CN111071947B - Tension reducing synchronous control and protection method - Google Patents
Tension reducing synchronous control and protection method Download PDFInfo
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- CN111071947B CN111071947B CN201910982681.9A CN201910982681A CN111071947B CN 111071947 B CN111071947 B CN 111071947B CN 201910982681 A CN201910982681 A CN 201910982681A CN 111071947 B CN111071947 B CN 111071947B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
- B66D1/485—Control devices automatic electrical
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Abstract
The invention discloses a tension reducing synchronous control and protection method which mainly comprises a tension reducing system, a synchronous control layer, a subsystem control layer and a controlled object layer, wherein the tension reducing system mainly comprises a front tension reducing system, a rear winch system and a middle cable arrangement mechanism, the synchronous control layer comprises a synchronous control unit, and the subsystem control layer is provided with a front tension reducing speed control unit, a cable arrangement control unit and a rear tension control unit which respectively control the tension reducing system, the cable arrangement mechanism and the rear winch system of the controlled object layer. The invention can effectively avoid the sharp increase or decrease of the tension of the steel cable between the front-end and the rear-end winch systems, and can effectively improve the working conditions of the front-end and the rear-end winch systems, the load distribution in the systems, the service life of the steel cable and the completion of the task target; can stably realize the operation target of retraction and release, the protection of the towed object and the recovery and release device.
Description
Technical Field
The invention relates to the field of control systems, in particular to a tension reducing synchronous control and protection method.
Background
The ocean engineering machinery has wide application in ocean science investigation, military equipment and ocean construction engineering. The recovery and release device of various loads is the most important equipment in the ocean engineering machinery. In large-scale marine recovery and release equipment, the system is generally designed to be in a front-end-rear-end matching mode, a front-end device bears main load force, and a rear-end device mainly stores stored steel cables, chains and other flexible objects for connecting drags and the storage system.
In a heavy-load marine folding and unfolding device, it is very important and fundamental to stably achieve the folding and unfolding operation target, protect the towed object and recover the safety of a release device. In the process of realizing the control function of the recovery releasing device of the heavy load, synchronous control and tension distribution are very critical technical problems. The synchronous control means that the front end system and the rear end system are required to synchronously operate according to preset requirements, and if the front end device and the rear end device do not operate uniformly, a steel cable connecting the front end and the rear end can be loosened or subjected to tension exceeding a design range, and the direct result is slippage of a towed body, oscillation or damage to towing equipment. In order to realize synchronous control, the existing control strategy is a front-end-rear-end speed following control scheme, namely, one of the front end or the rear end is used as a speed reference, and the other device adopts a control algorithm to follow the movement. In addition, different units propose a mode of matching over-force control and speed control, and certain effect is achieved in practical application. Another important control requirement of the heavy load recovery and release device is load distribution control, and the control aim is to realize the distribution of the acting force of the actual load to the front working device and the rear working device and avoid one of the control devices from bearing excessive force or moment.
The working speed, the bearing force and the moment of the actual marine engineering recovery and release device are related to more nonlinear factors of mechanical and hydraulic systems, and especially under the working modes of low-speed movement, starting, stopping, variable speed adjustment and the like, the change of the friction force of the system has important influences on the distribution of the load force and the stability of speed control.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a tension reducing synchronous control and protection method.
The purpose of the invention is achieved by the following technical scheme: the tension reducing synchronous control and protection method mainly comprises a tension reducing system, a synchronous control layer, a subsystem control layer and a controlled object layer, wherein the tension reducing system mainly comprises a front-end tension reducing system, a rear-end winch system and a middle cable arrangement mechanism, and the system design realizes the synchronous control of the tension reducing system by a layered control structure consisting of the synchronous control layer, the subsystem control layer and the controlled object layer.
The synchronous control layer comprises a synchronous control unit, the synchronous control unit decomposes and determines a control target of the subsystem control layer according to an actual synchronous control requirement and a dynamic compensation principle, the synchronous control unit receives operation task parameters, automatically acquires the running speeds of the front-end and rear-end winches and the inlet and outlet pressures of the winch driving motors fed back by the controlled system, and outputs the set speed of the front-end tension reducing system and the target pressure difference of the rear-end winch system.
