CN113003303A - Method for controlling tension of cable of full-sea-depth winch retracting system - Google Patents

Method for controlling tension of cable of full-sea-depth winch retracting system Download PDF

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Publication number
CN113003303A
CN113003303A CN202110233579.6A CN202110233579A CN113003303A CN 113003303 A CN113003303 A CN 113003303A CN 202110233579 A CN202110233579 A CN 202110233579A CN 113003303 A CN113003303 A CN 113003303A
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China
Prior art keywords
cable
tension
tension value
value
winch
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CN202110233579.6A
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CN113003303B (en
Inventor
赵忠
梁承豪
朱鹏程
沈洁
刘硕
顾阳
李照雄
覃方阳
徐可欣
王建
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Jiangsu University of Science and Technology
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Jiangsu University of Science and Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H54/00—Winding, coiling, or depositing filamentary material
    • B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
    • B65H54/40—Arrangements for rotating packages
    • B65H54/44—Arrangements for rotating packages in which the package, core, or former is engaged with, or secured to, a driven member rotatable about the axis of the package
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H49/00—Unwinding or paying-out filamentary material; Supporting, storing or transporting packages from which filamentary material is to be withdrawn or paid-out
    • B65H49/38—Skips, cages, racks, or containers, adapted solely for the transport or storage of bobbins, cops, or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H59/00—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators
    • B65H59/38—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by regulating speed of driving mechanism of unwinding, paying-out, forwarding, winding, or depositing devices, e.g. automatically in response to variations in tension
    • B65H59/384—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by regulating speed of driving mechanism of unwinding, paying-out, forwarding, winding, or depositing devices, e.g. automatically in response to variations in tension using electronic means
    • B65H59/385—Regulating winding speed

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  • Tension Adjustment In Filamentary Materials (AREA)

Abstract

The invention discloses a control method of the cable tension of a full-sea-depth winch retracting system, which comprises the steps of completing the hardware arrangement of the cable retracting system and determining that the corresponding wiring is correct; initializing a system to ensure that a self-checking state is normal; ensuring that each motor is in a brake release state; when the cable is reeled or reeled, the PLC compares the main drive tension value and the cable storage tension value with a set value, controls the main winch motor to adjust the main drive tension value through a speed control mode according to the range of the main drive tension value and the cable storage tension value, and controls the auxiliary winch motor to adjust the cable storage tension value through a torque control mode to realize cable tension adjustment. Compared with the traditional cable winding and unwinding system which needs manual real-time monitoring and stops to adjust the tension, the invention monitors the tension of the cable in the cable winding and unwinding process in real time, and realizes automatic adjustment of the tension of the cable by adjusting the speed of the motor of the main winch and the torque of the motor of the auxiliary winch under the condition of changing the tension of the cable at the load end, thereby prolonging the service life of the cable to the maximum.

Description

Method for controlling tension of cable of full-sea-depth winch retracting system
Technical Field
The invention relates to a control method of cable tension, in particular to a control method of cable tension of a full-sea deep winch reeling and unreeling system.
Background
The full-sea-depth winch is applied to retraction and release of photoelectric cables, depth-fixed hovering and communication of submergence devices. In the traditional full-sea-depth winch cable winding and unwinding process, a driving and floating tension reducing winch structure is usually adopted, and the anti-disturbance performance is insufficient; in order to overcome the defect of a single driving mode, a double-capstan double-driving mode is adopted, and the load fluctuation borne by the winch retracting device of the full-sea-depth winch is large, so that the tension borne by a cable in the winch retracting process is changed continuously. The phenomenon is easy to shorten the service life of the cable, and the cable is broken due to the fact that the tension changes violently and exceeds the upper limit value of the tension which can be borne by the cable instantly, so that equipment damage and life safety of operators are easy to cause.
Therefore, it is desired to solve the above problems.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a control method for the tension of a cable of a full-sea-depth winch retracting system, which can monitor the tension of the cable in the retracting process of the cable in real time during the operation of the cable retracting system, and can realize automatic regulation of the tension of the cable by regulating the speed of a main winch motor and the torque of an auxiliary winch motor under the condition of the tension change of the cable at a load end, thereby prolonging the service life of the cable to the maximum.
