CN109231039B - Electromechanical winch system for lifting and recovering aerostat and working method - Google Patents

Electromechanical winch system for lifting and recovering aerostat and working method Download PDF

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Publication number
CN109231039B
CN109231039B CN201811065699.4A CN201811065699A CN109231039B CN 109231039 B CN109231039 B CN 109231039B CN 201811065699 A CN201811065699 A CN 201811065699A CN 109231039 B CN109231039 B CN 109231039B
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China
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winch
cable
control
motor
double
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CN109231039A (en
Inventor
朱鹏程
吴庆和
杨林初
鄢华林
赵忠
陈吉安
付乐
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Jiangsu University of Science and Technology
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Jiangsu University of Science and Technology
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66DCAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/02Driving gear
    • B66D1/12Driving gear incorporating electric motors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66DCAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28Other constructional details
    • B66D1/36Guiding, or otherwise ensuring winding in an orderly manner, of ropes, cables, or chains
    • B66D1/38Guiding, or otherwise ensuring winding in an orderly manner, of ropes, cables, or chains by means of guides movable relative to drum or barrel
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66DCAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28Other constructional details
    • B66D1/40Control devices
    • B66D1/48Control devices automatic
    • B66D1/485Control devices automatic electrical

Abstract

The invention discloses an electromechanical winch system for lifting and recovering an aerostat and a working method thereof, wherein the system comprises a traction winch, a cable storage winch, an auxiliary winch, a cable arrangement mechanism and a measurement and control system, wherein the traction winch adopts a dual-drive mode, releases the tension of a mooring cable through the friction of the winch and the cable, plays a role in protecting the cable arrangement of the cable, and is a main driving device for lifting and recovering; the cable storage winch is used for storing cables and is matched with a flexible cable arrangement mechanism mainly comprising a servo motor to realize the function of accurately arranging the cables in multiple layers; the control detection system is used for data acquisition of the mooring rope and the working state of the system and control of the system, the auxiliary winch is composed of three electric control winches and has the functions of assisting the lifting and recovery of the aerostat and mooring on the ground.

Description

Electromechanical winch system for lifting and recovering aerostat and working method
Technical Field
The invention belongs to the field of lift-off recovery equipment, and particularly relates to an electromechanical winch system for lift-off recovery of an aerostat, which has a tension reducing design and realizes a multi-layer accurate cable arrangement function.
Background
The lift-off recovery equipment is applied to lift-off recovery of equipment such as captive balloons and aerostatics, and a core device of the lift-off recovery equipment is a winch system, and the lift-off recovery equipment has the characteristics of high safety and reliability requirements, large load, long cable and large disturbance.
The frequently-used cable arrangement device with the reciprocating bidirectional lead screw driven by the chain has the advantages of high processing cost and easy loss, the cable diameter of the cable arrangement is relatively fixed, the cable arrangement device cannot be suitable for various cable diameters, accumulated errors in the cable arrangement process cannot be adjusted, and therefore, accurate cable arrangement is not easy to realize.
The requirement for the equipment of retrieving to lift off is higher and higher, and the traditional helical groove reel that commonly uses does not have the guide of two broken line reels and arranges the effectual of cable when cable is arranged to first layer, easily takes place to skid like this when arranging the cable, in arranging the cable backward, does not have fine inheritance nature, and the difficult better realization multilayer is arranged the cable.
If the cable is directly stored in the winch working in a heavy-load occasion, the cable at the bottom layer of the cable storage winch deforms and is out of round and damaged under the extrusion stress of the cable at the upper layer, so that irreparable accidents are easily caused, the tension of the cable is released through a certain method before cable arrangement, and the cable arrangement is protected. The previously used structure of a tension reducing winch driving a floating body has a disadvantage in disturbance resistance in case of sudden load change. The tension attenuation effect is not good in double driving, the size is large, and the structure is redundant.
The conventional common winch system only has simple start-stop control and alarm during operation, the operation of the whole system can be more reliable by adding an alarm module, a data acquisition module, an upper computer measurement and control device, a mechanical brake device and the like into the system, and the requirement of high safety requirement of lift-off recovery equipment is also met.
Disclosure of Invention
The present invention is directed to the problems and deficiencies of the prior art by providing an electromechanical winch system for aerostat lift-off recovery.
