CN109230868B - Cable lifting constant tension control device and control method - Google Patents

Cable lifting constant tension control device and control method Download PDF

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Publication number
CN109230868B
CN109230868B CN201810811956.8A CN201810811956A CN109230868B CN 109230868 B CN109230868 B CN 109230868B CN 201810811956 A CN201810811956 A CN 201810811956A CN 109230868 B CN109230868 B CN 109230868B
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China
Prior art keywords
cable
wire spool
torque
tension
constant tension
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CN201810811956.8A
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Chinese (zh)
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CN109230868A (en
Inventor
张健鹏
王传斌
宋健
祁康
黄红生
仲文锦
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Jiangsu Zhenan Xinrun Power Technology Co ltd
Jiangsu Zhenjiang Installation Group Co ltd
Jiangsu Zhenan Power Equipment Co Ltd
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Jiangsu Zhenan Xinrun Power Technology Co ltd
Jiangsu Zhenjiang Installation Group Co ltd
Jiangsu Zhenan Power Equipment Co Ltd
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Priority to CN201810811956.8A priority Critical patent/CN109230868B/en
Publication of CN109230868A publication Critical patent/CN109230868A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H59/00Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators
    • B65H59/38Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by regulating speed of driving mechanism of unwinding, paying-out, forwarding, winding, or depositing devices, e.g. automatically in response to variations in tension
    • B65H59/384Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by regulating speed of driving mechanism of unwinding, paying-out, forwarding, winding, or depositing devices, e.g. automatically in response to variations in tension using electronic means
    • B65H59/385Regulating winding speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H59/00Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators
    • B65H59/38Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by regulating speed of driving mechanism of unwinding, paying-out, forwarding, winding, or depositing devices, e.g. automatically in response to variations in tension
    • B65H59/384Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by regulating speed of driving mechanism of unwinding, paying-out, forwarding, winding, or depositing devices, e.g. automatically in response to variations in tension using electronic means
    • B65H59/387Regulating unwinding speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2553/00Means for sensing, detecting or otherwise used for control
    • B65H2553/51Encoder, e.g. rotary
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2557/00Means for control not provided for in groups B65H2551/00 - B65H2555/00
    • B65H2557/20Calculating means; Controlling methods
    • B65H2557/24Calculating methods; Mathematic models
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

Abstract

The invention relates to a component system for cable transmission connection between a ship and a port power system and a control method, in particular to a cable lifting constant tension control device and a control method. The device comprises: a wire spool for winding or unwinding a cable; the variable frequency motor is used for providing winding power for the wire spool; the frequency converter is used for adjusting the output torque of the variable frequency motor; the encoder is used for detecting the number of rotation turns of the wire spool so as to obtain the number of turns of the residual cable on the wire spool; and the PLC is used for receiving the encoder information and the control parameter information, outputting a torque adjustment frequency conversion control signal to the frequency converter and receiving a frequency conversion feedback signal. According to the invention, the control signal is sent to the PLC through monitoring the real-time state of the cable, so that the tension of the cable in the operation of the cable lifting system of the ship power system can be stably controlled, and the operation reliability of the equipment is improved.