The technical scheme is as follows: in order to achieve the purpose, the invention discloses a method for controlling the tension of a cable of a full-sea deep winch retracting system, which comprises the following steps:
(1) completing hardware arrangement of the cable winding and unwinding system, and determining that corresponding wiring is correct; wherein the cable winding and unwinding system comprises
(2) Initializing a system to ensure that a self-checking state is normal;
(3) ensuring that each motor is in a brake release state;
(4) when the cable is wound or unwound, the PLC controls the cable winding and unwinding system to normally operate, the rotation direction of the auxiliary winch motor is the cable winding direction when the cable is wound, and the rotation direction of the auxiliary winch motor is the cable unwinding direction when the cable is unwound; the PLC reads a main drive tension value and a cable storage tension value, compares the main drive tension value with a main drive tension lower limit value M1, a main drive tension lower limit set value M2, a main drive tension upper limit set value M3 and a main drive tension upper limit value M4 respectively, and compares the cable storage tension value with a cable storage tension lower limit value M5, a cable storage tension lower limit set value M6, a cable storage tension upper limit set value M7 and a cable storage tension upper limit value M8 respectively, wherein M1< M2< M3< M4, M5< M6< M7< M8;
if the main driving tension value is within M2-M3 and the cable storage tension value is within M6-M7, the PLC controls the main winch motor to operate at the current speed, at the moment, the auxiliary winch motor does not have torque output and operates in a follow-up mode, and the cable storage motor operates at the current torque;
if the main drive tension value is within M3-M4 and the cable storage tension value is within M7-M8, the PLC controls the main winch motor to decelerate through the speed reduction control word, and adjusts the main drive tension value; the PLC controls the torque output of the auxiliary winch motor by reducing the torque control word, and adjusts the tension value of the stored cable; the PLC reads the main drive tension value and the cable storage tension value until the main drive tension value is restored to the range of tension limit values M2-M3, and the cable storage tension value is restored to the range of tension limit values M6-M7;
if the main drive tension value is within M3-M4 and the cable storage tension value is within M5-M6, the PLC controls the main winch motor to decelerate through the speed reduction control word, and adjusts the main drive tension value; the PLC controls the torque output of the auxiliary winch motor through the increase torque control word, and adjusts the tension value of the stored cable; the PLC reads the main drive tension value and the cable storage tension value until the main drive tension value is restored to the range of tension limit values M2-M3, and the cable storage tension value is restored to the range of tension limit values M6-M7;
if the main drive tension value is within M1-M2 and the cable storage tension value is within M7-M8, the PLC controls the main winch motor to accelerate by increasing the speed control word, and adjusts the main drive tension value; the PLC controls the torque output of the auxiliary winch motor by reducing the torque control word, and adjusts the tension value of the stored cable; the PLC reads the main drive tension value and the cable storage tension value until the main drive tension value is restored to the range of tension limit values M2-M3, and the cable storage tension value is restored to the range of tension limit values M6-M7;
if the main drive tension value is within M1-M2 and the cable storage tension value is within M5-M6, the PLC controls the main winch motor to accelerate by increasing the speed control word, and adjusts the main drive tension value; the PLC controls the torque output of the auxiliary winch motor through the increase torque control word, and adjusts the tension value of the stored cable; the PLC reads the main drive tension value and the cable storage tension value until the main drive tension value is restored to the range of tension limit values M2-M3, and the cable storage tension value is restored to the range of tension limit values M6-M7;
if the main driving tension value is smaller than M1 or larger than M4, the cable storage tension value is smaller than M5 or larger than M8, and the cable arrangement system stops and gives an alarm.