In order to achieve the purpose, the technical scheme adopted by the invention for achieving the purpose is as follows:
an electromechanical winch system for lifting and recovering an aerostat comprises a main winch, an auxiliary winch, a cable arrangement mechanism and a measurement and control system; it is characterized in that the preparation method is characterized in that,
the main winch comprises a traction winch and a cable storage winch, wherein the traction winch adopts a double-capstan double-drive mode, and the tension of a mooring cable is released through the friction of the winch and the cable to serve as a main driving device for lifting and recovering; the cable storage winch is used for storing the recovered cable neatly, runs at the same linear speed as the winch and is matched with the flexible cable arrangement mechanism mainly comprising the servo motor to realize the function of accurately arranging the cables in multiple layers;
the auxiliary winch consists of three electric control winches which are respectively arranged on side arms on the left side and the right side of the mooring tower and the anchor parking tower and used for pulling the nose cone mechanical rigging and the middle left and right mechanical rigging and are responsible for assisting the flying and the recovery of the captive balloon and the ground mooring of the balloon at the initial stage and the later stage of the balloon lifting;
the cable arrangement mechanism adopts an electric control type cable arrangement mechanism, is driven by an independent servo motor and drives a cable arrangement guide wheel to move through a one-way lead screw nut mechanism to realize cable arrangement;
the measurement and control system is used for data acquisition of the mooring rope and the working state of the system and realizes control on the system.
Further, as preferred, the winch that pulls adopts two capstan winch servo control, the capstan winch passes through capstan winch motor drive, the capstan winch motor is frequency conversion gear motor, drive two motors by two converters, through dual drive servo control, and the dual drive servo control of capstan winch includes speed control mode and moment control mode, the direction of exerting oneself of speed control mode and moment control mode is unanimous, the capstan winch of moment control mode is followed the capstan winch motion of speed control mode all the time under the relevance of hawser for two are exerted oneself evenly, the hawser does not skid, realize two accurate synchronization of capstan winch under the effect of friction between hawser and capstan winch.
Further, as preferred, the capstan winch adopts semicircle type grooving, and wherein the coefficient of friction ratio of two liang of adjacent grooving is 1: 1.5, wherein the friction coefficient of the rope entering groove is minimum, the rope enters and exits by adopting a scheme of entering and exiting from the lower part, and a transition wheel is added for guiding so as to reduce the height, and the double-drive motor extends to two ends, thus being beneficial to layout and installation.
Further, preferably, the system comprises a double-fold-line winding drum, a support, a cable storage motor, a guide wheel, a servo motor, a one-way screw rod, a cable arrangement guide wheel, a cable, a winch motor and a transition wheel, wherein the load cable outlet end is connected to the double winch through the guide wheel and the transition wheel in sequence, the winch is driven by the winch motor to rotate, the cable on the winch is connected to the double-fold-line winding drum through the cable arrangement guide wheel, the double-fold-line winding drum is arranged on the support and driven by the cable storage motor on the support to rotate, and the cable arrangement guide wheel is driven by the servo motor and the one-way screw rod so as to realize the position adjustment of the cable arrangement guide wheel.
Further, as preferred, one end of the double-folding-line winding drum is provided with a photoelectric composite rotary connector, the rotation center of the photoelectric composite rotary connector is concentric with the axis of the cable storage drum, a cable storage motor of the double-folding-line winding drum adopts a frequency conversion speed regulation mode and is set to be direct torque control, the torque direction of the double-folding-line winding drum is always set to be the cable winding direction, the double-folding-line winding drum keeps synchronous winding and unwinding with a driving winch through direct torque control, two ends of a one-way lead screw of the cable arrangement device adopt proximity switches to control reversing, overrun protection is carried out through a travel switch, and a cable arrangement guide wheel adopts air springs to balance so.
Preferably, the cable storage winch is provided with a tension measuring device, the output torque of the motor is controlled by matching with the change of the output voltage of the controller, the tension of the cable arrangement of the cable is maintained by tension closed-loop control, collapse and dislocation during multilayer cable arrangement are prevented, the cable storage cylinder adopts a double-folded-line rope groove structure to solidify the first layer of cable arrangement, and each layer has inheritance in the future, so that the cable arrangement is ensured to be orderly.
