CN112448621A - Method and device for synchronously driving tank door by double motors - Google Patents
Method and device for synchronously driving tank door by double motors Download PDFInfo
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- CN112448621A CN112448621A CN202011465774.3A CN202011465774A CN112448621A CN 112448621 A CN112448621 A CN 112448621A CN 202011465774 A CN202011465774 A CN 202011465774A CN 112448621 A CN112448621 A CN 112448621A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B17/00—Hoistway equipment
- B66B17/36—Gates or other apparatus controlling access to, or exit from, cars, cages, or hoistway landings
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Multiple Motors (AREA)
Abstract
The invention relates to a method and a device for synchronously driving a cage door by double motors, belonging to the technical field of cages. The method for synchronously driving the tank door by the double motors adopts two motors to drive one tank door together; the two motors are controlled by an intelligent control system consisting of a PLC and a sensor to be synchronously driven. The device of two motor synchronous drive jar doors includes PLC, motor drive and contains the two motor drive formula jar doors of sensor, PLC is used for controlling motor drive is right two motor drive formula jar doors are controlled, two motor drive formula jar doors include driving motor, jar door main part device and sensor, motor drive is used for controlling driving motor execution action on the two motor drive formula jar doors. The invention has the beneficial effects that: the method is used for improving the action effectiveness, safety and intelligence degree on the premise of realizing synchronous driving. The synchronous control system has more attractive and concise mechanical structure, more stable and reliable synchronous precision, more safety protection and more flexible and intelligent control means.
Description
Technical Field
The invention relates to a method and a device for synchronously driving a cage door by double motors, belonging to the technical field of cages.
Background
The cage for lifting the mine shaft has a cage door or a cage curtain arranged at the inlet and the outlet of the cage. The regulation requires that the height of the door curtain is not less than 1.2 m, the tank door cannot be opened outwards, and the door shaft must be prevented from falling off. At present, the most applied tank door is manually and vertically lifted, the form of the tank door is that a guide post is respectively arranged at the left end and the right end, a plurality of cross beams are arranged in the middle, and the cross beams are connected by a circular chain and are in the shape of a curtain model, commonly called as a tank curtain door. Because its simple structure, the switch door does not occupy the interior space of jar, therefore uses extensively. However, the manual vertical lifting tank door is lack of control protection, and particularly when a plurality of people strive for opening and closing the tank door, clamping and smashing accidents often occur; on the other hand, the tank door is frequently opened and closed (opened and closed once in a few minutes), the door curtain is heavy, and particularly, the labor intensity is high for a large-sized tank door. In view of this, together with the vigorous development of battery technology, electric tank doors are beginning to emerge in large numbers.
At present, a common electric tank door widely adopts a method of single power source, long shaft, and matching with a steel wire rope and a chain for transmission. Firstly, power is output to the long shaft, then the power is decomposed to the positions near the guide posts at the two ends through the long shaft, and then the pulleys or chain wheels at the two ends of the long shaft drive the steel wire rope or the chain to move up and down. Realize the electrodynamic ization of vertical lift tank door, how its fundamental point lies in driving crossbeam both ends and go up and down in step, however traditional flexible transmission component, like wire rope, chain etc, be open transmission, and because space restriction, the structure is all very thin, after long-term operation, two wire rope often can appear, the chain extension is different, cause synchronous precision variation, the crossbeam operation slope, the jamming, wire rope takes off the groove even, the chain jumps the tooth, the cracked condition, not only influence the use, open under the problem state moreover and can bring great potential safety hazard. Simultaneously, the tank door of this kind of structure is mostly mechanical structure, lacks sufficient electrical protection, and intelligent degree is low moreover. Therefore, the electric tank door should consider the effectiveness, safety and intelligence of the motion while trying to achieve synchronous driving.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a method and a device for synchronously driving a tank door by two motors, which are used for improving the action effectiveness, the safety and the intelligence degree on the premise of realizing synchronous driving.
The invention is realized by the following technical scheme: a method for synchronously driving a tank door by two motors is characterized by comprising the following steps:
two motors are adopted to drive one tank door together;
the two motors are controlled by an intelligent control system consisting of a PLC and a sensor to be synchronously driven.
The synchronous driving method of the intelligent control system comprises closed-loop control and synchronous control.
The synchronous control method comprises master-slave control or set point coordination control;
the master-slave control is that a command signal of the PLC is output to a main motor driver, the output of the main motor driver is connected to a main motor main loop, a feedback signal of the main motor is connected to a feedback end of the main motor driver, meanwhile, the feedback signal of the main motor is output to another slave motor as a command signal after being conditioned, the output of the slave motor driver is connected to a slave motor main loop, and the feedback signal of the slave motor is connected to a feedback end of the slave motor driver.
