CN111039132A - Method and device for safe parking control of lifting system - Google Patents
Method and device for safe parking control of lifting system Download PDFInfo
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- CN111039132A CN111039132A CN201911353159.0A CN201911353159A CN111039132A CN 111039132 A CN111039132 A CN 111039132A CN 201911353159 A CN201911353159 A CN 201911353159A CN 111039132 A CN111039132 A CN 111039132A
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- 238000000034 method Methods 0.000 title claims abstract description 123
- 238000012544 monitoring process Methods 0.000 claims abstract description 18
- 239000003921 oil Substances 0.000 claims description 86
- 239000010720 hydraulic oil Substances 0.000 claims description 9
- 238000010586 diagram Methods 0.000 description 4
- 238000004804 winding Methods 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
- B66B11/04—Driving gear ; Details thereof, e.g. seals
- B66B11/043—Driving gear ; Details thereof, e.g. seals actuated by rotating motor; Details, e.g. ventilation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3423—Control system configuration, i.e. lay-out
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3446—Data transmission or communication within the control system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
- B66B5/0031—Devices monitoring the operating condition of the elevator system for safety reasons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D5/00—Braking or detent devices characterised by application to lifting or hoisting gear, e.g. for controlling the lowering of loads
- B66D5/02—Crane, lift hoist, or winch brakes operating on drums, barrels, or ropes
- B66D5/24—Operating devices
- B66D5/26—Operating devices pneumatic or hydraulic
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention provides a method and a device for controlling a lifting system to stop. The method comprises the following steps: receiving a parking command for the lift system; hovering control is carried out on a driving motor of the lifting system according to the parking command, wherein the hovering control enables the driving motor to output a torque balanced with a lifting load of the lifting system, so that the driving motor works in a state of zero rotating speed or close to the zero rotating speed; performing brake application control on a hydraulic brake system of the lifting system under the hovering control; monitoring operating data of the hydraulic brake system for predetermined parameters during the brake application control; and when the working data indicate that the brake application control process is effective, stopping the driving motor to work so as to realize safe parking of the lifting system.
Description
Technical Field
The application relates to the technical field of lifting systems, in particular to a method and a device for controlling a lifting system to stop.
Background
Generally, a lifting system comprises three parts, namely a mechanical system, an electrical system and a hydraulic braking system (which respectively correspond to a main machine part, an electric control and motor part and a brake control part of the lifting system). The mutual coordination and cooperation of the three parts are the premise that the lifting system can safely, stably and efficiently operate, wherein the brake control system is the last insurance for the safe operation of the lifting system. However, when the brake system is out of order, the lifting system has serious safety hazard, and especially, when the lifting system is stopped and is ready to stop, if the brake system is out of order, the lifting system cannot implement a stop command, so that the lifting container falls, serious economic loss is caused, and even casualty accidents occur.
In the prior art, the above problems are mainly solved in two ways: one is to reduce the risk of malfunctioning of the brake system by performing a strict checking regime, but this approach does not fundamentally solve the above-mentioned problems; the other is that the heavy-duty lifting container is made to slide downwards in a pulsating mode by adopting a low-frequency electric braking mode, although the falling accident of a heavy skip or a heavy cage is avoided to a certain extent by adopting the mode, the time of the downward sliding process is too long, for a deeper mine (the downward sliding process even needs more than thirty minutes), if the electric system breaks down in the process, the falling accident can possibly happen, and therefore, the serious potential safety hazard still exists. In addition, both of these two methods require a certain amount of manpower for maintenance and operation.
Therefore, how to avoid tank dropping, car running accidents and the like caused by the failure of the hydraulic braking system (or the brake control system) is still a problem to be solved urgently in the current lifting system.
Disclosure of Invention
The invention aims to provide a method and a device for controlling a lifting system to safely stop.
According to an aspect of the present invention, there is provided a method for controlling a hoist system to park, the method comprising: receiving a parking command for the lift system; hovering control is carried out on a driving motor of the lifting system according to the parking command, wherein the hovering control enables the driving motor to output a torque balanced with a lifting load of the lifting system, so that the driving motor works in a state of zero rotating speed or close to the zero rotating speed; performing brake application control on a hydraulic brake system of the lifting system under the hovering control; monitoring operating data of the hydraulic brake system for predetermined parameters during the brake application control; and when the working data indicate that the brake application control process is effective, stopping the driving motor to work so as to stop the lifting system.