Wherein, if the main driving tension value is within M3-M4 and the cable storage tension value is within M7-M8 in the step (4), the PLC reads the speed control word of the frequency converter of the main winch through the Profinet bus and multiplies the speed control word by the coefficient N1Sending the speed-reducing signal to a main winch frequency converter to control the speed reduction of a main winch motor, wherein the coefficient N1<1, reducing a main drive tension value; PLC reads the moment control word in the cable storage frequency converter through the Profinet bus and multiplies the moment control word by the coefficient N2Sent to a cable storage frequency converter to control the torque output of a motor of the auxiliary winch, wherein the coefficient N2<And 1, reducing the tension value of the storage cable.
Furthermore, if the main driving tension value is within M3-M4 and the cable storage tension value is within M5-M6 in the step (4), the PLC reads the speed control word of the frequency converter of the main winch through the Profinet bus and multiplies the speed control word by the coefficient N3SendingThe frequency converter of the main winch controls the speed reduction of the motor of the main winch, wherein the coefficient N3<1, reducing a main drive tension value; PLC reads the moment control word in the cable storage frequency converter through the Profinet bus and multiplies the moment control word by the coefficient N4Sent to a cable storage frequency converter to control the torque output of a motor of the auxiliary winch, wherein the coefficient N4And if the tension value is more than 1, the cable storage tension value is increased.
Preferably, if the main driving tension value is within M1-M2 and the cable storage tension value is within M7-M8 in the step (4), the PLC reads the speed control word of the frequency converter of the main winch through the Profinet bus and multiplies the speed control word by a coefficient N5Sending the signal to a main winch frequency converter to control the main winch motor to accelerate, wherein the coefficient N5The main drive tension value is increased when the value is more than 1; PLC reads the moment control word in the cable storage frequency converter through the Profinet bus and multiplies the moment control word by the coefficient N6Sent to a cable storage frequency converter to control the torque output of a motor of the auxiliary winch, wherein the coefficient N6<And 1, reducing the tension value of the storage cable.
Further, if the main driving tension value is within M1-M2 and the cable storage tension value is within M5-M6 in the step (4), the PLC reads the speed control word of the frequency converter of the main winch through the Profinet bus and multiplies the speed control word by the coefficient N7Sending the signal to a main winch frequency converter to control the main winch motor to accelerate, wherein the coefficient N7The main drive tension value is increased when the value is more than 1; PLC reads the moment control word in the cable storage frequency converter through the Profinet bus and multiplies the moment control word by the coefficient N8Sent to a cable storage frequency converter to control the torque output of a motor of the auxiliary winch, wherein the coefficient N8<And 1, increasing the cable storage tension value.
And (4) when the adjusting time of the main driving tension value in the step (4) exceeds a set time limit and the main driving tension value is not recovered to the range of the tension limit values M2-M3, stopping the cable arranging system for alarming.
Preferably, when the adjusting time of the cable tension value in the step (4) exceeds a set time limit and the cable tension value is not recovered to the range of the tension limit values M6-M7, the cable arranging system stops to alarm.
Further, the set time limit is 5 s.
Has the advantages that: compared with the prior art, the invention has the following remarkable advantages: compared with the traditional cable winding and unwinding system which needs manual real-time monitoring and stops to adjust the tension, the invention can monitor the tension of the cable in the cable winding and unwinding process in real time during the operation of the cable winding and unwinding system, and can realize the automatic adjustment of the tension of the cable by adjusting the speed of the motor of the main winch and the torque of the motor of the auxiliary winch under the condition of the tension change of the cable at the load end, thereby prolonging the service life of the cable to the maximum; the invention can adjust the tension of the cable between the traction winch and the cable storage drum, can adjust the torque of the cable storage winch in real time to realize the straightening and the non-loosening of the cable, is favorable for the orderly cable arrangement of the cable storage drum, is not limited by the rope groove of the winch, is suitable for the tension adjustment of the cables with various diameters, and improves the economy and the safety of the winding and unwinding system.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic structural view of the present invention;
FIG. 3 is a flow chart illustrating a control method according to the present invention
FIG. 4 is a schematic view of the range of main drive tension values in the present invention;
FIG. 5 is a schematic diagram of the range of cable tension values in the present invention.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
As shown in fig. 1 and 2, the cable winding and unwinding system of the invention comprises a PLC, a touch screen, an upper computer, a control sensing unit, a cable storage winch 3, a traction winch 1 and a cable arranging mechanism 2 for arranging cables in the winding and unwinding process, wherein the PLC communicates with the cable storage winch, the traction winch and the cable arranging mechanism through a Profinet bus, the PLC communicates with the upper computer through an RS422, and the control sensing unit is electrically connected with the PLC. The traction winch 1 comprises a main winch 6, a main winch motor 4 in a speed control mode, a main winch frequency converter 8, an auxiliary winch 7, an auxiliary winch motor 5 in a torque control mode, an auxiliary winch frequency converter 9, a main driving tension sensor 10 and a cable storage tension sensor 11; the cable arrangement mechanism 2 comprises a screw rod motor 12 in a speed control mode, a cable arrangement guide wheel 13, a cable arrangement screw rod 14 and a screw rod frequency converter 15; the cable storage winch 3 comprises a cable storage drum 17, a cable storage motor 16 in a torque control mode and a cable storage frequency converter 18.