The set point coordination control is that the command signals of the PLC are respectively and simultaneously output to the two motor drivers, the outputs of the two motor drivers are respectively connected to the main loops of the respective motors, and the feedback signals of the respective motors are connected to the feedback ends of the respective motor drivers to respectively form feedback loops.
The PLC command signal comprises one or more of a start-stop signal, a rotation direction signal or a given speed signal.
The given speed signal is an analog voltage signal, a PWM signal or a pulse frequency signal.
The feedback signal is an incremental position coding signal, an absolute value position coding signal, an analog signal of a rotary transformer or a phase current signal of a main loop of the motor.
The feedback signal is processed by the PLC to obtain output deviation signals of the two motors, whether the deviation signals exceed the allowable range is detected in real time, and the PLC exceeding the allowable range controls alarming and stopping.
The utility model provides a device of bi-motor synchronous drive jar door which characterized in that: including PLC, motor drive and contain the bi-motor drive formula jar door of sensor, PLC is used for controlling motor drive is right bi-motor drive formula jar door is controlled, bi-motor drive formula jar door includes driving motor, jar door main part device and sensor, motor drive is used for controlling driving motor execution action on the bi-motor drive formula jar door.
The PLC has a command output function, a pulse frequency signal output function, an analog signal output function and an in-place alarm signal input function;
the motor driver is used for receiving a PLC pulse control instruction and connecting the motor driver with a driving motor, and comprises a main loop and a feedback loop, and the feedback device relates to a Hall sensor, an incremental encoder, an absolute value encoder or a rotary transformer.
The invention has the beneficial effects that: the method is used for improving the action effectiveness, safety and intelligence degree on the premise of realizing synchronous driving. The synchronous control system has more attractive and concise mechanical structure, more stable and reliable synchronous precision, more safety protection and more flexible and intelligent control means.
Drawings
The invention is further illustrated below with reference to the figures and examples.
FIG. 1 is a signal schematic block diagram of a master-slave control scheme of an embodiment of the present invention;
FIG. 2 is a signal schematic block diagram of a setpoint coordinated control scheme of an embodiment of the present invention;
fig. 3 is a mechanism schematic of a dual motor driven can door in an embodiment of the present invention.
Detailed Description
As shown in fig. 1, the method for synchronously driving the tank door by two motors is characterized in that a power decomposition process similar to a conventional mode is realized by arranging two motors, the two motors are respectively and directly connected to respective execution mechanisms, and synchronous operation of the two motors is realized by an electric system, and the method comprises the following steps:
two motors are adopted to drive one tank door together;
the two motors are controlled by an intelligent control system consisting of a PLC and a sensor to be synchronously driven.
The synchronous driving method of the intelligent control system comprises closed-loop control and synchronous control.
The synchronous control method comprises master-slave control or set point coordination control;
the master-slave control is that a command signal of the PLC is output to a main motor driver, the output of the main motor driver is connected to a main motor main loop, a feedback signal of the main motor is connected to a feedback end of the main motor driver, meanwhile, the feedback signal of the main motor is output to another slave motor as a command signal after being conditioned, the output of the slave motor driver is connected to a slave motor main loop, and the feedback signal of the slave motor is connected to a feedback end of the slave motor driver.
The set point coordination control is that the command signals of the PLC are respectively and simultaneously output to the two motor drivers, the outputs of the two motor drivers are respectively connected to the main loops of the respective motors, and the feedback signals of the respective motors are connected to the feedback ends of the respective motor drivers to respectively form feedback loops.
The PLC command signal comprises one or more of a start-stop signal, a rotation direction signal or a given speed signal.
The given speed signal is an analog voltage signal, a PWM signal or a pulse frequency signal.
The feedback signal is an incremental position coding signal, an absolute value position coding signal, an analog signal of a rotary transformer or a phase current signal of a main loop of the motor.
The feedback signal is processed by the PLC to obtain output deviation signals of the two motors, whether the deviation signals exceed the allowable range is detected in real time, and the PLC exceeding the allowable range controls alarming and stopping.
The utility model provides a device of bi-motor synchronous drive jar door which characterized in that: including PLC, motor drive and contain the bi-motor drive formula jar door of sensor, PLC is used for controlling motor drive is right bi-motor drive formula jar door is controlled, bi-motor drive formula jar door includes driving motor, jar door main part device and sensor, motor drive is used for controlling driving motor execution action on the bi-motor drive formula jar door.