Preferably, the operation data for the predetermined parameter is operation data for an oil pressure of the hydraulic brake system during the brake application control.
Preferably, the step of monitoring operating data of the hydraulic brake system for predetermined parameters during the brake application control comprises: collecting working data aiming at oil pressure of the hydraulic braking system in the brake application control process; indicating whether the apply control process is effective based on a change in operation data for oil pressure of the hydraulic brake system during the apply control process.
Preferably, if the working data of the hydraulic brake system for the oil pressure during the brake application control process falls below a safety brake oil pressure, the working data indicates that the brake application control process is valid, otherwise the working data indicates that the brake application control process is invalid.
Preferably, the method further comprises: when the working data indicates that the brake application control process is failed, hovering control over the driving motor is maintained.
Preferably, the method further comprises: the oil pressure of the hydraulic brake system in the brake application control process is reduced by opening a forced oil drain valve which is arranged in the hydraulic brake system and used for draining hydraulic oil in the hydraulic brake system back to an oil tank of a hydraulic station of the hydraulic brake system; and when the working data aiming at the oil pressure in the brake application control process of the hydraulic brake system is reduced to be lower than the safe brake oil pressure, the driving motor is stopped to work so as to realize the stop of the lifting system.
Preferably, the positive relief valve is provided in a line between a tank of a hydraulic station of the hydraulic brake system and the brake.
Preferably, the moment balanced with the lifting load of the lifting system is determined by the following equation:
Te＝Tref1+Tref2＝-∫ηωr|ωr|dt+∫λΔωr|Δωr|2dt
Tref1＝-∫ηωr|ωr|dt
Tref2＝∫λΔωr|Δωr|2dt
wherein, TeThe moment balanced with the lifting load of the lifting system; t isref1An initial torque observed for the lifting load; t isref2Torque disturbance estimated for the lifting load, λ is the initial torque disturbance gain factor, η is the set initial torque gain factor, ω isrFor the actual rotational speed, | ω, of the drive motorrAnd | is an amplitude signal of the actual rotating speed.
According to another aspect of the present invention, there is provided an apparatus for controlling parking of a hoist system, the apparatus comprising: a command unit for receiving a parking command for the lift system; the hovering unit is used for hovering and controlling a driving motor of the lifting system according to the parking command, wherein the hovering and controlling enables the driving motor to output a moment balanced with a lifting load of the lifting system, so that the driving motor works in a state of zero rotating speed or a state close to the zero rotating speed; the brake application unit is used for performing brake application control on a hydraulic brake system of the lifting system under the hovering control; the monitoring unit is used for monitoring working data of the hydraulic brake system aiming at preset parameters in the brake application control process; and the parking unit is used for stopping the driving motor when the working data indicate that the brake application control process is effective so as to realize parking of the lifting system.
Preferably, the operation data for the predetermined parameter is operation data for an oil pressure of the hydraulic brake system during the brake application control.
Preferably, the monitoring unit comprises: the data acquisition unit is used for acquiring working data aiming at oil pressure of the hydraulic brake system in the brake application control process; a data indicating unit for indicating whether the brake application control process is effective based on a change in operation data for oil pressure of the hydraulic brake system during the brake application control process.
Preferably, if the working data of the hydraulic brake system for the oil pressure during the brake application control process falls below a safety brake oil pressure, the working data indicates that the brake application control process is valid, otherwise the working data indicates that the brake application control process is invalid.
Preferably, the parking unit is further configured to maintain hover control over the drive motor when the operational data indicates that the brake application control process is disabled.
Preferably, the apparatus further comprises: and the pressure relief unit is used for enabling the hydraulic braking system to be in the brake application control process when the hydraulic braking system is in the brake application control process and working data aiming at the oil pressure are reduced to be below the safe braking oil pressure, so that the driving motor stops working to realize the parking of the lifting system.
