CN107055361B - A kind of steady control method of the hydraulic hoisting machine speed of service and control system - Google Patents
A kind of steady control method of the hydraulic hoisting machine speed of service and control system Download PDFInfo
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- CN107055361B CN107055361B CN201710342082.1A CN201710342082A CN107055361B CN 107055361 B CN107055361 B CN 107055361B CN 201710342082 A CN201710342082 A CN 201710342082A CN 107055361 B CN107055361 B CN 107055361B
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- speed
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- control
- loop control
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Classifications
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- 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
- B66D1/48—Control devices automatic
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D2700/00—Capstans, winches or hoists
- B66D2700/01—Winches, capstans or pivots
- B66D2700/0125—Motor operated winches
- B66D2700/0133—Fluid actuated
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The steady control method of the hydraulic hoisting machine speed of service of the invention, solves the technical issues of cannot achieve steady control.Including opened loop control process, First Speed is maintained for completing the first time speed setting from initial velocity into First Speed high speed change procedure during load is promoted or is declined, and before the promotion of load or decline stable conditions；Closed loop control process maintains second speed in the promotion of load or decline operating condition for completing second of speed setting from First Speed into second speed low speed change procedure during load is promoted or is declined, and according to the feedback of load character；Switch switching process, for being fed back during load is promoted or is declined according to the velocity variations of load, switching and the number of control switching opened loop control process and closed loop control process.The present invention can satisfy the control of different loads operating condition landing velocity-stabilization, effectively reduce hydraulic pressure impact and system dynamic loading.The invention also includes hydraulic pressure lift machine control systems.
Description
Technical field
The present invention relates to the control method and control system of a kind of crane output power, in particular to a kind of hydraulic pressure lift
The steady control method of the machine speed of service and control system.
Background technique
It is used in field in the crane of ordinary power rank, mostly uses alternating current generator as powered actuation mechanism greatly.So
And in 45t and the high-power crane of the above rank using in field, it is one that the hydraulic hoisting machine to be formed is driven using hydraulic motor
The kind higher selection of cost performance.Since hydraulic hoisting machine system is huge, applying working condition is changeable, control system has sluggish, non-
Linearly, time-varying, the characteristic of large inertia are passed through according to operator mostly currently without fairly perfect speed automatic control method
It tests and is manually controlled, it is very high to the operation skill requirement of operator, and also safety and reliability cannot be protected at all
Barrier.In order to adapt to more applying working conditions, hydraulic pressure lift machine control system is needed to can be realized control to the control of hydraulic hoisting machine
System response is rapidly, speed control is accurate, mechanism action is steady, reduces the high-technology index such as dynamic loading.
Summary of the invention
The purpose of the embodiment of the present invention is that a kind of steady control method of the hydraulic hoisting machine speed of service and control system are provided,
The skill steadily controlled cannot be cannot achieve for the high-power grade crane using hydraulic motor driving by solving existing control process
Art problem.
The steady control method of the hydraulic hoisting machine speed of service of the invention, including opened loop control process, switching switching process
And closed loop control process, in which:
Opened loop control process is become for completing during load is promoted or is declined from initial velocity to First Speed high speed
First time speed setting during change, and First Speed is maintained before the promotion of load or decline stable conditions；
Closed loop control process is become for completing during load is promoted or is declined from First Speed to second speed low speed
Second of speed setting during change, and second is maintained in the promotion of load or decline operating condition according to the feedback of load character
Speed；
Switch switching process, for feeding back during load is promoted or is declined according to the velocity variations of load, control is cut
Change switching and the number of opened loop control process and closed loop control process.
The opened loop control process includes:
The first gear corresponding with initial velocity is set, the second gear corresponding with second speed is set；
According to the physical characteristic of user demand and hydraulic pressure lift machine control system, cutting for the first gear and the second gear is set
Change buffering duration；
Duration is buffered according to the switching of the first gear to the second gear, and adjusted open loop speed step-length is set are as follows:
The first gear is carried out according to adjusted open loop speed step-length to become to the high speed of the second gear switch
Change process exports corresponding control data to Hydraulic Power Transmission System；
In high speed change procedure, when the speed for detecting hoist engine wirerope according to velocity feedback reaches First Speed,
The control data for keeping First Speed are exported to Hydraulic Power Transmission System, and First Speed is made to keep stablizing buffering duration.
The closed loop control process includes:
During First Speed changes to second speed, using detect the speed of hoist engine wirerope as feedback data,
The closed-loop control of pid control algorithm or the closed-loop control of fixed step size approximate algorithm are formed, exports and corresponds to Hydraulic Power Transmission System
Control data；
The final speed of hoist engine wirerope is maintained at connecing for second speed by the Times of Feedback for determining closed loop control process
By in error range.