The subsystem control layer is provided with a front tension reducing speed control unit, a cable arrangement control unit and a rear tension control unit which respectively control the tension reducing system, the cable arrangement mechanism and the rear winch system, and independently and automatically run under the coordination of a synchronous control layer, a rear-end tension control unit collects the inlet and outlet pressures of a hydraulic motor driver, and adjusting the inlet pressure or the back pressure according to the pressure difference between the inlet and the outlet to maintain the pressure difference stable, adopting a self-adaptive pressure difference control strategy, calculating the movement speed of a tension reducing system by a front tension reducing speed control unit according to an actually measured encoder value and the speed ratio of a mechanical transmission system, adopting a prediction control strategy to realize speed adjustment, automatically checking the movement position of a cable arrangement mechanism and the rotation position of a rear-end winch by a cable arrangement control unit, and adopting a self-adaptive PID (proportion integration differentiation) following control strategy to realize the cable arrangement function.
The controlled object layer mainly comprises a tension reducing system, a cable arranging mechanism and a rear end winch system, wherein the tension reducing system measures the position of a tension reducing winch and the pressure difference of an inlet and an outlet of a motor through a sensor and feeds back the position to a front end tension reducing speed control unit and a synchronous control unit, the rear end winch system measures the pressure of the inlet and the outlet of the motor of the winch and the position of the winch through the sensor and feeds back the pressure to the rear end tension control unit and the synchronous control unit, the cable arranging mechanism measures the left and right limit positions of the mechanism and the transverse position of the mechanism through the sensor and feeds back the position to the cable arranging control unit, and the cable arranging control unit moves with the rear end tension control unit.
The input of the synchronous control layer comprises the selection of retraction and release actions, the selection of retraction and release speeds, the measurement of the operation speeds of front-end and rear-end winches in the subsystem, the inlet and outlet pressures of a winch driving motor, and the synchronous control layer adopts two strategies for improving the control performance when a subsystem control target is decomposed:
1) for the step change of the input target speed, smoothing is carried out based on the maximum acceleration limiting principle, so that severe impact and oscillation of the system are avoided;
2) for the rear-end tension, on the premise of not directly measuring the tension of the steel cable, an inlet-outlet pressure difference control target value controlled by a rear-end tension system is directly generated according to a pre-fitted speed-friction force compensation curve and by combining the actual winch speed and the current calculated tension.
The controlled object layer mainly comprises a hydraulic driving system and a winch mechanical structure, the function of feeding back state information to an upper layer control unit is realized, and sensors are arranged at the following positions:
1) the front end tension reducing system is provided with an encoder on a winch central shaft to measure the movement position of the winch and measure the speed of the winch by a differential calculation method;
2) pressure sensors are arranged at an inlet and an outlet of a front-end winch driving hydraulic motor to detect the winch pressure difference;
3) arranging a left end limit position sensor and a right end limit position sensor in the cable arranging mechanism, and simultaneously configuring an encoder and a linear displacement sensor to measure the position of the cable arranging mechanism;
4) an encoder is arranged on a winch central shaft of the rear-end tension system to measure the movement position of the winch;
5) pressure sensors are arranged at the inlet and the outlet of a hydraulic motor driven by the rear-end tension winch to measure the pressure of the inlet and the outlet, and the differential pressure value is obtained through calculation.
The invention has the beneficial effects that: the invention can effectively avoid the sharp increase or decrease of the tension of the steel cable between the front-end and the rear-end winch systems, and can effectively improve the working conditions of the front-end and the rear-end winch systems, the load distribution in the systems, the service life of the steel cable and the completion of the task target; can stably realize the operation target of retraction and release, the protection of the towed object and the recovery and release device.
Drawings
Fig. 1 is a schematic diagram of the basic structure of the present invention.
FIG. 2 is a schematic diagram of the velocity-friction dynamic compensation of the back end tension of the present invention.