As shown in fig. 3, the method for controlling the tension of the cable of the full-sea-depth winch retracting system of the invention comprises the following steps:
(1) completing hardware arrangement of the cable winding and unwinding system, and determining that corresponding wiring is correct; wherein the cable winding and unwinding system comprises
(2) Initializing a system to ensure that a self-checking state is normal;
(3) ensuring that each motor is in a brake release state;
(4) when the cable is reeled or reeled, the PLC gives starting signals to the main winch frequency converter, the auxiliary winch frequency converter, the screw rod frequency converter and the cable storage frequency converter through the Profinet bus to start the cable reeling and unreeling system; the cable winding and unwinding system normally operates, the rotation direction of the auxiliary winch motor is the cable winding direction during cable winding, and the rotation direction of the auxiliary winch motor is the cable unwinding direction during cable unwinding; the PLC reads a main drive tension value and a cable storage tension value, compares the main drive tension value with a main drive tension lower limit absolute value M1, a main drive tension lower limit set value M2, a main drive tension upper limit set value M3 and a main drive tension upper limit absolute value M4 respectively, and compares the cable storage tension value with a cable storage tension lower limit absolute value M5, a cable storage tension lower limit set value M6, a cable storage tension upper limit set value M7 and a cable storage tension upper limit absolute value M8 respectively, wherein M1< M2< M3< M4, M5< M6< M7< M8, as shown in FIGS. 4 and 5;
if the main driving tension value is within M2-M3 and the cable storage tension value is within M6-M7, the PLC controls the main winch motor to operate at the current speed, at the moment, the auxiliary winch motor does not have torque output and operates in a follow-up mode, and the cable storage motor operates at the current torque;
if the main drive tension value is within M3-M4 and the cable storage tension value is within M7-M8, the PLC reads the speed control word of the frequency converter of the main winch through the Profinet bus and multiplies the speed control word by the coefficient N1Sending the speed-reducing signal to a main winch frequency converter to control the speed reduction of a main winch motor, wherein the coefficient N1<1, reducing a main drive tension value; PLC reads the moment control word in the cable storage frequency converter through the Profinet bus and multiplies the moment control word by the coefficient N2Sent to a cable storage frequency converter to control the torque output of a motor of the auxiliary winch, wherein the coefficient N2<1, reducing the tension value of a stored cable; the PLC reads the main drive tension value and the cable storage tension value until the main drive tension value is restored to the range of tension limit values M2-M3, and the cable storage tension value is restored to the range of tension limit values M6-M7;
if the main drive tension value is within M3-M4 and the cable storage tension value is within M5-M6, the PLC reads the speed control word of the frequency converter of the main winch through the Profinet bus and multiplies the speed control word by the coefficient N3Sending the speed-reducing signal to a main winch frequency converter to control the speed reduction of a main winch motor, wherein the coefficient N3<1, reducing a main drive tension value; PLC reads the moment control word in the cable storage frequency converter through the Profinet bus and multiplies the moment control word by the coefficient N4Sent to a cable storage frequency converter to control the torque output of a motor of the auxiliary winch, wherein the coefficient N4The tension value of the stored cable is increased more than 1; the PLC reads the main drive tension value and the cable storage tension value until the main drive tension value is restored to the range of tension limit values M2-M3, and the cable storage tension value is restored to the range of tension limit values M6-M7;
if the main drive tension value is within M1-M2 and the cable storage tension value is within M7-M8, the PLC reads the speed control word of the frequency converter of the main winch through the Profinet bus and multiplies the speed control word by the coefficient N5Sending the signal to a main winch frequency converter to control the main winch motor to accelerate, wherein the coefficient N5The main drive tension value is increased when the value is more than 1; PLC reads the moment control word in the cable storage frequency converter through the Profinet bus and multiplies the moment control word by the coefficient N6Sent to a cable storage frequency converter to control the torque output of a motor of the auxiliary winch, wherein the coefficient N6<1, reducing the tension value of a stored cable; the PLC reads the main drive tension value and the cable storage tension value until the main drive tension value is restored to the range of tension limit values M2-M3, and the cable storage tension value is restored to the range of tension limit values M6-M7;