Further include:
Speed planning data are established, for lifting load being formed and being risen according to lifting load quality and lifting loadtype
With target velocity numberical range corresponding in decentralization process.
Further include:
The execution unit of Hydraulic Power Transmission System and the mapping relations of controller output control data are established, for that will survey in advance
The discharge characteristic of fixed Hydraulic Power Transmission System difference executing agency and the discharge characteristic of different loads system form different loads
The controller parameter of operating condition and the different speeds of service.
The First Speed is up to the 95% of second speed, and the acceptable error of the second speed is less than for irrelevance
Second speed 5%.
For the hydraulic pressure lift machine control system of the steady control method of the hydraulic hoisting machine speed of service, including displacement sensing
Device, calculus of differences circuit and controller, in which:
Displacement sensor, for acquiring the telescopic displacement signal of hoist engine wirerope；
Calculus of differences circuit, for telescopic location signal to be converted to the feedback speed signal of difference common mode or differential mode；
Controller, for receiving feedback signal and object parameter data, according to built-in operating condition treatment process output hydraulic pressure
The control data of transmission system.
It further include Hydraulic Power Transmission System, Hydraulic Power Transmission System includes two-way proportional valve, is driven standby pressure element and hydraulic motor,
Wherein:
Two-way proportional valve uses electro-hydraulic two-way proportional valve, adjusts the main output circuit of power oil sources for receiving control data
Fluid output power；
The standby pressure element of transmission uses hydraulically balanced valve, for maintaining fluid output power and flow direction in output circuit
The stability of vector；
Hydraulic motor drives for receiving fluid output power and flow direction vector and generating corresponding revolving speed and steering
Dynamic hoist engine wirerope stretches.
Further include brake, for accessing the secondary output circuit of power oil sources, braking is converted to according to preset trigger condition
Dynamic braking hydraulic motor.
The steady control method of the hydraulic hoisting machine speed of service of the invention and control system have reached technical requirement, energy
Enough meet the control of different loads operating condition landing velocity-stabilization, effectively reduces hydraulic pressure impact and system dynamic loading, ensure
The safety and reliability of load running.
Detailed description of the invention
Fig. 1 is the present invention for disposing the hydraulic pressure lift machine control system of the steady control method of the hydraulic hoisting machine speed of service
Basic structure composed figure.
Fig. 2 is the control structure schematic diagram of the steady control method of the hydraulic hoisting machine speed of service of the present invention.
Fig. 3 is the velocity variations process schematic of the steady control method of the hydraulic hoisting machine speed of service of the present invention.
Fig. 4 is the control effect schematic diagram of the steady control method of the hydraulic hoisting machine speed of service of the present invention.
Specific embodiment
Detailed description of the preferred embodiments with reference to the accompanying drawing.
As shown in Figure 1, the hydraulic pressure lift machine control system of the embodiment of the present invention includes displacement sensor, calculus of differences circuit
And controller.Wherein:
Displacement sensor, for acquiring the telescopic displacement signal of hoist engine wirerope；
Calculus of differences circuit, for telescopic location signal to be converted to the feedback speed signal of difference common mode or differential mode；
Controller, for receiving feedback signal and object parameter data, according to built-in operating condition treatment process output hydraulic pressure
The control data of transmission system.
Hydraulic Power Transmission System includes two-way proportional valve, the standby pressure element of transmission and hydraulic motor.Wherein:
Two-way proportional valve uses electro-hydraulic two-way proportional valve, adjusts the main output circuit of power oil sources for receiving control data
Fluid output power；
The standby pressure element of transmission uses hydraulically balanced valve, for maintaining fluid output power and flow direction in output circuit
The stability of vector；
Hydraulic motor drives for receiving fluid output power and flow direction vector and generating corresponding revolving speed and steering
Dynamic hoist engine wirerope stretches.
Further include brake, for accessing the secondary output circuit of power oil sources, braking is converted to according to preset trigger condition
Dynamic braking hydraulic motor.
As shown in Fig. 2, the controller of one embodiment of the invention uses dsp processor, wherein the operating condition treatment process disposed
Including opened loop control process, switching switching process and closed loop control process, in which:
Opened loop control process is become for completing during load is promoted or is declined from initial velocity to First Speed high speed
First time speed setting during change, and First Speed is maintained before the promotion of load or decline stable conditions；
Closed loop control process is become for completing during load is promoted or is declined from First Speed to second speed low speed
Second of speed setting during change, and second is maintained in the promotion of load or decline operating condition according to the feedback of load character
Speed；
Switch switching process, for feeding back during load is promoted or is declined according to the velocity variations of load, control is cut
Change switching and the number of opened loop control process and closed loop control process.