Preferably, the servo motor of the cable arrangement device is used as a controller to control the position of PWM pulse quantity emitted by the servo motor by using an industrial personal computer, and the rotation speed of the servo motor is coordinated by combining an encoder of the servo motor, an encoder of the cable storage motor and proximity switches at two ends of the one-way screw rod.
Further, preferably, the data acquisition and control of the measurement and control system comprises acquiring cable speed, length and tension signals; transmitting the collected signals to an upper computer; the control system is used for controlling the starting, stopping and speed regulation of motors of the winch and the cable storage winch; and a protection function; meanwhile, the control of starting, stopping and positive and negative rotation of the rotary motor of the vehicle body is also implemented.
Further, preferably, the electrical part of the measurement and control system adopts a PC104 computer control mode, and the main winch works as follows: when the main winch receives the cable, the linear speed of the main winch is manually set, the linear speed of the cable storage winch is limited by the main winch under the action of the cable, the generated tension is determined by the set torque of the cable storage winch and the winding radius of the cable on the cable drum, and the minimum tension needs to ensure that the cable can be straightened; when the main winch is used for releasing the cable, the cable storage winch is still set to be in a cable-retracting state, but the output torque of the cable storage winch is far smaller than that generated by the main winch, the cable storage winch is dragged by the main winch under the action of the cable, and the motor of the cable storage winch is in a power generation working state.
The invention relates to an electromechanical winch system for lifting and recovering an aerostat, which comprises the following working and operating steps:
(1) the hardware arrangement is completed, and the corresponding wiring is correct;
(2) setting the working modes of three frequency converters of a traction winch and a cable storage winch, namely vector control, direct torque control and direct torque control;
(3) the system is initialized and data acquisition is carried out to ensure that the self-checking state is normal;
(4) after the emergency stop switch is loosened, the handle is operated, and the procedure judges that the cable is wound and unwound;
(5) during cable releasing, analog quantity input of a handle sets the motor torque and direction of a cable storage winch, switching value is given to start the cable storage winch, analog quantity of an operating handle sets the control speed of a traction winch and drives a winch frequency converter system to start cable releasing, the system runs under a fault-free and alarm-free state until the handle reaches a middle position, and manual parking is carried out;
(6) when the cable is collected, the analog quantity input of the handle sets the motor torque and the direction of the cable storage winch, the switching value is given out through program design to start the cable storage winch, the analog quantity of the operating handle sets the control speed of the traction winch, and the winch frequency converter system is driven to start cable collection;
(7) the running state is fed back to the upper computer through the communication of the data acquisition card and the frequency converter with the RS485 serial port of the upper computer, and an operator can monitor the running state;
the parking process: in the emergency stop under the condition that the non-discharging cable is not synchronous and the non-alarming state, the manual stop is to set the control speed of the winch motor to be 0 at first and then set the control torque of the cable storage winch motor to be 0, and the system can stop stably.
Compared with the prior art, the invention has the beneficial effects that:
compared with the traditional mechanical cable arrangement, the cable arrangement device can realize high-precision multilayer flexible cable arrangement by using the industrial control machine and matching with the servo motor, and ensures the reliability and safety of the cable arrangement. The traction winch has the advantages that the conventional tension-reducing-free or single-drive winch is distinguished, and a winch double-drive scheme is adopted, so that the anti-interference reliability of the traction winch is improved, and the two winches participate in the unloading tension, the friction wrap angle formed by winding the cable and the winch is increased, the tension attenuation effect is multiplied, the axial size is compressed, and the compactness and the high efficiency of the structure are ensured. In conclusion, the system is an electromechanical winch system which is reliable in operation and powerful in function and is used for lifting and recovering the aerostat.