Description

Cable lifting constant tension control device and control method
Technical Field
The invention relates to a component system for cable transmission connection between a ship and a port power system and a control method, in particular to a cable lifting constant tension control device and a control method.
Background
In a ship power system, after a ship is landed, a cable is pulled out from a wire spool to a specified position of the ship through a conveying driving device of a cable lifting system. When the ship is powered, the tightness of a cable is caused due to the change of the position of the ship caused by tide rise and tide fall, the running reliability of the whole system is influenced due to the change of excessive cable tension, and the constant tension control is required to be carried out on the cable. In addition, when the power supply to the ship is finished, the cable lifting device takes the cable into the wire reel, and in the process, the rolling moment needs to be changed along with the change of the diameter of the cable on the cable reel, otherwise, the tension of the cable is unstable, so that the reliable operation of the equipment is influenced, and therefore constant tension control needs to be realized.
Disclosure of Invention
The invention aims to solve the technical problem of providing a cable lifting constant tension control device and a control method, which can stably control the cable tension in the operation of a cable lifting system of a ship power system and improve the operation reliability of equipment.
The invention discloses a constant tension control method of a cable lifting system of a cable lifting constant tension control device, which has the following specific technical scheme:
the cable promotes permanent tension controlling means including:
a wire spool for winding or unwinding a cable;
the variable frequency motor is used for providing winding power for the wire spool;
the frequency converter is used for adjusting the output torque of the variable frequency motor;
the encoder is used for detecting the number of rotation turns of the wire spool so as to obtain the number of turns of the residual cable on the wire spool;
the PLC is used for receiving the encoder information and the control parameter information, outputting a torque adjustment frequency conversion control signal to the frequency converter and receiving a frequency conversion feedback signal;
the variable frequency motor drives the wire spool through the reduction gearbox; the output part of the PLC controller is also connected to a control circuit of a brake, and the brake is used for braking the variable frequency motor.
At the power supply stage of a ship or the cable winding stage after power supply is finished, the PLC calculates according to the obtained encoder information and the input control parameter information, and outputs a torque adjustment frequency conversion control signal to the frequency converter so as to control the rotating torque of the wire spool, and the specific calculation steps are as follows:
a. calculating the diameter of the cable on the cable reel and the length of the remaining cable, wherein the number of turns of the remaining cable on the wire spool detected by the encoder is n, the diameter of the cable is D, and the inner diameter of the wire spool is D, so that the diameter D1 of the cable on the wire spool is D + (2n-1) D, and the length L of the remaining cable is (nD + n2D) pi;
b. calculating torque, wherein the required tension of the cable is the force required for overcoming the weight of the pulled cable, the pulled cable is h-L obtained by subtracting the length L of the residual cable on the wire spool from the total length h of the wound cable on the wire spool, and the weight of the unit length of the cable is M, and the moment M required for overcoming the weight of the pulled cable is (h-L) (D + (2n-1) D) x mg; due to the inherent static torque characteristic M0 of the device, the actual required torque is (M + M0), and the torque converted to the output signal of the frequency converter is (M + M0)/N, wherein N is the speed ratio of the reduction gearbox.
Further, in the power supply stage of the ship, in the process of performing the torque control, in order to avoid the influence of large tension on the cable for a long time, when the wire spool is not moved (i.e. no cable is wound or unwound) within a set time t1, the tension is reduced to overcome the tension required by pulling out the weight of the cable; if the time is delayed for a period of time t2, the wire spool still has no action of cable releasing or cable retracting, and the original tension is recovered; if the cable is laid after delaying for a period of time t2, recalculating the tension and the torque according to the method; and so on.
According to the invention, the control signal is sent to the PLC through monitoring the real-time state of the cable, so that the tension of the cable in the operation of the cable lifting system of the ship power system can be stably controlled, and the operation reliability of the equipment is improved.
Drawings
FIG. 1 is a system schematic of the present invention.
Detailed Description
As shown in the figure, the cable lifting constant tension control device comprises:
a wire spool 1 for winding or unwinding a cable;
the variable frequency motor 2 is used for providing winding power for the wire spool; the variable frequency motor 2 drives the wire spool through the reduction box 6;
the frequency converter 3 is used for adjusting the output torque of the variable frequency motor;
the encoder 4 is used for detecting the number of rotation turns of the wire spool so as to obtain the number of turns of the residual cable on the wire spool;
and the PLC 5 is used for receiving the encoder information and the control parameter information, outputting a torque adjustment frequency conversion control signal to the frequency converter and receiving a frequency conversion feedback signal.
The output part of the PLC controller is also connected to the control circuit of the brake 7 to control the brake to brake the variable frequency motor.
At the power supply stage of a ship or the cable winding stage after power supply is finished, the PLC calculates according to the obtained encoder information and the input control parameter information, and outputs a torque adjustment frequency conversion control signal to the frequency converter so as to control the rotating torque of the wire spool, and the specific calculation steps are as follows:
1. calculating the diameter of the cable on the cable reel and the length of the remaining cable, wherein the number of turns of the remaining cable on the wire spool detected by the encoder is n, the diameter of the cable is D, and the inner diameter of the wire spool is D, so that the diameter D1 of the cable on the wire spool is D + (2n-1) D, and the length L of the remaining cable is (nD + n2D) pi;
2. calculating torque, wherein the required tension of the cable is the force required for overcoming the weight of the pulled cable, the pulled cable is h-L obtained by subtracting the length L of the residual cable on the wire spool from the total length h of the wound cable on the wire spool, and the weight of the unit length of the cable is M, and the moment M required for overcoming the weight of the pulled cable is (h-L) (D + (2n-1) D) x mg; due to the inherent static torque characteristic M0 of the device, the actual required torque is (M + M0), and the torque converted to the output signal of the frequency converter is (M + M0)/N, wherein N is the speed ratio of the reduction gearbox.
In the process of carrying out the torque control in the power supply stage of the ship, in order to avoid the influence of large tension on the cable for a long time, the wire spool is not moved within the set time t1
(i.e. there is no cable take-up or pay-off), the tension is reduced to overcome the tension required to pull out the weight of the cable; if the time is delayed for a period of time t2, the wire spool still has no action of cable releasing or cable retracting, and the original tension is recovered; if the cable is laid after delaying for a period of time t2, recalculating the tension and the torque according to the method; and so on.