if the main drive tension value is within M1-M2 and the cable storage tension value is within M5-M6, the PLC reads the speed control word of the frequency converter of the main winch through the Profinet bus and multiplies the speed control word by the coefficient N7Sending the signal to a main winch frequency converter to control the main winch motor to accelerate, wherein the coefficient N7The main drive tension value is increased when the value is more than 1; PLC reads the moment control word in the cable storage frequency converter through the Profinet bus and multiplies the moment control word by the coefficient N8Sent to a cable storage frequency converter to control the torque output of a motor of the auxiliary winch, wherein the coefficient N8<1, increasing the tension value of a stored cable; the PLC reads the main drive tension value and the cable storage tension value until the main drive tension value is restored to the range of tension limit values M2-M3, and the cable storage tension value is restored to the range of tension limit values M6-M7;
if the main drive tension value is smaller than M1 or larger than M4, the cable storage tension value is smaller than M5 or larger than M8, and the cable arrangement system stops and gives an alarm; when the adjusting time of the main drive tension value exceeds a set time limit value and the main drive tension value is not recovered to the range of the tension limit value M2-M3, stopping the cable arrangement system for alarming; and when the adjusting time of the cable storage tension value exceeds the set time limit value and the cable storage tension value is not recovered to the range of the tension limit value M6-M7, the cable arrangement system stops and gives an alarm.
Example 1
The invention discloses a method for controlling the tension of a cable of a full-sea-depth winch retracting system, which comprises the following steps:
(1) completing hardware arrangement of the cable winding and unwinding system, and determining that corresponding wiring is correct; wherein the cable winding and unwinding system comprises
(2) Initializing a system to ensure that a self-checking state is normal;
(3) ensuring that each motor is in a brake release state;
(4) when the cable is wound or unwound, the PLC controls the cable winding and unwinding system to normally operate, the rotation direction of the auxiliary winch motor is the cable winding direction when the cable is wound, and the rotation direction of the auxiliary winch motor is the cable unwinding direction when the cable is unwound; the PLC reads a main drive tension value and a cable storage tension value, compares the main drive tension value with a main drive tension lower limit value of 100, a main drive tension lower limit set value of 200, a main drive tension upper limit set value of 1800 and a main drive tension upper limit value of 2000 respectively, and compares the cable storage tension value with a cable storage tension lower limit value of 70, a cable storage tension lower limit set value of 100, a cable storage tension upper limit set value of 700 and a cable storage tension upper limit value of 800 respectively;
if the main driving tension value is within 200-1800 and the cable storage tension value is within 100-700, the PLC controls the main winch motor to operate at the current speed, the auxiliary winch motor does not have torque output at the moment and operates in a follow-up mode, and the cable storage motor operates at the current torque;
if the main drive tension value is 1800-2000 and the cable storage tension value is 700-800, the PLC reads the speed control word of the main winch frequency converter through the Profinet bus, multiplies the speed control word by a coefficient of 0.8 and sends the speed control word to the main winch frequency converter to control the speed reduction of the main winch motor, and reduces the main drive tension value; the PLC reads a torque control word in the cable storage frequency converter through the Profinet bus, multiplies a coefficient by 0.8 and sends the torque control word to the cable storage frequency converter to control the torque output of a secondary winch motor, and the cable storage tension value is reduced; the PLC reads the main drive tension value and the cable storage tension value until the main drive tension value is restored to be within the range of 200-1800 of the tension limit value, and the cable storage tension value is restored to be within the range of 100-700 of the tension limit value;