Drawings
FIG. 1 is a system component block diagram;
FIG. 2 is a layout view of the main winch structure;
FIG. 3 is a block diagram of the main drawworks hardware system.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides a technical solution: an electromechanical winch system for lifting and recovering an aerostat comprises a main winch, an auxiliary winch, a cable arrangement mechanism and a measurement and control system; the main winch comprises a traction winch and a cable storage winch, wherein in the embodiment, the traction winch adopts a double-winch 10 double-drive mode, the winch is a main driving device for winding and unwinding a mooring cable and has a tension attenuation function, so that the tension of the mooring cable entering the cable storage winch is reduced to a certain value to play a role in protecting the mooring cable, and the tension of the mooring cable is released through the friction of the winch 10 and the mooring cable 9 to serve as a main driving device for lifting and recovering; the cable storage winch is used for storing the recovered cable neatly, runs at the same linear speed as the winch 10 and is matched with a flexible cable arrangement mechanism mainly comprising a servo motor to realize the function of accurately arranging the cables in multiple layers;
the auxiliary winch consists of three electric control winches which are respectively arranged on side arms on the left side and the right side of the mooring tower and the anchor parking tower and used for pulling the nose cone mechanical rigging and the middle left and right mechanical rigging and are responsible for assisting the flying and the recovery of the captive balloon and the ground mooring of the balloon at the initial stage and the later stage of the balloon lifting;
the cable arrangement mechanism adopts an electric control type cable arrangement mechanism, is driven by an independent servo motor and drives a cable arrangement guide wheel 8 to move through a one-way lead screw nut mechanism to realize cable arrangement;
the measurement and control system is used for acquiring data of a cable and the working state of the system and controlling the system, and the control system is used for controlling the starting, stopping and speed regulation of motors of the winch and the cable storage winch; acquiring speed, length and tension signals of the cable; transmitting the collected signals to an upper computer; and some protection functions; meanwhile, the control of starting, stopping and positive and negative rotation of the rotary motor of the vehicle body is also implemented.
Fig. 2 shows a layout of the main winch of the system of the present invention. The system comprises a double-fold line winding drum 1, a support 2, a cable storage motor 3, a guide wheel 5, a servo motor 6, a one-way screw 7, a cable arrangement guide wheel 8, a cable 9, a winch 10, a winch motor 11 and a transition wheel 12, wherein a load cable outlet end 4 is connected to the double winch 10 sequentially through the guide wheel 5 and the transition wheel 12, the winch 10 is driven to rotate by the winch motor 11, the cable 9 on the winch 10 is connected to the double-fold line winding drum through the cable arrangement guide wheel 8, the double-fold line winding drum is arranged on the support 2 and driven to rotate by the cable storage motor 3 on the support 2, and the cable arrangement guide wheel 8 is driven by the servo motor 6 and the one-way screw 7 so as to realize position adjustment of the cable arrangement guide wheel.
Traction winch adopts two capstan winch 10 servo control, capstan winch 10 passes through capstan winch motor 11 drive, capstan winch motor 11 is frequency conversion gear motor, drive two motors by two converters, through dual drive servo control, and the dual drive servo control of capstan winch includes speed control mode and moment control mode, the direction of exerting oneself of speed control mode and moment control mode is unanimous, the capstan winch 10 of moment control mode is followed the capstan winch motion of speed control mode all the time under the relevance of hawser 9, make two capstan winch 10 exert oneself evenly, the hawser does not skid, realize the accurate synchronization of two capstan winch under the effect of friction between hawser and capstan winch.
The winch 10 adopts a semicircular rope groove, wherein the friction coefficient ratio of every two adjacent rope grooves is 1: 1.5, wherein the friction coefficient of the rope entering groove is minimum, the rope enters and exits by adopting a scheme of entering and exiting from the lower part, and a transition wheel is added for guiding so as to reduce the height, and the double-drive motor extends to two ends, thus being beneficial to layout and installation.
The double-folded cable winding drum is characterized in that a photoelectric composite rotary connector is mounted at one end of a double-folded cable winding drum 1, the rotation center of the photoelectric composite rotary connector is concentric with the axis of the cable storage drum, a cable storage motor 3 of the double-folded cable winding drum 1 is set to be in direct torque control in a frequency conversion speed regulation mode, the torque direction of the double-folded cable winding drum is always set to be the cable winding direction, the double-folded cable winding drum is kept synchronous with the winding and unwinding of a driving winch through direct torque control, two ends of a one-way lead screw 7 of a cable arrangement device are controlled to be reversed through a proximity switch, overrun protection is conducted through a travel switch.