The PLC has a command output function, a pulse frequency signal output function, an analog signal output function and an in-place alarm signal input function;
the motor driver is used for receiving a PLC pulse control instruction and connecting the motor driver with a driving motor, and comprises a main loop and a feedback loop, and the feedback device relates to a Hall sensor, an incremental encoder, an absolute value encoder or a rotary transformer.
The method for synchronously driving the cage door by the double motors in the embodiment of the invention is mainly suitable for the vertical lifting type cage door for the vertical shaft cage.
The embodiment of the present invention adopts a set point coordination control scheme, as shown in fig. 2, the instruction signal flows as follows: PLC → cable → closed loop motor drive → cable → motor; the sense signal flow is as follows: sensor → cable → closed loop motor drive.
And a signal conditioning unit and an adder are arranged in the closed-loop motor driver, the signal conditioning unit converts the feedback signal into a signal equivalent to the command signal, and then the signal conditioning unit and the signal enter the adder together to control the motor to output and adjust according to the signal deviation.
As shown in fig. 3, the dual-motor driven type can door used in the embodiment of the present invention includes a motor 1, a lead screw nut 1, a motor 2, a lead screw nut 2, and a cross beam, wherein the lead screw nut 1 and the lead screw nut 2 are respectively connected to two ends of the cross beam, and the motors (1 and 2) and the lead screws (1 and 2) are driven synchronously to realize the lifting movement.
Therefore, the embodiment of the invention realizes the driving of the tank door cross rod by means of the synchronous operation of the double motors, introduces the PLC as an intelligent controller, realizes the closed-loop detection of the motion state, increases the over-differential protection of the operation of the double motors, improves the synchronous precision of the motion of the cross beam, solves the problems of poor action effectiveness and poor safety protection under the traditional open-loop control, eliminates the potential safety hazard of invalid opening of the tank door, and improves the safety of the system.
Claims (10)
1. A method for synchronously driving a tank door by two motors is characterized by comprising the following steps:
two motors are adopted to drive one tank door together;
the two motors are controlled by an intelligent control system consisting of a PLC and a sensor to be synchronously driven.
2. The method for synchronously driving the tank door by the double motors as claimed in claim 1, wherein the method comprises the following steps: the synchronous driving method of the intelligent control system comprises closed-loop control and synchronous control.
3. The method for synchronously driving the tank door by the double motors as claimed in claim 2, wherein the method comprises the following steps: the synchronous control method comprises master-slave control or set point coordination control;
the master-slave control is that a command signal of the PLC is output to a main motor driver, the output of the main motor driver is connected to a main motor main loop, a feedback signal of the main motor is connected to a feedback end of the main motor driver, meanwhile, the feedback signal of the main motor is output to another slave motor as a command signal after being conditioned, the output of the slave motor driver is connected to a slave motor main loop, and the feedback signal of the slave motor is connected to a feedback end of the slave motor driver.
4. The method for synchronously driving the tank door by the double motors as claimed in claim 3, wherein the method comprises the following steps: the set point coordination control is that the command signals of the PLC are respectively and simultaneously output to the two motor drivers, the outputs of the two motor drivers are respectively connected to the main loops of the respective motors, and the feedback signals of the respective motors are connected to the feedback ends of the respective motor drivers to respectively form feedback loops.
5. The method for synchronously driving the tank door by the double motors as claimed in claim 3 or 4, wherein: the PLC command signal comprises one or more of a start-stop signal, a rotation direction signal or a given speed signal.
6. The method for synchronously driving the tank door by the double motors as claimed in claim 5, wherein the method comprises the following steps: the given speed signal is an analog voltage signal, a PWM signal or a pulse frequency signal.
7. The method for synchronously driving the tank door by the double motors as claimed in claim 3 or 4, wherein: the feedback signal is an incremental position coding signal, an absolute value position coding signal, an analog signal of a rotary transformer or a phase current signal of a main loop of the motor.
8. The method for synchronously driving the tank door by the double motors as claimed in claim 3 or 4, wherein: the feedback signal is processed by the PLC to obtain output deviation signals of the two motors, whether the deviation signals exceed the allowable range is detected in real time, and the PLC exceeding the allowable range controls alarming and stopping.
9. The utility model provides a device of bi-motor synchronous drive jar door which characterized in that: including PLC, motor drive and contain the bi-motor drive formula jar door of sensor, PLC is used for controlling motor drive is right bi-motor drive formula jar door is controlled, bi-motor drive formula jar door includes driving motor, jar door main part device and sensor, motor drive is used for controlling driving motor execution action on the bi-motor drive formula jar door.