Preferably, the positive relief valve is provided in a line between a tank of a hydraulic station of the hydraulic brake system and the brake.
Preferably, the moment balanced with the lifting load of the lifting system is determined by the following equation:
Te＝Tref1+Tref2＝-∫ηωr|ωr|dt+∫λΔωr|Δωr|2dt
Tref1＝-∫ηωr|ωr|dt
Tref2＝∫λΔωr|Δωr|2dt
wherein, TeThe moment balanced with the lifting load of the lifting system; t isref1An initial torque observed for the lifting load; t isref2Torque disturbance estimated for the lifting load, λ is the initial torque disturbance gain factor, η is the set initial torque gain factor, ω isrFor the actual rotational speed, | ω, of the drive motorrAnd | is an amplitude signal of the actual rotating speed.
According to another aspect of the present invention, there is provided a lifting system comprising: a drive motor; a hydraulic braking system; a controller configured to: receiving a parking command for the lift system; hovering and controlling the driving motor according to the parking command, wherein the hovering and controlling enables the driving motor to output a torque balanced with a lifting load of the lifting system, so that the driving motor works in a state of zero rotating speed or close to the zero rotating speed; performing brake application control on the hydraulic brake system under the hovering control; monitoring operating data of the hydraulic brake system for predetermined parameters during the brake application control; and when the working data indicate that the brake application control process is effective, stopping the driving motor to work so as to stop the lifting system.
Preferably, the operation data for the predetermined parameter is operation data for an oil pressure of the hydraulic brake system during the brake application control.
Preferably, the controller is further configured to: collecting working data aiming at oil pressure of the hydraulic braking system in the brake application control process; indicating whether the apply control process is effective based on a change in operation data for oil pressure of the hydraulic brake system during the apply control process.
Preferably, if the working data of the hydraulic brake system for the oil pressure during the brake application control process falls below a safety brake oil pressure, the working data indicates that the brake application control process is valid, otherwise the working data indicates that the brake application control process is invalid.
Preferably, the controller is further configured to: when the brake application control process of the working data fails, the hovering control of the driving motor is maintained.
Preferably, the controller is further configured to: the oil pressure of the hydraulic brake system in the brake application control process is reduced by opening a forced oil drain valve which is arranged in the hydraulic brake system and used for draining hydraulic oil in the hydraulic brake system back to an oil tank of a hydraulic station of the hydraulic brake system; and when the working data aiming at the oil pressure in the brake application control process of the hydraulic brake system is reduced to be lower than the safe brake oil pressure, the driving motor is stopped to work so as to realize the stop of the lifting system.
Preferably, the positive relief valve is provided in a line between a tank of a hydraulic station of the hydraulic brake system and the brake.
Preferably, the moment balanced with the lifting load of the lifting system is determined by the following equation:
Te＝Tref1+Tref2＝-∫ηωr|ωr|dt+∫λΔωr|Δωr|2dt
Tref1＝-∫ηωr|ωr|dt
Tref2＝∫λΔωr|Δωr|2dt
wherein, TeThe moment balanced with the lifting load of the lifting system; t isref1An initial torque observed for the lifting load; t isref2Torque disturbance estimated for the lifting load, λ is the initial torque disturbance gain factor, η is the set initial torque gain factor, ω isrFor the actual rotational speed, | ω, of the drive motorrAnd | is an amplitude signal of the actual rotating speed.
According to another aspect of the present invention, there is provided a lifting system comprising: a controller configured to: the method for controlling the parking of the hoisting system as described above is performed.
According to another aspect of the present invention, there is provided a lifting system comprising: a processor, a memory, storing a computer program which, when executed by the processor, implements a method for controlling the parking of a lift system as described above.
The method and the device for controlling the lifting system to stop can not only ensure the safety of the lifting system in the stopping process, but also effectively avoid tank dropping and car running accidents caused by the failure of a hydraulic braking system (or a brake system).
Drawings
The objects and features of the present invention will become more apparent from the following description taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a flowchart illustrating a process for controlling a hoist system to park in accordance with an exemplary embodiment of the present invention;
fig. 2 is a block diagram illustrating the construction of an apparatus for controlling the parking of a hoist system according to an exemplary embodiment of the present invention;
fig. 3 is a system configuration diagram illustrating a lifting system for a mine according to an exemplary embodiment of the present invention.