In an embodiment of the present invention, opened loop control process includes:
The first gear corresponding with initial velocity is set, the second gear corresponding with second speed is set；
According to the physical characteristic of user demand and hydraulic pressure lift machine control system, cutting for the first gear and the second gear is set
Change buffering duration；
Duration is buffered according to the switching of the first gear to the second gear, and adjusted open loop speed step-length is set are as follows:
High speed of first gear to the second gear switch is carried out according to adjusted open loop speed step-length
Change procedure exports corresponding control data to Hydraulic Power Transmission System；
In high speed change procedure, when the speed for detecting hoist engine wirerope according to velocity feedback reaches First Speed,
The control data for keeping First Speed are exported to Hydraulic Power Transmission System, and First Speed is made to keep stablizing buffering duration.
Opened loop control process in the embodiment of the present invention, according to the speed difference of adjacent gear positions and hydraulic hoisting machine control system
The physical characteristic of system determines that switching buffering duration is to guarantee being reliably completed for user demand and Load Characteristics.Pass through open loop tune
Section speed step-length forms the control data of corresponding hydraulic pressure lift machine control system, controls each valve body and completes corresponding power, protects
Demonstrate,prove the high speed action process of hoist engine wirerope.And hoist engine wirerope is controlled when reaching set rate (First Speed) and keeps pre-
Rate action is determined, to meet the response time and hydraulic, machine driving time etc. of each valve body of hydraulic pressure lift machine control system, to defeated
First time speed setting is completed after velocity-stabilization out.The higher shape of hoist engine wirerope speedup is being guaranteed using this opened loop control process
Under state, the coordination by buffering duration twice eliminates in hydraulic pressure lift machine control system nonlinear system feature to velocity variations
Adverse effect.
In an embodiment of the present invention, closed loop control process includes:
During First Speed changes to second speed, using detect the speed of hoist engine wirerope as feedback data,
The closed-loop control of pid control algorithm or the closed-loop control of fixed step size approximate algorithm are formed, exports and corresponds to Hydraulic Power Transmission System
Control data；
The final speed of hoist engine wirerope is maintained at connecing for second speed by the Times of Feedback for determining closed loop control process
By in error range.
Closed loop control process in the embodiment of the present invention, by first as midrange speed in complete rate control process
The speed interval that the second speed of speed and target velocity the most is formed reduces as far as possible, can carry out in section lower
The positive feedback closed-loop control of speedup had not only guaranteed with less Times of Feedback fast implementing but also meet lesser speed to target velocity
Impact.Different closed loop feedbacks is selected to calculate according to the characteristic of executive component and the whole physical characteristic of Hydraulic Power Transmission System simultaneously
Method overcomes the influence stable to target velocity of the nonlinear characteristics such as system dead zone, stagnant ring and big flow self-oscillation.
In an embodiment of the present invention, closed loop control process, it is sensitive for the self-oscillation characteristic in Hydraulic Power Transmission System
High valve or executive component is spent to be adjusted using the closed loop control process of pid control algorithm, it is sensitive for self-oscillation characteristic
Low valve or executive component is spent to be adjusted using the closed loop control process of fixed step size approximate algorithm.
In an embodiment of the present invention, it uses for the control period of executive component each in Hydraulic Power Transmission System with for the moment
It is long.
In an embodiment of the present invention, further includes:
Speed planning data are established, for lifting load being formed and being risen according to lifting load quality and lifting loadtype
With target velocity numberical range corresponding in decentralization process.It is preferred that bent using the data for forming correspondence mappings with speed planning data
Line graph can be intuitively displayed selected data.
In an embodiment of the present invention, further includes:
The execution unit of Hydraulic Power Transmission System and the mapping relations of controller output control data are established, for that will survey in advance
The discharge characteristic of fixed Hydraulic Power Transmission System difference executing agency and the discharge characteristic of different loads system form different loads
The controller parameter P of operating condition and the different speeds of serviceij(i=1,2 ..., j=I, II ...).PijFor parameter vector, according to control
Depending on process form processed, if PID controller is three parameters.Load and velocity interval are set to rated value in mapping relations
110% until.It is as shown in table 1:
Table 1
Wherein Load is that lifting load accounts for rated load percentage, and Speed is speed of service gear, and P is controller parameter.