FIG. 3 is a schematic diagram of front end speed smoothing based on maximum acceleration limit of the present invention.
FIG. 4 is a schematic diagram of the front end tension reduction speed control of the present invention.
FIG. 5 is a schematic of the tension control of the rear end drawworks of the present invention.
Fig. 6 is a schematic diagram of the adaptive following control of the cable arrangement mechanism of the present invention.
Description of reference numerals: the system comprises a synchronous control unit 1, a front end tension reducing speed control unit 2, a cable arrangement control unit 3, a rear end tension control unit 4, a tension reducing system 5, a cable arrangement mechanism 6, a rear end winch system 7, a calculated tension-speed curve 8, an actually measured tension-speed curve 9, a tension difference delta T-speed curve 10, a curve A11, a curve B12, a speed 13, an adaptive prediction control controller 14, a front end tension reducing system 15, an encoder 16, a difference transformation 17, a rear end pressure difference 18, an adaptive controller 19, an operation unit 21, a rear end winch position 22, a mechanism conversion coefficient 23, an adaptive following controller 24, a calculation unit 26, a synchronous control layer 27, a subsystem control layer 28 and a controlled object layer 29.
Detailed Description
The invention will be described in detail below with reference to the following drawings:
example (b): as shown in the attached drawings, the tension reducing synchronous control and protection method mainly comprises a tension reducing system 5, a synchronous control layer 27, a subsystem control layer 28 and a controlled object layer 29, wherein the tension reducing system 5 mainly comprises a front end tension reducing system 15, a rear end winch system 7 and a middle cable arrangement mechanism 6, the synchronous control of the tension reducing system 5 is carried out to realize the synchronous operation of the front end winch and the rear end winch without obvious speed difference, if a large speed difference occurs, the tension of a steel cable between the front end winch system 7 and the rear end winch system 7 is increased or reduced sharply, the sharp change of the tension of the steel cable has very adverse effects on the working condition of the front end winch system 7 and the rear end winch system 7, the load distribution in the system, the service life of the steel cable and the task target, the synchronous control of the tension reducing system 5 is realized by a layered control structure consisting of the synchronous control layer 27, the subsystem control layer 28 and the controlled object layer 29, the synchronous control layer 27 comprises a synchronous control unit 1, the synchronous control unit 1 decomposes and determines a control target of a subsystem control layer 28 according to an actual synchronous control requirement and a dynamic compensation principle, the synchronous control unit 1 receives operation task parameters (mainly comprising receiving/releasing action selection and receiving/releasing speed), automatically obtains the front end and rear end winch operation speed and winch driving motor inlet and outlet pressure fed back by a controlled system, and outputs a set speed of a front end tension reducing system 15 and a target pressure difference of a rear end winch system 7, the subsystem control layer 28 is provided with a front end tension reducing speed control unit 2, a cable arrangement control unit 3 and a rear end tension control unit 4, respectively realizes the control of a tension reducing system 5, a cable arrangement mechanism 6 and a rear end winch system 7, and independently and automatically operates under the coordination of the synchronous control layer 27, the rear end tension control unit 4 collects the inlet and outlet pressure of a hydraulic motor driver, the inlet pressure or back pressure is adjusted according to the inlet-outlet pressure difference, the pressure difference is maintained to be stable, an adaptive pressure difference control strategy is adopted, a front-end tension reducing speed control unit 2 calculates the movement speed of a tension reducing system 5 according to an actually measured encoder value and the speed ratio of a mechanical transmission system, the speed adjustment is realized by adopting a prediction control strategy, a cable arrangement control unit 3 automatically checks the movement position of a cable arrangement mechanism 6 and the rotation position of a rear-end winch, the cable arrangement function is realized by adopting an adaptive PID following control strategy, a controlled object layer 29 mainly comprises the tension reducing system 5, the cable arrangement mechanism 6 and a rear-end winch system 7, the tension reducing system 5 measures the position of the tension reducing winch and the motor inlet-outlet pressure difference through a sensor and feeds the measured positions back to the front-end tension reducing speed control unit 2 and a synchronous control unit 1, and the rear-end winch system 7 measures the winch motor inlet-outlet pressure and the winch position through a sensor, and feeds back to the rear tension control unit 4 and the synchronous control unit 1, the cable arranging mechanism 6 measures the left and right limit positions of the mechanism and the transverse position of the mechanism through a sensor and feeds back to the cable arranging control unit 3, and the cable arranging control unit 3 moves with the rear tension control unit 4.