Detailed Description
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 is a flowchart illustrating a process 100 for controlling a lift system to park in accordance with an exemplary embodiment of the present invention, wherein process 100 may be performed by any end-processing device that includes a processor, such as, but not limited to, an electronic control system, a variable frequency drive system, etc. control systems of a lift system.
Referring to FIG. 1, process 100 may be initiated after issuing a park command to the lift system, and in block 110, process 100 may receive a park command for the lift system.
In block 120, the process 100 may provide hover control of a drive motor of the lift system based on the park command, where the hover control causes the drive motor to output a torque that balances the lift load of the lift system to operate at or near zero rotational speed (also referred to as a hover engagement threshold).
Here, the moment that balances with the lifting load of the lifting system can avoid the lifting load from falling in the parking process under the condition that the hydraulic braking system fails, which not only provides guarantee for the safe operation of the lifting system, but also overcomes the tank dropping, car running accidents and the like caused by the failure of the hydraulic braking system (or a brake control system).
In one example, the moment to balance the lifting load of the lifting system may be determined by the following equation:
Te＝Tref1+Tref2
Tref1＝-∫ηωr|ωr|dt
Tref2＝∫λΔωr|Δωr|2dt
wherein, TeTo be and liftThe lifting load of the lifting system is balanced; t isref1An initial torque observed for the lifting load; t isref2Torque disturbance estimated for a lifting load, λ is an initial torque disturbance gain factor, η is a set initial torque gain factor, ω isrTo drive the actual rotational speed of the motor, | ωrAnd | is an amplitude signal of the actual rotating speed of the driving motor.
However, the above-described method for determining a moment balanced with a lifting load of a lifting system is merely exemplary, and the specific implementation may not be limited thereto.
In addition, the hover entry threshold may be set to 0.5% of the rated rotation speed of the drive motor. As an example, process 100 may determine whether the rotational speed of the drive motor has dropped to the hover engagement threshold by monitoring the speed of the drive motor in real time via an encoder, a resolver, or the like.
In block 130, the process 100 may exercise brake application control over a hydraulic braking system of the lift system under hover control.
In particular implementation, the process 100 may control the solenoid valve in the hydraulic brake system to brake (i.e., apply brake control) under the hovering control according to an operation interlocking table (the operation interlocking table is a switching state of the relevant electrical component when the hydraulic pressure in the hydraulic brake system is in each operating state), so that the brake disc on the drum of the lifting system is locked by the brake of the hydraulic brake system.
In block 140, the process 100 may monitor operational data of the hydraulic brake system for predetermined parameters during the application control.
Generally, the failure of the brake application control is caused by a fault (such as, but not limited to, an electromagnet of the electromagnetic valve is burnt or has poor contact, the electromagnet of the electromagnetic valve acts but a valve core is clamped due to machining precision or other reasons, an oil return hole of the hydraulic brake system is blocked by dirt or impurities, or a valve core position deviation of the electromagnetic valve is too large so that an oil return amount is reduced, and the like) of a component on a hydraulic working circuit in a hydraulic station of the hydraulic brake system, and the fault causes that the hydraulic brake system cannot release oil return to hydraulic oil in the brake application control process, so that a brake disc cannot effectively perform braking, and a lifting system is subjected to tank dropping, a car running accident and the like in the parking process. Since the faults of the working elements can be reflected by the working data of the hydraulic brake system, whether the lifting system is effectively braked can be determined by monitoring the working data of the hydraulic brake system aiming at the preset parameters in the brake application control process, and the safety of stopping the lifting system can be further ensured.