if the main drive tension value is 1800-2000 and the cable storage tension value is 70-100, the PLC reads the speed control word of the main winch frequency converter through the Profinet bus, multiplies the speed control word by a coefficient of 0.8 and sends the speed control word to the main winch frequency converter to control the speed reduction of the main winch motor, and the main drive tension value is reduced; the PLC reads a moment control word in the cable storage frequency converter through the Profinet bus, multiplies a coefficient by 2 and sends the moment control word to the cable storage frequency converter to control the moment output of a motor of the auxiliary winch, wherein the coefficient increases the tension value of the cable storage; the PLC reads the main drive tension value and the cable storage tension value until the main drive tension value is restored to be within the range of 200-1800 of the tension limit value, and the cable storage tension value is restored to be within the range of 100-700 of the tension limit value;
if the main drive tension value is within 100-200 and the cable storage tension value is within 700-800, the PLC reads the speed control word of the main winch frequency converter through the Profinet bus, multiplies the speed control word by a coefficient of 2 and sends the speed control word to the main winch frequency converter to control the main winch motor to accelerate, and the main drive tension value is increased; the PLC reads a torque control word in the cable storage frequency converter through the Profinet bus, multiplies a coefficient by 0.8 and sends the torque control word to the cable storage frequency converter to control the torque output of a secondary winch motor, and the cable storage tension value is reduced; the PLC reads the main drive tension value and the cable storage tension value until the main drive tension value is restored to be within the range of 200-1800 of the tension limit value, and the cable storage tension value is restored to be within the range of 100-700 of the tension limit value;
if the main drive tension value is within 100-200 and the cable storage tension value is within 70-100, the PLC reads the speed control word of the main winch frequency converter through the Profinet bus, multiplies the speed control word by a coefficient of 2 and sends the speed control word to the main winch frequency converter to control the main winch motor to accelerate, and the main drive tension value is increased; the PLC reads a torque control word in the cable storage frequency converter through the Profinet bus, multiplies the torque control word by a coefficient 2 and sends the torque control word to the cable storage frequency converter to control the torque output of a motor of the auxiliary winch, and the tension value of the cable storage is increased; the PLC reads the main drive tension value and the cable storage tension value until the main drive tension value is restored to be within the range of 200-1800 of the tension limit value, and the cable storage tension value is restored to be within the range of 100-700 of the tension limit value;
if the main drive tension value is less than 100 or greater than 2000, the cable storage tension value is less than 70 or greater than 800, and the cable arrangement system stops to alarm; when the adjusting time of the main drive tension value exceeds a set time limit value and the main drive tension value is not recovered to the range of 200-1800 of the tension limit value, stopping the cable arrangement system for alarming; when the adjusting time of the cable storage tension value exceeds a set time limit value and the cable storage tension value is not recovered to the range of the tension limit value of 100-700, stopping the cable arrangement system for alarming; wherein the set time limit is 5 s.
Compared with the traditional cable winding and unwinding system which needs manual real-time monitoring and stops to adjust the tension, the invention can monitor the tension of the cable in the cable winding and unwinding process in real time during the operation of the cable winding and unwinding system, and can realize the automatic adjustment of the tension of the cable by adjusting the speed of the motor of the main winch and the torque of the motor of the auxiliary winch under the condition of the tension change of the cable at the load end, thereby protecting the service life of the cable to be maximized; the invention can adjust the tension of the cable between the traction winch and the cable storage drum, can adjust the torque of the cable storage winch in real time to realize the straightening and the non-loosening of the cable, is favorable for the orderly cable arrangement of the cable storage drum, is not limited by the rope groove of the winch, is suitable for the tension adjustment of the cables with various diameters, and improves the economy and the safety of the winding and unwinding system.

