motor system 4 uses nonlinear feedback linearization technique or many
Layer sliding-mode control carries out the control of wire-wound asynchronous motor, and for multi-level power converter, non-linear DC-motor system 4 is adopted
Adjustable trigger signal control power inverter 2 is exported with equivalent carrier modulation strategy to work, and while control performance is met, is subtracted
Small system-computed amount.Non-linear DC-motor system 4 is gone here and there using SPI communication modes with data processing with data interaction system 5
Row communication, data processing carries out information communication with data interaction system 5 by EPA and man-machine system 6.
When PLC detects the information of release cage, hovering tension force release control system 3 is detected because heavy type is set
Standby or goods goes out the load change that cage is brought, and steel wire rope tension is controlled, hovering lock tank tension force releasing control method tool
Body realized by following steps, 1) steel wire rope tension controller be primarily implemented in elevator after lock tank release hover to starting plus
During deceleration, adaptive equalization is made the tension force of steel wire rope elastic elongation amount by load change, carries out tension force release control, it is to avoid cage
Fluctuated after release, concrete implementation step is：
11) the cage decentralization depth L that steel wire rope tension controller collection PLC is transmitted, can by Elasticity
Know, steel wire rope tension model is：
In formula, S is the area of section of steel wire rope, and E is the modulus of elasticity of steel wire rope；
If 12) the tension force elongation of hoist point to the steel wire rope of cage is x, acceleration when Hovering control release cage starts
Spend for a, every meter of quality of steel wire rope is m, transferred from steel wire rope or lifting heavy Partial Differential Equation Model：
13) transmission speed of elasticity tension depends on the inherent parameters of steel wire rope, has：
14) Hovering control output electromagnetic torque is considered, building steel wire rope tension model is：
In formula, g is acceleration of gravity,Meet matheematical equation solution：
The maximum/minimum tension force that steel wire rope can be obtained is：
2) ramp function of the torque with acceleration change is set up, by progressively reducing tension compensating amount Δ T, in the t of setting1
Moment reaches the minimum release tension force of steel wire rope, to match the elastic expansion range of steel wire rope, realizes tension force release control, its slope
Function is：
It should be noted that above-described embodiment is only presently preferred embodiments of the present invention, not for limiting the guarantor of the present invention
Scope is protected, made equivalents or replacement each fall within the claims in the present invention and protected on the basis of above-mentioned technical proposal
The scope of shield.
Claims (4)
1. a kind of elevator hovering lock tank tension releasing control apparatus, it is characterised in that including elevator, power inverter, hang
Stop tension force release control system, non-linear DC-motor control system, data processing and data interaction system, man-machine system, power becomes
Parallel operation is connected with elevator and non-linear DC-motor control system respectively, and hovering tension force release control system is respectively and non-linear DC-motor
Control system is connected with data processing with data interaction system, non-linear DC-motor control system and data processing and data interaction system
System uses serial communication mode, and man-machine system output control signal passes through EPA and data processing and data interaction system
Carry out data interaction.
2. a kind of elevator hovering lock tank tension releasing control apparatus according to claim 1, it is characterised in that described
Power inverter be multi-level converter, power device use IGBT or IGCT.
3. a kind of elevator hovering lock tank tension releasing control apparatus according to claim 2, it is characterised in that non-thread
Property electric machine control system motor control method be nonlinear control method, its modulation strategy be equivalent carrier modulation strategy.
4. a kind of elevator hovering lock tank tension force releasing control method, it is characterised in that the described method comprises the following steps；
1）Steel wire rope tension controller is realized to hover to when starting acceleration and deceleration in elevator after locking tank release, and adaptive equalization is by carrying
Lotus change makes the tension force of steel wire rope elastic elongation amount, carries out tension force release control, and concrete implementation step is：
11）The cage decentralization depth L that steel wire rope tension controller collection PLC is transmitted, from Elasticity, steel
Cord tension model is：
；
In formula, S is the area of section of steel wire rope, and E is the modulus of elasticity of steel wire rope；
12）If the tension force elongation of hoist point to the steel wire rope of cage is, Hovering control release cage start when acceleration bea, every meter of quality of steel wire rope ism, from steel wire rope decentralization or the Partial Differential Equation Model of lifting heavy：
；
13）The transmission speed of elasticity tension depends on the inherent parameters of steel wire rope, has：
14）Consider Hovering control output electromagnetic torque, building steel wire rope tension model is：
In formula,gFor acceleration of gravity,Meet matheematical equation solution：；
The maximum/minimum tension force that steel wire rope can be obtained is：
；
2）Ramp function of the torque with acceleration change is set up, by progressively reducing tension compensating amount, in the t of setting1Moment
The minimum release tension force of steel wire rope is reached, to match the elastic expansion range of steel wire rope, tension force release control is realized, its ramp function
For：
。
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511010920.2A CN105540393B (en) | 2015-12-30 | 2015-12-30 | A kind of elevator hovering lock tank tension releasing control apparatus and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511010920.2A CN105540393B (en) | 2015-12-30 | 2015-12-30 | A kind of elevator hovering lock tank tension releasing control apparatus and method |
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| CN105540393A CN105540393A (en) | 2016-05-04 |
| CN105540393B true CN105540393B (en) | 2017-10-17 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2839160A1 (en) * | 1978-09-08 | 1980-03-13 | Gutehoffnungshuette Sterkrade | Cage in mine shaft with rope winding gear - has rope tension compensator matching amount of stretching to given load |
| CN101643174A (en) * | 2008-08-04 | 2010-02-10 | 张金楼 | Cage-stabilizing and cage-locking device for cage of vertical shaft |
| DE102010050518A1 (en) * | 2010-11-08 | 2012-05-10 | Siemag Tecberg Gmbh | Holding device for holding e.g. container of shaft hoisting system in loading and/or unloading positions, has detent latches including upper and lower latches, where distance between upper and lower latches is adjustable over defined range |
| CN102556814A (en) * | 2012-03-15 | 2012-07-11 | 扬州凯思特机械有限公司 | Intelligent compensation device for elongation quantity of cage carrying rope and intelligent compensation method thereof |
-
2015
- 2015-12-30 CN CN201511010920.2A patent/CN105540393B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2839160A1 (en) * | 1978-09-08 | 1980-03-13 | Gutehoffnungshuette Sterkrade | Cage in mine shaft with rope winding gear - has rope tension compensator matching amount of stretching to given load |
| CN101643174A (en) * | 2008-08-04 | 2010-02-10 | 张金楼 | Cage-stabilizing and cage-locking device for cage of vertical shaft |
| DE102010050518A1 (en) * | 2010-11-08 | 2012-05-10 | Siemag Tecberg Gmbh | Holding device for holding e.g. container of shaft hoisting system in loading and/or unloading positions, has detent latches including upper and lower latches, where distance between upper and lower latches is adjustable over defined range |
| CN102556814A (en) * | 2012-03-15 | 2012-07-11 | 扬州凯思特机械有限公司 | Intelligent compensation device for elongation quantity of cage carrying rope and intelligent compensation method thereof |
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| Publication number | Publication date |
|---|---|
| CN105540393A (en) | 2016-05-04 |
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Address after: 221116 No. second Zhujianglu Road Industrial Park, Xuzhou high tech Zone, Jiangsu 7 Patentee after: Jiangsu Guochuan Electric Co.,Ltd. Address before: 221116 No. second Zhujianglu Road Industrial Park, Xuzhou high tech Zone, Jiangsu 7 Patentee before: CHINA MINING DRIVES & AUTOMATION Co.,Ltd. |
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