In one example, the operational data for the predetermined parameter may be operational data of oil pressure (such as, but not limited to, oil pressure in brake discs, lines, and hydraulic stations in a hydraulic brake system) of a hydraulic brake system of the lift system during a brake application control. In this example, process 100 may collect operational data for the hydraulic brake system for oil pressure during the apply control and may indicate whether the apply control process is valid based on a change in the operational data for the hydraulic brake system for oil pressure during the apply control. As one non-limiting possibility, if the operation data for the oil pressure during the brake application control of the hydraulic brake system falls below the safe brake oil pressure (which is an upper limit of the operation oil pressure at which the brakes are reliably applied), the operation data indicates that the brake application control process is valid, otherwise the operation data for the oil pressure indicates that the brake application control process is invalid, and a failure signal regarding a failure of the hydraulic brake system is output.
However, the above-described example of indicating whether the apply control process is valid using the operation data for the oil pressure of the hydraulic brake system during the apply control process is merely exemplary, and in addition to this, the operation data for the predetermined parameter may be, for example, but not limited to, the operation data of the disc position and the operation data of the drain valve state of the hydraulic brake system during the apply control process, and the like.
In block 150, when the operational data indicates that the brake application control process is active, the process 100 may deactivate the drive motor to achieve a safe shutdown of the hoist system.
In another example, when the operational data indicates that the brake application control process is disabled, process 100 may also maintain hover control over the drive motor to prevent the lifting load of the lifting system from falling or causing an accident during a stop.
In yet another example, process 100 may cause the oil pressure of the hydraulic brake system to drop during the apply control by opening a forced drain valve in the hydraulic brake system to drain hydraulic oil in the hydraulic brake system back to a tank of a hydraulic station of the hydraulic brake system; when the operating data for the oil pressure in the application control process of the hydraulic brake system falls below the safe brake oil pressure, the process 100 may stop the operation of the drive motor to achieve safe stopping of the hoist system. In this example, the forced oil relief valve may be disposed in a line between a tank of a hydraulic station of the hydraulic brake system and a brake (such as, but not limited to, a disc brake, etc.), but is not limited thereto. The forced oil drain valve can drain the oil pressure in the pipeline of the hydraulic brake system and drain the hydraulic oil back to the oil tank of the hydraulic station of the hydraulic brake system.
After block 150, process 100 ends.
Fig. 2 is a block diagram illustrating the construction of an apparatus 200 for controlling the parking of a hoist system according to an exemplary embodiment of the present invention.
Referring to fig. 2, the apparatus 200 shown in fig. 2 may include a command unit 210, a hovering unit 220, a braking unit 230, a monitoring unit 240, and a parking unit 250. Command unit 210 may be used to receive a parking command for the lift system. The hovering unit 220 may be configured to perform hovering control on a driving motor of the lifting system according to the parking command, where the hovering control causes the driving motor to output a torque balanced with a lifting load of the lifting system, so that the driving motor operates at or near a zero rotational speed. The brake application unit 230 may be used for brake application control of a hydraulic brake system of the hoisting system under hover control. The monitoring unit 240 may be used to monitor operational data of the hydraulic brake system during brake application control for predetermined parameters. The parking unit 250 may be configured to stop the driving motor when the operation data indicates that the brake application control process is valid, so as to implement safe parking of the lifting system.
In the apparatus 200 shown in fig. 2, the moment that balances the lifting load of the lifting system may be determined by the following equation:
Te＝Tref1+Tref2
Tref1＝-∫ηωr|ωr|dt
Tref2＝∫λΔωr|Δωr|2dt
wherein, TeIs a moment balanced with the lifting load of the lifting system; t isref1An initial torque observed for the lifting load; t isref2Torque disturbance estimated for a lifting load, λ is an initial torque disturbance gain factor, η is a set initial torque gain factor, ω isrTo drive the actual rotational speed of the motor, | ωrAnd | is an amplitude signal of the actual rotating speed of the driving motor.
Further, in the device 200 shown in fig. 2, the operation data for the predetermined parameter may be operation data for an oil pressure during the brake application control of the hydraulic brake system of the lift system. The monitoring unit 240 may further include a data acquisition unit and a data indication unit (both not shown). The data acquisition unit can be used for acquiring the working data of the hydraulic brake system aiming at the oil pressure in the brake application control process. The data indicating unit may be configured to indicate whether the apply control process is effective based on a change in operation data for the oil pressure of the hydraulic brake system during the apply control process. As a non-limiting possibility, if the operation data for the oil pressure in the hydraulic brake system during the brake application control process falls below the safety brake oil pressure, the operation data indicates that the brake application control process is valid, otherwise the operation data indicates that the brake application control process is invalid.