Claims (8)

1. A control method for the tension of a cable of a full-sea-depth winch retraction system is characterized by comprising the following steps:
(1) completing hardware arrangement of the cable winding and unwinding system, and determining that corresponding wiring is correct; wherein the cable winding and unwinding system comprises
(2) Initializing a system to ensure that a self-checking state is normal;
(3) ensuring that each motor is in a brake release state;
(4) when the cable is wound or unwound, the PLC controls the cable winding and unwinding system to normally operate, the rotation direction of the auxiliary winch motor is the cable winding direction when the cable is wound, and the rotation direction of the auxiliary winch motor is the cable unwinding direction when the cable is unwound; the PLC reads a main drive tension value and a cable storage tension value, compares the main drive tension value with a main drive tension lower limit value M1, a main drive tension lower limit set value M2, a main drive tension upper limit set value M3 and a main drive tension upper limit value M4 respectively, and compares the cable storage tension value with a cable storage tension lower limit value M5, a cable storage tension lower limit set value M6, a cable storage tension upper limit set value M7 and a cable storage tension upper limit value M8 respectively, wherein M1< M2< M3< M4, M5< M6< M7< M8;
if the main driving tension value is within M2-M3 and the cable storage tension value is within M6-M7, the PLC controls the main winch motor to operate at the current speed, at the moment, the auxiliary winch motor does not have torque output and operates in a follow-up mode, and the cable storage motor operates at the current torque;
if the main drive tension value is within M3-M4 and the cable storage tension value is within M7-M8, the PLC controls the main winch motor to decelerate through the speed reduction control word, and adjusts the main drive tension value; the PLC controls the torque output of the auxiliary winch motor by reducing the torque control word, and adjusts the tension value of the stored cable; the PLC reads the main drive tension value and the cable storage tension value until the main drive tension value is restored to the range of tension limit values M2-M3, and the cable storage tension value is restored to the range of tension limit values M6-M7;
if the main drive tension value is within M3-M4 and the cable storage tension value is within M5-M6, the PLC controls the main winch motor to decelerate through the speed reduction control word, and adjusts the main drive tension value; the PLC controls the torque output of the auxiliary winch motor through the increase torque control word, and adjusts the tension value of the stored cable; the PLC reads the main drive tension value and the cable storage tension value until the main drive tension value is restored to the range of tension limit values M2-M3, and the cable storage tension value is restored to the range of tension limit values M6-M7;
if the main drive tension value is within M1-M2 and the cable storage tension value is within M7-M8, the PLC controls the main winch motor to accelerate by increasing the speed control word, and adjusts the main drive tension value; the PLC controls the torque output of the auxiliary winch motor by reducing the torque control word, and adjusts the tension value of the stored cable; the PLC reads the main drive tension value and the cable storage tension value until the main drive tension value is restored to the range of tension limit values M2-M3, and the cable storage tension value is restored to the range of tension limit values M6-M7;
if the main drive tension value is within M1-M2 and the cable storage tension value is within M5-M6, the PLC controls the main winch motor to accelerate by increasing the speed control word, and adjusts the main drive tension value; the PLC controls the torque output of the auxiliary winch motor through the increase torque control word, and adjusts the tension value of the stored cable; the PLC reads the main drive tension value and the cable storage tension value until the main drive tension value is restored to the range of tension limit values M2-M3, and the cable storage tension value is restored to the range of tension limit values M6-M7;
if the main driving tension value is smaller than M1 or larger than M4, the cable storage tension value is smaller than M5 or larger than M8, and the cable arrangement system stops and gives an alarm.