The input of the synchronous control layer 27 comprises the selection of retraction and release actions, the selection of retraction and release speeds, the measurement of the operation speeds of front-end and rear-end winches in the subsystems and the pressures of inlets and outlets of driving motors of the winches, and the synchronous control layer 1 adopts two strategies for improving the control performance when the subsystem control targets are decomposed:
1) for the step change of the input target speed, smoothing is carried out based on the maximum acceleration limiting principle, so that severe impact and oscillation of the system are avoided;
2) for the rear-end tension, on the premise of not directly measuring the tension of the steel cable, an inlet-outlet pressure difference control target value controlled by a rear-end tension system is directly generated according to a pre-fitted speed-friction force compensation curve and by combining the actual winch speed and the current calculated tension.
The controlled object layer 29 mainly comprises a hydraulic driving system and a winch mechanical structure, and in order to realize the function of feeding back state information to the upper layer control unit, sensors are arranged at the following positions:
1) the front end tension reducing system 15 arranges an encoder 16 on the central shaft of the winch to measure the movement position of the winch and measure the speed of the winch by a differential calculation method;
2) pressure sensors are arranged at an inlet and an outlet of a front-end winch driving hydraulic motor to detect the winch pressure difference;
3) a left end limit position sensor and a right end limit position sensor are arranged in the cable arranging mechanism 6, and an encoder 16 and a linear displacement sensor are arranged to measure the position of the cable arranging mechanism 6;
4) an encoder 16 is arranged on a winch central shaft of the rear-end tension system to measure the movement position of the winch;
5) pressure sensors are arranged at the inlet and the outlet of a hydraulic motor driven by the rear-end tension winch to measure the pressure of the inlet and the outlet, and the differential pressure value is obtained through calculation.
The invention is realized in detail:
the implementation of the rear end tension velocity-friction dynamic compensation strategy is shown in fig. 2. Before the control system is put into use, tension and rear winch speed and motor inlet and outlet pressure are measured by installing a tension sensor directly between the front tension reduction and rear winch systems 7. The calculated tension is obtained by combining the mechanical structure size of the winch and the speed ratio of the transmission system according to the pressure difference between the inlet and the outlet of the motor, and a calculated tension-speed curve 8 and an actually measured tension-speed curve 9 in the graph 2-A can be drawn. By calculating the tension-velocity curve 8 and the measured tension-velocity curve 9, a tension difference Δ T-velocity curve 10 is calculated, see fig. 2-B. The tension difference Δ T-speed curve 10 is the main basis for the tension compensation of the synchronous control unit 1. When the synchronous control unit 1 calculates the pressure difference, the actually required tension is calculated according to the set tension, the tension difference delta T-speed curve 10 and the winch speed, and the motor pressure difference control target is calculated by combining the mechanical structure size and the system transmission ratio.
Fig. 3 shows the implementation of the front end speed smoothing strategy based on the maximum acceleration limit, assuming that the desired speed is a step curve a11, the actual speed value output to the front end tension-reducing speed control unit 2 is a curve B12, and the curve B12 approaches the curve a11 in the shortest time on the premise that the acceleration limit (the speed increment per unit time is smaller than the set value Δ V) is satisfied.
As shown in fig. 4, the front-end tension-reducing speed control strategy is implemented in such a manner that the set speed 13 calculated by the synchronous control unit 1 is used as a target value of subsystem control, the adaptive predictive controller 14 calculates a control amount based on the set speed 13 and a fed-back actual operating speed, outputs the control amount to the front-end tension-reducing system 15, and then drives the system to move. Meanwhile, the movement of the winch is measured through an encoder 16 arranged on the winch in the front tension reducing system 15, and a feedback speed required by feedback control is formed after differential conversion 17.