In addition, in the apparatus 200 shown in fig. 2, the parking unit 250 may be further configured to maintain the hovering control over the driving motor when the operation data indicates that the brake application control process is failed.
Accordingly, the apparatus 200 shown in fig. 2 may further include a pressure relief unit (not shown) which may be configured to reduce the oil pressure of the hydraulic brake system during the brake application control by opening a forced oil drain valve in the hydraulic brake system for draining the hydraulic oil in the hydraulic brake system back to an oil tank of a hydraulic station of the hydraulic brake system, wherein the parking unit 250 may be further configured to stop the driving motor when the operation data for the oil pressure of the hydraulic brake system during the brake application control falls below the safety brake oil pressure, so as to achieve the safe parking of the lifting system. As an example, the forced oil relief valve may be provided in a line between a tank of a hydraulic station of the hydraulic brake system and the brake, but is not limited thereto.
Fig. 3 is a schematic diagram illustrating a system structure of a lifting system 300 for a mine according to an exemplary embodiment of the present invention.
Referring to fig. 3, the lifting system 300 for mines shown in fig. 3 includes a mechanical system, an electrical system and a hydraulic braking system, wherein the mechanical system includes a winding drum 1, a speed reducer 2 and a driving motor 3, the electrical system includes an electronic control system 9 and a variable frequency driving system 10, and the hydraulic braking system includes a brake 4, an a pipe oil path 5, a B pipe oil path 6, a hydraulic station 7 and a standby hydraulic station 8. The driving motor 3 can drive the winding drum 1 through the speed reducer 2, the winding drum 1 can be lifted or lowered through a steel wire rope to lift articles or people, and the rotating speed and the position of the driving motor 3 can be controlled through the variable-frequency driving system 10. The hydraulic station 7 or 8 can control the braking of the reel 1 by controlling the oil pressure of the brake. The electrical system may control the variable frequency drive system and the hydraulic brake system to achieve start, stop, speed regulation operation, and position control of the hoist system 300. A safe shutdown of the lift system 100 may be achieved by appropriately configuring the controller of the electrical system in the lift system 300 shown in fig. 3.
Referring back to fig. 1, the controller of the electrical system of the hoist system 300 shown in fig. 3 may be configured to: receiving a parking command for lift system 300; hovering control of the driving motor 3 of the hoist system 300 according to a parking command; performing brake application control on a hydraulic brake system of the lifting system 300 under the hovering control; monitoring working data of the hydraulic brake system aiming at preset parameters in the brake application control process; when the monitored working data indicate that the brake application control process is effective, the driving motor 3 is stopped to realize the safe stop of the lifting system 300; when the operation data indicates that the brake application control process is failed, the hovering control of the driving motor 3 is maintained. Further, the controller may be further configured to: the oil pressure of the hydraulic brake system in the brake application control process is reduced by opening a forced oil drain valve in the hydraulic brake system, wherein the forced oil drain valve is used for draining hydraulic oil in the hydraulic brake system back to an oil tank of a hydraulic station 7 or 8 of the hydraulic brake system; when the working data of the hydraulic brake system for the oil pressure in the brake application control process is reduced to be lower than the safe brake oil pressure, the driving motor 3 is stopped to realize the safe stop of the lifting system 300.
It can be seen that, the implementation process not only can ensure the safety of the lifting system in the parking process, but also can effectively avoid tank dropping and car running accidents caused by the failure of the hydraulic braking system (or a brake control system).
While the present application has been shown and described with reference to preferred embodiments, it will be understood by those skilled in the art that various changes and modifications may be made to these embodiments without departing from the spirit and scope of the present application as defined by the following claims.
Claims (12)
1. A method for controlling a hoist system to park, the method comprising:
receiving a parking command for the lift system;
hovering control is carried out on a driving motor of the lifting system according to the parking command, wherein the hovering control enables the driving motor to output a torque balanced with a lifting load of the lifting system, so that the driving motor works in a state of zero rotating speed or close to the zero rotating speed;
performing brake application control on a hydraulic brake system of the lifting system under the hovering control;
monitoring operating data of the hydraulic brake system for predetermined parameters during the brake application control;
and when the working data indicate that the brake application control process is effective, stopping the driving motor to work so as to stop the lifting system.