Speed planning data are pre-established in the control method of the embodiment of the present invention and establish the execution of Hydraulic Power Transmission System
The mapping relations of component and controller output control data, the regular data and experience that can will be grasped from a large amount of measured datas
Data constitute the benchmark of control data as you, when avoiding controller and completing the steady control process of the hydraulic hoisting machine speed of service
By controller characteristic, the differentia influence of hydraulic pressure lift machine control system, Hydraulic Power Transmission System and load executing agency, control structure
There is relatively large deviation.
The following are the specific control processes of a steady control method of the specific hydraulic hoisting machine speed of service.
1, it according to the mapping relations of the execution unit of Hydraulic Power Transmission System and controller output control data, is selected from table 1
Take the proportioning valve discharge characteristic curve of output and flow system flow-voltage output curve P of correspondence systemijVector parameters are as control
The basis of formation of data is controlled in the process.
2, according to speed planning data, (as shown in figure 3, wherein left side is speedup adjustment process, right side is to slow down to adjust
Journey), determine the system parameter of the steady control process of controller speed, the initial velocity V including the first gear0, opened loop control mistake
The First Speed V that journey reaches1, as the second speed V of target velocity2, switching buffering duration a, to stablize buffering duration b, closed loop anti-
Present number t, closed-loop control cycle T etc..
3, it chooses setting closed loop controller and loads adaptation parameter table (from table 1), including pid parameter table or determining fix are adjusted
Save step length table.
4, as shown in figure 3, completing opened loop control process (i.e. first time speed setting) first, from when previous gear speed
(initial velocity V0) to next gear speed (second speed V2) handoff procedure when use first open loop sloped transition buffering calculate
Method, switching buffering duration a are arranged according to customer demand and system performance, i.e., speed adjusted open loop step-length isWork as reality
Speed enters the First Speed V of target velocity range1(First Speed V1Usually second speed V210%-95%) in after,
Current control parameter is kept, the input current value constant output of the executing agencies such as proportioning valve is made (to stablize buffering duration for a period of time
B), first time speed setting is completed after velocity-stabilization to be output.
5, closed loop control process (i.e. second of speed setting) then is completed, stablizes First Speed V in output speed1Model
In enclosing, according to setting stablize buffering duration b, closed loop feedback number t, closed-loop control cycle T realized using pid control algorithm or
Fixed step size approximate algorithm realizes closed-loop control, stablizes target velocity in second speed V2Acceptable error within the scope of it is (logical
It is often second speed V295%-100%).
As shown in figure 4, the steady control method of the elevator speed of service using the embodiment of the present invention can be promoted in load
Main movement process is completed as early as possible with decline process high speed adjustment transmission speed, and low speed adjusts transmission speed and guarantees motion process
Accurately in place, system performance bring control error is avoided in this process, avoids the impact of velocity variations formation, it can
To complete the transfer of load well.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Subject to enclosing.
Claims (8)
1. a kind of steady control method of the hydraulic hoisting machine speed of service, including opened loop control process, switching switching process and closed loop
Control process, in which:
Opened loop control process was changed for completing during load is promoted or is declined from initial velocity to First Speed high speed
First time speed setting in journey, and First Speed is maintained before the promotion of load or decline stable conditions；
Closed loop control process was changed for completing during load is promoted or is declined from First Speed to second speed low speed
Second of speed setting in journey, and the second speed is maintained in the promotion of load or decline operating condition according to the feedback of load character
Degree；
Switch switching process, for feeding back during load is promoted or is declined according to the velocity variations of load, control switching is opened
The switching of ring control process and closed loop control process and number；
The opened loop control process includes:
The first gear corresponding with initial velocity is set, the second gear corresponding with second speed is set；
The switching that the first gear and the second gear is arranged according to the physical characteristic of user demand and hydraulic pressure lift machine control system is slow
Rush duration；
Duration is buffered according to the switching of the first gear to the second gear, and adjusted open loop speed step-length is set are as follows:
The first gear is carried out according to adjusted open loop speed step-length to change to the high speed of the second gear switch
Journey exports corresponding control data to Hydraulic Power Transmission System；
In high speed change procedure, when the speed for detecting hoist engine wirerope according to velocity feedback reaches First Speed, to liquid
It presses transmission system output to keep the control data of First Speed, First Speed is made to keep stablizing buffering duration.
2. the steady control method of the hydraulic hoisting machine speed of service as described in claim 1, it is characterised in that the closed-loop control
Process includes:
During First Speed changes to second speed, using the speed for detecting hoist engine wirerope as feedback data, formed
The closed-loop control of pid control algorithm or the closed-loop control of fixed step size approximate algorithm export corresponding control to Hydraulic Power Transmission System
Data processed；
The final speed of hoist engine wirerope is maintained at the acceptable mistake of second speed by the Times of Feedback for determining closed loop control process
In poor range.