As shown in fig. 5, the implementation manner of the rear-end winch tension control is that the rear-end pressure difference 18 calculated by the synchronous control unit 1 is used as a system control target value, the adaptive controller 19 calculates a control output according to an error between the target control value and an actual pressure difference, and drives the rear-end winch system 7 to move, pressure sensors mounted on an inlet and an outlet of a driving motor on the rear-end winch system 7 measure inlet pressure and outlet pressure, and an actual pressure difference feedback value required by control is calculated by the operation unit 21.
As shown in fig. 6, in the implementation of the adaptive following control of the cable arrangement mechanism 6, the control target of the cable arrangement mechanism 6 is obtained by performing operation on the rear-end winch position 22 measured by the encoder 16 installed in the rear-end winch system 7. The measured value of the encoder 16 is multiplied by a mechanism conversion coefficient 23 to obtain the target value of the cable arranging motion control. The adaptive following controller 24 calculates the control quantity of the cable arranging mechanism 6 based on the error between the target value and the actual following feedback position, and drives the cable arranging mechanism 6 to move. The left and right limit position sensors mounted on the cable arranging mechanism 6 can measure the number of times of the cable arranging mechanism 6 is reciprocated, the encoder 16 can measure the transverse movement position of the mechanism, and a following position feedback value required by control can be obtained after calculation of the position following calculating unit 26.
It should be understood that equivalent substitutions and changes to the technical solution and the inventive concept of the present invention should be made by those skilled in the art to the protection scope of the appended claims.
Claims (4)
1. A tension reducing force synchronous control and protection method is characterized in that: the system mainly comprises a tension reducing system (5), a synchronous control layer (27), a subsystem control layer (28) and a controlled object layer (29), wherein the tension reducing system (5) mainly comprises a front-end tension reducing system (15), a rear-end winch system (7) and a middle cable arrangement mechanism (6), and a layered control structure consisting of the synchronous control layer (27), the subsystem control layer (28) and the controlled object layer (29) realizes the synchronous control of the tension reducing system (5);
the input of the synchronous control layer (27) comprises the selection of retraction and release actions, the selection of retraction and release speeds, the measurement of the operation speeds of front-end and rear-end winches in the subsystems and the pressures of inlets and outlets of driving motors of the winches, and the synchronous control layer (27) adopts two strategies for improving the control performance when the control targets of the subsystems are decomposed:
1) for the step change of the input target speed, smoothing is carried out based on the maximum acceleration limiting principle, so that severe impact and oscillation of the system are avoided;
2) for the rear end tension, the implementation steps of the rear end tension speed-friction dynamic compensation strategy are as follows: before the control system is put into use, a tension sensor is directly arranged between the front end tension reducing force and the rear end winch system, and the tension, the rear end winch speed and the inlet and outlet pressure of a motor are measured; according to the pressure difference between an inlet and an outlet of the motor, the calculated tension is obtained by combining the mechanical structure size of the winch and the speed ratio of the transmission system, and the tension difference delta T-speed curve is calculated by calculating the tension-speed curve and the actually measured tension-speed curve, wherein the tension difference delta T-speed curve is the main basis for the synchronous control unit to perform tension compensation; when the synchronous control unit calculates the pressure difference, the actually required tension is calculated according to the set tension, the tension difference delta T-speed curve and the winch speed, and the motor pressure difference control target is calculated by combining the mechanical structure size and the system transmission ratio;
the synchronous control layer (27) comprises a synchronous control unit (1), the synchronous control unit (1) decomposes and determines a control target of the subsystem control layer (28) according to an actual synchronous control requirement and a dynamic compensation principle, the synchronous control unit (1) receives operation task parameters, automatically obtains the running speeds of the front-end winch and the rear-end winch fed back by a controlled system and the inlet and outlet pressures of a winch driving motor, and outputs the set speed of the front-end tension reducing system (15) and the target pressure difference of the rear-end winch system (7).