2. The method of claim 1, wherein the operational data for the predetermined parameter is operational data for an oil pressure of the hydraulic brake system during the brake application control.
3. The method of claim 2, wherein the step of monitoring operational data of the hydraulic brake system during the brake application control for predetermined parameters comprises:
collecting working data aiming at oil pressure of the hydraulic braking system in the brake application control process;
indicating whether the apply control process is effective based on a change in operation data for oil pressure of the hydraulic brake system during the apply control process.
4. The method of claim 3, wherein the operational data for oil pressure during the apply control of the hydraulic brake system falls below a safe brake oil pressure, the operational data indicating that the apply control process is valid, otherwise the operational data indicating that the apply control process is invalid.
5. The method of claim 1, wherein the method further comprises:
when the working data indicates that the brake application control process is failed, hovering control over the driving motor is maintained.
6. The method of claim 5, wherein the method further comprises:
the oil pressure of the hydraulic brake system in the brake application control process is reduced by opening a forced oil drain valve which is arranged in the hydraulic brake system and used for draining hydraulic oil in the hydraulic brake system back to an oil tank of a hydraulic station of the hydraulic brake system;
and when the working data aiming at the oil pressure in the brake application control process of the hydraulic brake system is reduced to be lower than the safe brake oil pressure, the driving motor is stopped to work so as to realize the stop of the lifting system.
7. An apparatus for controlling parking of a lift system, the apparatus comprising:
a command unit for receiving a parking command for the lift system;
the hovering unit is used for hovering and controlling a driving motor of the lifting system according to the parking command, wherein the hovering and controlling enables the driving motor to output a moment balanced with a lifting load of the lifting system, so that the driving motor works in a state of zero rotating speed or a state close to the zero rotating speed;
the brake application unit is used for performing brake application control on a hydraulic brake system of the lifting system under the hovering control;
the monitoring unit is used for monitoring working data of the hydraulic brake system aiming at preset parameters in the brake application control process;
and the parking unit is used for stopping the driving motor when the working data indicate that the brake application control process is effective so as to realize parking of the lifting system.
8. The apparatus of claim 7, wherein the operating data for the predetermined parameter is operating data for an oil pressure of the hydraulic brake system during the brake application control.
9. The apparatus of claim 8, wherein the monitoring unit comprises:
the data acquisition unit is used for acquiring working data aiming at oil pressure of the hydraulic brake system in the brake application control process;
a data indicating unit for indicating whether the brake application control process is effective based on a change in operation data for oil pressure of the hydraulic brake system during the brake application control process.
10. The apparatus according to claim 9, wherein the operation data for the oil pressure during the apply control of the hydraulic brake system is indicative of the apply control process being valid if the operation data falls below a safety brake oil pressure, and is indicative of the apply control process being invalid otherwise.
11. The apparatus of claim 7, wherein the parking unit is further to maintain hover control over the drive motor when the operational data indicates a failure of the brake application control process.
12. The apparatus of claim 11, wherein the apparatus further comprises:
the pressure relief unit is used for reducing the oil pressure of the hydraulic brake system in the brake application control process by opening a forced oil relief valve which is arranged in the hydraulic brake system and used for relieving the hydraulic oil in the hydraulic brake system to an oil tank of a hydraulic station of the hydraulic brake system,
the parking unit is also used for stopping the driving motor when the working data aiming at the oil pressure in the brake application control process of the hydraulic braking system is reduced to be lower than the safe braking oil pressure so as to realize parking of the lifting system.
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| CN201911353159.0A CN111039132A (en) | 2019-12-25 | 2019-12-25 | Method and device for safe parking control of lifting system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911353159.0A CN111039132A (en) | 2019-12-25 | 2019-12-25 | Method and device for safe parking control of lifting system |
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| CN111039132A true CN111039132A (en) | 2020-04-21 |
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Application publication date: 20200421 |