3. the steady control method of the hydraulic hoisting machine speed of service as described in claim 1, it is characterised in that further include:
Establish speed planning data, for according to lifting load quality and lifting loadtype, formed lifting load rise and under
Corresponding target velocity numberical range during putting.
4. the steady control method of the hydraulic hoisting machine speed of service as described in claim 1, it is characterised in that further include:
The execution unit of Hydraulic Power Transmission System and the mapping relations of controller output control data are established, for by measured in advance
The discharge characteristic of Hydraulic Power Transmission System difference executing agency and the discharge characteristic of different loads system form different loads operating condition
With the controller parameter of the different speeds of service.
5. the steady control method of the hydraulic hoisting machine speed of service as described in claim 1, it is characterised in that the First Speed
Up to the 95% of second speed, the acceptable error of the second speed are that irrelevance is less than second speed 5%.
6. a kind of hydraulic hoisting machine control for any steady control method of the hydraulic hoisting machine speed of service of such as claim 1 to 5
System processed, including displacement sensor, calculus of differences circuit and controller, in which:
Displacement sensor, for acquiring the telescopic displacement signal of hoist engine wirerope；
Calculus of differences circuit, for telescopic location signal to be converted to the feedback speed signal of difference common mode or differential mode；
Controller is driven for receiving feedback signal and object parameter data according to built-in operating condition treatment process output hydraulic pressure
The control data of system.
7. hydraulic pressure lift machine control system as claimed in claim 6, it is characterised in that it further include Hydraulic Power Transmission System, hydraulic biography
Dynamic system includes two-way proportional valve, the standby pressure element of transmission and hydraulic motor, in which:
Two-way proportional valve uses electro-hydraulic two-way proportional valve, and the stream of the main output circuit of power oil sources is adjusted for receiving control data
Body output power；
The standby pressure element of transmission uses hydraulically balanced valve, for maintaining fluid output power and flow direction vector in output circuit
Stability；
Hydraulic motor, for receiving fluid output power and flow direction vector and generating corresponding revolving speed and steering, driving volume
Raise the flexible of machine wirerope.
8. hydraulic pressure lift machine control system as claimed in claim 7, it is characterised in that further include brake, for accessing power
The secondary output circuit of oil sources is converted to brake force brake fluid pressure motor according to preset trigger condition.
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| CN112520615B (en) * | 2020-12-07 | 2022-07-22 | 北京三一智造科技有限公司 | Cruise control method and device and engineering vehicle |
| CN113023603B (en) * | 2021-05-25 | 2021-08-17 | 徐州徐工基础工程机械有限公司 | Winch control device and method and underground continuous wall construction equipment |
| CN113250262B (en) * | 2021-06-25 | 2021-10-08 | 徐州徐工基础工程机械有限公司 | Double-wheel milling stirrer and speed control method of milling device thereof |
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| JP2525233B2 (en) * | 1988-12-19 | 1996-08-14 | 株式会社小松製作所 | Work equipment teaching / playback method |
| US5012989A (en) * | 1989-11-24 | 1991-05-07 | Eastman Kodak Company | Apparatus and method for tape velocity and tension control in a capstanless magnetic tape transport |
| JPH09247976A (en) * | 1996-03-08 | 1997-09-19 | Toshiba Corp | Speed controller for motor and magnetic record reproducing device |
| JP2001238482A (en) * | 2000-02-24 | 2001-08-31 | Canon Inc | Image forming apparatus |
| US6382595B1 (en) * | 2000-07-26 | 2002-05-07 | Schlumberger Technology Corporation | Differential hydrostatic transmission system |
| KR100474923B1 (en) * | 2002-12-12 | 2005-03-10 | 엘지전자 주식회사 | method for sensing unbalance of washing machine |
| KR100715848B1 (en) * | 2006-03-29 | 2007-05-11 | 삼성전자주식회사 | Low speed driving control device of dc motor and control method thereof |
| CN101337645B (en) * | 2008-08-13 | 2010-06-09 | 哈尔滨工程大学 | Controllable micro operation force lifting apparatus and control method |
| CN101607676B (en) * | 2009-07-10 | 2013-04-03 | 大连华锐重工集团股份有限公司 | Multi-suspension-centres crane |
| CN101824960B (en) * | 2010-05-06 | 2013-05-01 | 侯庆国 | Full-hydraulic screw drilling machine |
| US10526177B2 (en) * | 2014-03-28 | 2020-01-07 | Eaton Intelligent Power Limited | Speed control system for crane and winch applications |
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