Claims (2)

1. A constant tension control method of a cable lifting system of a cable lifting constant tension control device is characterized by comprising the following steps: the cable lifting constant tension control device comprises a constant tension control device,
a wire spool for winding or unwinding a cable;
the variable frequency motor is used for providing winding power for the wire spool;
the frequency converter is used for adjusting the output torque of the variable frequency motor;
the encoder is used for detecting the number of rotation turns of the wire spool so as to obtain the number of turns of the residual cable on the wire spool;
the PLC is used for receiving the encoder information and the control parameter information, outputting a torque adjustment frequency conversion control signal to the frequency converter and receiving a frequency conversion feedback signal;
the variable frequency motor drives the wire spool through the reduction gearbox; the output part of the PLC is also connected to a control circuit of a brake, and the brake is used for braking the variable frequency motor;
at the power supply stage of a ship or the cable winding stage after power supply is finished, the PLC calculates according to the obtained encoder information and the input control parameter information, and outputs a torque adjustment frequency conversion control signal to the frequency converter so as to control the rotating torque of the wire spool, and the specific calculation steps are as follows:
a. calculating the diameter of the cable on the cable reel and the length of the remaining cable, wherein the number of turns of the remaining cable on the wire spool detected by the encoder is n, the diameter of the cable is D, and the inner diameter of the wire spool is D, so that the diameter of the cable on the wire spool is D1= D + (2n-1) D, and the length L of the remaining cable is (nD + n2D) pi;
b. calculating torque, wherein the required tension of the cable is the force required for overcoming the weight of the pulled cable, the pulled cable is h-L obtained by subtracting the length L of the residual cable on the wire spool from the total length h of the wound cable on the wire spool, and the weight of the unit length of the cable is M, and the moment M = (h-L) (D + (2n-1) D) x mg required for overcoming the weight of the pulled cable is calculated; due to the inherent static torque characteristic M0 of the device, the actual required torque is (M + M0), and the torque converted to the output signal of the frequency converter is (M + M0)/N, wherein N is the speed ratio of the reduction gearbox.
2. The method for controlling the constant tension of a cable lifting system of a cable lifting constant tension control device according to claim 1, wherein: in the power supply stage of the ship, when the wire spool is not moved within the set time t1, reducing the tension to overcome the tension required by pulling out the weight of the cable; if the time is delayed for a period of time t2, the wire spool still has no action of cable releasing or cable retracting, and the original tension is recovered; if the cable is laid after delaying for a period of time t2, recalculating the tension and the torque according to the steps a to b; and so on.
CN201810811956.8A 2018-07-23 2018-07-23 Cable lifting constant tension control device and control method Active CN109230868B (en)