The cable storage winch is provided with a tension measuring device which is matched with the change of the output voltage of the controller to control the output torque of the motor, the tension of the cable arrangement of the cable is maintained through tension closed-loop control, collapse and dislocation during multilayer cable arrangement are prevented, the cable storage cylinder adopts a double-folded-line rope groove structure to solidify the first layer of cable arrangement, and each layer has inheritance so as to ensure the cable arrangement in order.
The servo motor 6 of the cable arrangement device is used as a controller to control the position of PWM pulse quantity emitted by the servo motor by using an industrial personal computer, and the rotation speed of the servo motor is coordinated by combining an encoder of the servo motor 6, an encoder of the cable storage motor 3 and proximity switches at two ends of a one-way screw 7.
FIG. 3 is a block diagram of the main drawworks hardware system of the present invention. The electric part of the measurement and control system adopts a PC104 computer control mode, and the working mode of the main winch is as follows: when the main winch receives the cable, the linear speed of the main winch is manually set, the linear speed of the cable storage winch is limited by the main winch under the action of the cable, the generated tension is determined by the set torque of the cable storage winch and the winding radius of the cable on the cable drum, and the minimum tension needs to ensure that the cable can be straightened; when the main winch is used for releasing the cable, the cable storage winch is still set to be in a cable-retracting state, but the output torque of the cable storage winch is far smaller than that generated by the main winch, the cable storage winch is dragged by the main winch under the action of the cable, and the motor of the cable storage winch is in a power generation working state.
The data acquisition is further described in detail with reference to fig. 3, and the industrial personal computer 130 is matched with the analog input module 120 to acquire parameters 110 such as tension and the like, and is matched with the digital input and output modules 210 and 220 to acquire state quantities 190 such as the retraction state, the fault state, the braking state and the like of the electric control handle 290. The cable arranging mechanism 170 outputs PWM pulses to the servo driver 140 through the industrial personal computer 130, and controls the servo motor 150 to arrange cables. The operation signals of the frequency converters 300 and 310 can be read through the serial port communication of the upper computer and the frequency converters, and comprise motor rotating speed signals 260, 280 and 330, winch motors 320 and 270 output frequency and current, cable storage motor 250 torque signals and the like.
The data processing comprises logic judgment and switching value output. The logic judgment comprises that the system can not start under the description condition, the alarm protection is carried out under the description condition, and the digital quantity output module 220 outputs the switching value 200 to drive the operation of the frequency converter, an indicator light, an alarm and the like. The serial port communication transmits the following data to an upper computer: the system comprises a winding and unwinding speed, a mooring rope tension, a balloon height, a tension overrun alarm, a movement asynchronous alarm, a cable winding and unwinding instruction, a parking instruction and the like.
The invention relates to an electromechanical winch system for lifting and recovering an aerostat, which comprises the following working and operating steps:
(1) the hardware arrangement is completed, and the corresponding wiring is correct;
(2) setting the working modes of three frequency converters of the traction winch 180 and the cable storage winch 230, namely vector control, direct torque control and direct torque control;
(3) the system is initialized and data acquisition is carried out to ensure that the self-checking state is normal;
(4) after the switch such as emergency stop is loosened, the handle is operated, and the procedure judges that the cable is wound and unwound;
(5) during cable laying, analog quantity input of a handle sets the motor torque and direction of a cable storage winch, switching value is given out through program design to start the cable storage winch, analog quantity of an operating handle sets the control speed of a traction winch and drives a winch frequency converter system to start cable laying, the system can run in a fault-free and alarm-free state until the handle reaches a middle position, and manual parking is carried out;
(6) when the cable is collected, the analog quantity input of the handle sets the motor torque and the direction of the cable storage winch, the switching value is given out through program design to start the cable storage winch, the analog quantity of the operating handle sets the control speed of the traction winch, and the winch frequency converter system is driven to start cable collection;
(7) the running state is fed back to the upper computer through the communication of the data acquisition card and the frequency converter with the RS485 serial port of the upper computer, and an operator can monitor the running state;