2. The method for controlling the cable tension of the full-sea-depth winch retraction system according to claim 1, wherein the method comprises the following steps: if the main driving tension value is within M3-M4 and the cable storage tension value is within M7-M8 in the step (4), the PLC reads the speed control word of the frequency converter of the main winch through the Profinet bus and multiplies the speed control word by a coefficient N1Sending the speed-reducing signal to a main winch frequency converter to control the speed reduction of a main winch motor, wherein the coefficient N1<1, reducing a main drive tension value; PLC reads the moment control word in the cable storage frequency converter through the Profinet bus and multiplies the moment control word by the coefficient N2Sent to a cable storage frequency converter to control the torque output of a motor of the auxiliary winch, wherein the coefficient N2<And 1, reducing the tension value of the storage cable.
3. The method for controlling the cable tension of the full-sea-depth winch retraction system according to claim 1, wherein the method comprises the following steps: if the main driving tension value is within M3-M4 and the cable storage tension value is within M5-M6 in the step (4), the PLC reads the speed control word of the frequency converter of the main winch through the Profinet bus and multiplies the speed control word by a coefficient N3Sending the speed-reducing signal to a main winch frequency converter to control the speed reduction of a main winch motor, wherein the coefficient N3<1, reducing a main drive tension value; PLC reads the moment control word in the cable storage frequency converter through the Profinet bus and multiplies the moment control word by the coefficient N4Sent to a cable storage frequency converter to control the torque output of a motor of the auxiliary winch, andmiddle coefficient N4And if the tension value is more than 1, the cable storage tension value is increased.
4. The method for controlling the cable tension of the full-sea-depth winch retraction system according to claim 1, wherein the method comprises the following steps: if the main driving tension value is within M1-M2 and the cable storage tension value is within M7-M8 in the step (4), the PLC reads the speed control word of the frequency converter of the main winch through the Profinet bus and multiplies the speed control word by a coefficient N5Sending the signal to a main winch frequency converter to control the main winch motor to accelerate, wherein the coefficient N5The main drive tension value is increased when the value is more than 1; PLC reads the moment control word in the cable storage frequency converter through the Profinet bus and multiplies the moment control word by the coefficient N6Sent to a cable storage frequency converter to control the torque output of a motor of the auxiliary winch, wherein the coefficient N6<And 1, reducing the tension value of the storage cable.
5. The method for controlling the cable tension of the full-sea-depth winch retraction system according to claim 1, wherein the method comprises the following steps: if the main driving tension value is within M1-M2 and the cable storage tension value is within M5-M6 in the step (4), the PLC reads the speed control word of the frequency converter of the main winch through the Profinet bus and multiplies the speed control word by a coefficient N7Sending the signal to a main winch frequency converter to control the main winch motor to accelerate, wherein the coefficient N7The main drive tension value is increased when the value is more than 1; PLC reads the moment control word in the cable storage frequency converter through the Profinet bus and multiplies the moment control word by the coefficient N8Sent to a cable storage frequency converter to control the torque output of a motor of the auxiliary winch, wherein the coefficient N8<And 1, increasing the cable storage tension value.
6. The method for controlling the cable tension of the full-sea-depth winch retraction system according to claim 1, wherein the method comprises the following steps: and (4) stopping the cable arranging system for alarming when the adjusting time of the main driving tension value in the step (4) exceeds a set time limit value and the main driving tension value is not recovered to the range of the tension limit value M2-M3.
7. The method for controlling the cable tension of the full-sea-depth winch retraction system according to claim 1, wherein the method comprises the following steps: and (4) stopping the cable arranging system for alarming when the adjusting time of the cable storage tension value in the step (4) exceeds a set time limit value and the cable storage tension value is not recovered to the range of the tension limit value M6-M7.
8. The method for controlling the cable tension of the full-sea deep winch reeling and unreeling system according to claim 6 or 7, wherein the method comprises the following steps: the set time limit is 5 s.
CN202110233579.6A 2021-03-03 2021-03-03 Method for controlling tension of cable of full-sea-depth winch retracting system Active CN113003303B (en)

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