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Application Number Priority Date Filing Date Title
CN201810811956.8A CN109230868B (en) 2018-07-23 2018-07-23 Cable lifting constant tension control device and control method

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Application Number Priority Date Filing Date Title
CN201810811956.8A CN109230868B (en) 2018-07-23 2018-07-23 Cable lifting constant tension control device and control method

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CN109230868B true CN109230868B (en) 2020-09-25

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110451343B (en) * 2019-08-16 2021-03-16 江苏健龙电器有限公司 Constant tension control device for shore power cable transmission

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EP0737525A1 (en) * 1995-04-10 1996-10-16 Patent-Treuhand-Gesellschaft für elektrische Glühlampen mbH Device for coiling and uncoiling of metal wires
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CN202272591U (en) * 2011-09-30 2012-06-13 宁波新伟隆机械制造有限公司 Constant-torque cable drum control device
CN203652936U (en) * 2011-11-16 2014-06-18 江苏兴达钢帘线股份有限公司 Constant-tension position controlling device
CN104300481A (en) * 2014-10-23 2015-01-21 常熟市中源电力设备有限公司 Shore power cable take-up and pay-off device for ships
CN204425224U (en) * 2015-03-10 2015-06-24 乌鲁木齐瑞安特自动化设备有限公司 A kind of elevator PLC controls frequency control electric-control system
CN205442486U (en) * 2016-03-04 2016-08-10 上海阜有海洋科技有限公司 Permanent tension adaptive control device of servo row of cable in deep sea navel cord cable winch
CN105967002A (en) * 2016-05-24 2016-09-28 哈尔滨工程大学 Cable take-up and pay-off system
CN206244140U (en) * 2016-11-10 2017-06-13 南京聚力纤维材料有限公司 A kind of unwinding winding device that identical tension brake is set

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0737525A1 (en) * 1995-04-10 1996-10-16 Patent-Treuhand-Gesellschaft für elektrische Glühlampen mbH Device for coiling and uncoiling of metal wires
CN2789204Y (en) * 2005-04-11 2006-06-21 上海振华港口机械(集团)股份有限公司 Variable frequency driving cart cable reeling device
CN1982188A (en) * 2005-12-15 2007-06-20 王向辉 Electric-cable reel frequency-variable synchronizer
CN101665220A (en) * 2009-09-25 2010-03-10 四川建设机械(集团)股份有限公司 Variable-frequency speed-regulating control system of crane
CN201932765U (en) * 2010-11-26 2011-08-17 上海振华重工(集团)股份有限公司 Control device for cable drum
CN202226486U (en) * 2011-08-29 2012-05-23 上海振华港机(集团)宁波传动机械有限公司 Control device for cable reel
CN202272591U (en) * 2011-09-30 2012-06-13 宁波新伟隆机械制造有限公司 Constant-torque cable drum control device
CN203652936U (en) * 2011-11-16 2014-06-18 江苏兴达钢帘线股份有限公司 Constant-tension position controlling device
CN104300481A (en) * 2014-10-23 2015-01-21 常熟市中源电力设备有限公司 Shore power cable take-up and pay-off device for ships
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CN205442486U (en) * 2016-03-04 2016-08-10 上海阜有海洋科技有限公司 Permanent tension adaptive control device of servo row of cable in deep sea navel cord cable winch
CN105967002A (en) * 2016-05-24 2016-09-28 哈尔滨工程大学 Cable take-up and pay-off system
CN206244140U (en) * 2016-11-10 2017-06-13 南京聚力纤维材料有限公司 A kind of unwinding winding device that identical tension brake is set

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