the parking process: in the emergency stop under the condition that the non-discharging cable is not synchronous and the non-alarming state, the manual stop is to set the control speed of the winch motor to be 0 at first and then set the control torque of the cable storage winch motor to be 0, and the system can stop stably.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (8)

1. An electromechanical winch system for lifting and recovering an aerostat comprises a main winch, an auxiliary winch, a cable arrangement mechanism and a measurement and control system;
the main winch comprises a traction winch and a cable storage winch, wherein the traction winch adopts a double-winch (10) double-driving mode, and the tension of a mooring cable is released through the friction of the winch (10) and the cable (9) and is used as a main driving device for lifting and recovering; the cable storage winch is used for storing the recovered cable neatly, runs at the same linear speed as the winch (10), and is matched with the flexible cable arrangement mechanism mainly comprising the servo motor to realize the function of accurately arranging the cables in multiple layers;
the auxiliary winch consists of three electric control winches which are respectively arranged on side arms on the left side and the right side of the mooring tower and the anchor parking tower and used for pulling the nose cone mechanical rigging and the middle left and right mechanical rigging and are responsible for assisting the flying and the recovery of the captive balloon and the ground mooring of the balloon at the initial stage and the later stage of the balloon lifting;
the cable arrangement mechanism adopts an electric control type cable arrangement mechanism, is driven by an independent servo motor and drives a cable arrangement guide wheel (8) to move through a one-way lead screw nut mechanism to realize cable arrangement;
the measurement and control system is used for data acquisition of the mooring rope and the working state of the system and realizes control on the system;
traction winch adopts two capstan winch (10) servo control, and capstan winch (10) are through capstan winch motor (11) drive, and capstan winch motor (11) are frequency conversion gear motor, by two motors of two converter drive, through dual drive servo control, its characterized in that: the double-drive servo control of the winch (10) comprises a speed control mode and a moment control mode, the force output directions of the speed control mode and the moment control mode are consistent, and the winch (10) in the moment control mode always moves along with the winch in the speed control mode under the association of the cable (9), so that the force output of the two winches (10) is uniform, the cable does not slip, and the precise synchronization of the double winches is realized under the friction effect between the cable and the winches;
capstan winch (10) adopts semicircle type grooving, and the mode of going into down going out is adopted in hawser business turn over mode to set up the ferryboat and lead to, so that reduce the height, and make dual drive motor extend to both ends, do benefit to the overall arrangement installation, wherein the friction coefficient ratio of two liang of adjacent grooving is 1: 1.5, wherein the friction coefficient of the rope entering groove is minimum, the rope enters and exits by adopting a scheme of entering and exiting from the lower part, and a transition wheel is added for guiding so as to reduce the height, and the double-drive motor extends to two ends, thus being beneficial to layout and installation.
2. An electro-mechanical winch system for aerostat lift-off recovery, according to claim 1, characterized in that: the system comprises a double-fold line winding drum (1), a bracket (2), a cable storage motor (3), a guide wheel (5), a servo motor (6), a one-way screw (7), a cable arrangement guide wheel (8), a cable (9), a winch (10), a winch motor (11) and a transition wheel (12), wherein the load cable outlet end (4) is connected to the double winch (10) through the guide wheel (5) and the transition wheel (12) in sequence, the winch (10) is driven to rotate by the winch motor (11), the cable (9) on the winch (10) is connected to the double-fold line reel through a cable guide wheel (8), the double-fold-line reel is arranged on the bracket (2) and is driven to rotate by the cable storage motor (3) on the bracket (2), the cable guide wheel (8) is driven by a servo motor (6) and a one-way lead screw (7) so as to realize the position adjustment of the cable guide wheel.
3. An electro-mechanical winch system for aerostat lift-off recovery, according to claim 1, characterized in that: one end of the double-folded winding drum (1) is provided with a photoelectric composite rotary connector, the rotation center of the photoelectric composite rotary connector is concentric with the axis of the cable storage drum, a cable storage motor (3) of the double-folded winding drum (1) adopts a frequency conversion speed regulation mode and is set to be direct torque control, the torque direction of the double-folded winding drum is always set to be the cable winding direction, the double-folded winding drum keeps synchronous winding and unwinding with a driving winch through direct torque control, two ends of a one-way lead screw (7) of the cable arrangement device adopt proximity switches to control reversing and carry out overrun protection through a travel switch, and a cable arrangement guide wheel adopts air spring balance so as to adapt to the change of the number of.