2. The synchronized control and protection method for reducing tension of claim 1, wherein: the subsystem control layer (28) is provided with a front tension reducing speed control unit (2), a cable arrangement control unit (3) and a rear tension control unit (4) which respectively control a tension reducing system (5), a cable arrangement mechanism (6) and a rear winch system (7) and independently operate under the coordination of a synchronous control layer (27), the rear tension control unit (4) collects the inlet and outlet pressures of a hydraulic motor driver, adjusts the inlet pressure or back pressure according to the inlet-outlet pressure difference, maintains the pressure difference to be stable, adopts an adaptive pressure difference control strategy, the front tension reducing speed control unit (2) calculates the movement speed of the tension reducing system (5) according to the actually measured encoder value and the speed ratio of a mechanical transmission system, adopts a prediction control strategy to realize speed adjustment, and the cable arrangement control unit (3) automatically checks the movement position of the cable arrangement mechanism (6) and the rotation position of a rear winch, and a self-adaptive PID following control strategy is adopted to realize the cable arrangement function.
3. The synchronized control and protection method for reducing tension of claim 1, wherein: the controlled object layer (29) mainly comprises a tension reducing system (5), a cable arranging mechanism (6) and a rear end winch system (7), wherein the tension reducing system (5) measures the position of a tension reducing winch and the pressure difference of an inlet and an outlet of a motor through a sensor and feeds back the position to a front end tension reducing speed control unit (2) and a synchronous control unit (1), the rear end winch system (7) measures the pressure of the inlet and the outlet of the motor of the winch and the position of the winch through the sensor and feeds back the pressure to the rear end tension control unit (4) and the synchronous control unit (1), the cable arranging mechanism (6) measures the left and right limit positions of the mechanism and the transverse position of the mechanism through the sensor and feeds back to the cable arranging control unit (3), and the cable arranging control unit (3) moves with the rear end tension control unit (4).
4. The synchronized control and protection method for reducing tension of claim 1, wherein: the controlled object layer (29) mainly comprises a hydraulic driving system and a winch mechanical structure, the function of feeding back state information to an upper layer control unit is realized, and sensors are arranged at the following positions:
1) the front end tension reducing system (15) is provided with an encoder (16) on a central shaft of the winch to measure the movement position of the winch and measure the speed of the winch through a differential calculation method;
2) pressure sensors are arranged at an inlet and an outlet of a front-end winch driving hydraulic motor to detect the winch pressure difference;
3) a left end and a right end limit position sensor are arranged in the cable arranging mechanism (6), and an encoder (16) and a linear displacement sensor are arranged to measure the position of the cable arranging mechanism (6);
4) an encoder (16) is arranged on a central shaft of the winch of the rear-end tension system, and the movement position of the winch is measured;
5) pressure sensors are arranged at the inlet and the outlet of a hydraulic motor driven by the rear-end tension winch to measure the pressure of the inlet and the outlet, and the differential pressure value is obtained through calculation.
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| CN202625703U (en) * | 2012-06-11 | 2012-12-26 | 中国船舶重工集团公司第七一0研究所 | Power-driven winch synchronous control system |
| CN103663222B (en) * | 2013-12-06 | 2016-06-29 | 江苏科技大学 | Control method for the electric winch of photoelectricity composite lead-bearing hawser folding and unfolding |
| CN103723646B (en) * | 2014-01-16 | 2015-12-30 | 安徽理工大学 | Endless rope winch control method |
| CN104310258B (en) * | 2014-07-25 | 2017-04-12 | 国家海洋局北海海洋技术保障中心 | Control system and control method for marine geological winch based on environmental parameter analysis |
| CN104443275A (en) * | 2014-10-09 | 2015-03-25 | 武汉船用机械有限责任公司 | Master-slave control system for automatically tensioning winch mooring rope of anchor moored positioning system |
| CN105731284B (en) * | 2016-03-04 | 2018-03-09 | 上海阜有海洋科技有限公司 | Deep-sea umbilical cables winch servo row's cable identical tension adaptive control system |
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