10. The dual-motor synchronous drive device for the tank door as claimed in claim 9, wherein: the PLC has a command output function, a pulse frequency signal output function, an analog signal output function and an in-place alarm signal input function;
the motor driver is used for receiving a PLC pulse control instruction and connecting the motor driver with a driving motor, and comprises a main loop and a feedback loop, and the feedback device relates to a Hall sensor, an incremental encoder, an absolute value encoder or a rotary transformer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011465774.3A CN112448621A (en) | 2020-12-14 | 2020-12-14 | Method and device for synchronously driving tank door by double motors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011465774.3A CN112448621A (en) | 2020-12-14 | 2020-12-14 | Method and device for synchronously driving tank door by double motors |
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| Publication Number | Publication Date |
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| CN112448621A true CN112448621A (en) | 2021-03-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011465774.3A Pending CN112448621A (en) | 2020-12-14 | 2020-12-14 | Method and device for synchronously driving tank door by double motors |
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| CN201726352U (en) * | 2010-07-08 | 2011-01-26 | 西华大学 | Double-screw machine tool synchronous driving device |
| CN102075125A (en) * | 2010-12-08 | 2011-05-25 | 沈阳工业大学 | Method for controlling multi-axis linkage servo control systems of numerical control (NC) machine tools |
| CN102142800A (en) * | 2010-12-14 | 2011-08-03 | 深圳华强数码电影有限公司 | Stage synchronous lift control system and method |
| CN102355176A (en) * | 2011-09-16 | 2012-02-15 | 苏州生物医学工程技术研究所 | Dual-motor synchronous control system and implementation method |
| CN102540965A (en) * | 2010-12-09 | 2012-07-04 | 沈阳高精数控技术有限公司 | Bus-based synchronization control method for two servo shafts |
| CN103269187A (en) * | 2013-05-31 | 2013-08-28 | 南京工程学院 | Dual-motor synchronous control system and control method thereof |
| CN106026793A (en) * | 2016-06-28 | 2016-10-12 | 东华大学 | Master-slave type multi-motor synchronization control method based on fuzzy PID |
| CN107204682A (en) * | 2016-03-18 | 2017-09-26 | 梁崇彦 | The double-motor driving device and control method of a kind of parking apparatus |
| CN108756584A (en) * | 2018-05-18 | 2018-11-06 | 江苏海祥消防科技有限公司 | A kind of fire hydrant sliding door |
| CN111900898A (en) * | 2020-08-03 | 2020-11-06 | 成都福莫斯智能系统集成服务有限公司 | Double-drive intelligent synchronization method for portal frame traveling mechanism |
-
2020
- 2020-12-14 CN CN202011465774.3A patent/CN112448621A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201726352U (en) * | 2010-07-08 | 2011-01-26 | 西华大学 | Double-screw machine tool synchronous driving device |
| CN102075125A (en) * | 2010-12-08 | 2011-05-25 | 沈阳工业大学 | Method for controlling multi-axis linkage servo control systems of numerical control (NC) machine tools |
| CN102540965A (en) * | 2010-12-09 | 2012-07-04 | 沈阳高精数控技术有限公司 | Bus-based synchronization control method for two servo shafts |
| CN102142800A (en) * | 2010-12-14 | 2011-08-03 | 深圳华强数码电影有限公司 | Stage synchronous lift control system and method |
| CN102355176A (en) * | 2011-09-16 | 2012-02-15 | 苏州生物医学工程技术研究所 | Dual-motor synchronous control system and implementation method |
| CN103269187A (en) * | 2013-05-31 | 2013-08-28 | 南京工程学院 | Dual-motor synchronous control system and control method thereof |
| CN107204682A (en) * | 2016-03-18 | 2017-09-26 | 梁崇彦 | The double-motor driving device and control method of a kind of parking apparatus |
| CN106026793A (en) * | 2016-06-28 | 2016-10-12 | 东华大学 | Master-slave type multi-motor synchronization control method based on fuzzy PID |
| CN108756584A (en) * | 2018-05-18 | 2018-11-06 | 江苏海祥消防科技有限公司 | A kind of fire hydrant sliding door |
| CN111900898A (en) * | 2020-08-03 | 2020-11-06 | 成都福莫斯智能系统集成服务有限公司 | Double-drive intelligent synchronization method for portal frame traveling mechanism |
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