4. An electro-mechanical winch system for aerostat lift-off recovery, according to claim 3, characterized in that: the cable storage winch is provided with a tension measuring device which is matched with the change of the output voltage of the controller to control the output torque of the motor, the tension of the cable arrangement of the cable is maintained through tension closed-loop control, collapse and dislocation during multilayer cable arrangement are prevented, the cable storage cylinder adopts a double-folded-line rope groove structure to solidify the first layer of cable arrangement, and each layer has inheritance so as to ensure the cable arrangement in order.
5. An electro-mechanical winch system for aerostat lift-off recovery, according to claim 3, characterized in that: a servo motor (6) of the cable arrangement device is used as a controller by an industrial personal computer to control the position of PWM pulse quantity emitted by the servo motor, and the rotation speed of the servo motor is coordinated by combining an encoder of the servo motor (6), an encoder of the cable storage motor (3) and proximity switches at two ends of a one-way screw rod (7).
6. An electro-mechanical winch system for aerostat lift-off recovery, according to claim 1, characterized in that: the data acquisition and control of the measurement and control system comprises the acquisition of speed, length and tension signals of the mooring rope; transmitting the collected signals to an upper computer; the control system is used for controlling the starting, stopping and speed regulation of motors of the winch and the cable storage winch; and a protection function; meanwhile, the control of starting, stopping and positive and negative rotation of the rotary motor of the vehicle body is also implemented.
7. An electro-mechanical winch system for aerostat lift-off recovery, according to claim 1, characterized in that: the electric part of the measurement and control system adopts a PC104 computer control mode, and the working mode of the main winch is as follows: when the main winch receives the cable, the linear speed of the main winch is manually set, the linear speed of the cable storage winch is limited by the main winch under the action of the cable, the generated tension is determined by the set torque of the cable storage winch and the winding radius of the cable on the cable drum, and the minimum tension needs to ensure that the cable can be straightened; when the main winch is used for releasing the cable, the cable storage winch is still set to be in a cable-retracting state, but the output torque of the cable storage winch is far smaller than that generated by the main winch, the cable storage winch is dragged by the main winch under the action of the cable, and the motor of the cable storage winch is in a power generation working state.
8. A method of operating an electromechanical winch system for aerostat lift-off recovery according to any of claims 1-7, characterized in that: the working operation steps are as follows:
(1) the hardware arrangement is completed, and the corresponding wiring is correct;
(2) setting the working modes of three frequency converters of a traction winch and a cable storage winch, namely vector control, direct torque control and direct torque control;
(3) the system is initialized and data acquisition is carried out to ensure that the self-checking state is normal;
(4) after the emergency stop switch is loosened, the handle is operated, and the procedure judges that the cable is wound and unwound;
(5) during cable releasing, analog quantity input of a handle sets the motor torque and direction of a cable storage winch, switching value is given to start the cable storage winch, analog quantity of an operating handle sets the control speed of a traction winch and drives a winch frequency converter system to start cable releasing, the system runs under a fault-free and alarm-free state until the handle reaches a middle position, and manual parking is carried out;
(6) when the cable is collected, the analog quantity input of the handle sets the motor torque and the direction of the cable storage winch, the switching value is given out through program design to start the cable storage winch, the analog quantity of the operating handle sets the control speed of the traction winch, and the winch frequency converter system is driven to start cable collection;
(7) the running state is fed back to the upper computer through the communication of the data acquisition card and the frequency converter with the RS485 serial port of the upper computer, and an operator can monitor the running state;
(8) the parking process: in the emergency stop under the condition that the non-discharging cable is not synchronous and the non-alarming state, the manual stop is to set the control speed of the winch motor to be 0 at first and then set the control torque of the cable storage winch motor to be 0, and the system can stop stably.
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CN110065853B (en) * 2019-02-28 2020-09-22 武汉船用机械有限责任公司 Control device of cable towing winch system
CN111186783B (en) * 2020-01-16 2021-06-08 中国船舶科学研究中心(中国船舶重工集团公司第七0二研究所) Winch control system facing variable diameter cable and control method thereof
CN111717737B (en) * 2020-07-17 2021-10-19 江苏科技大学 Deviation rectifying method for winding and unwinding of winch cable of aerostat

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