CN113387233A - Cable drum tension monitoring method and device - Google Patents
Cable drum tension monitoring method and device Download PDFInfo
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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
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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
- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/34—Handled filamentary material electric cords or electric power cables
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Abstract
The invention provides a method and a device for monitoring the tension of a cable drum, which relate to the technical field of shield construction, and the method comprises the steps of obtaining the corresponding relation between the rotational inertia of the drum and the number of cable layers; when the target drum rotation inertia value is received, determining a cable layer numerical value according to the target drum rotation inertia value and the corresponding relation; and calculating the tensile force of the cable drum according to the target drum rotation inertia value and the cable layer number. The invention can calculate the tension borne by the cable in the cable drum in real time based on the target drum rotational inertia value and the cable layer value, does not need to improve the cable, and greatly reduces the tension monitoring cost.
Description
Technical Field
The invention relates to the technical field of shield construction, in particular to a method and a device for monitoring tension of a cable drum.
Background
Cable reels find application in a variety of fields. Cable reels are a commonly used device, particularly in shield construction. The motor of the cable drum adopts a direct drive or variable frequency control method, and the cable drum is dragged to rotate by the speed reducer. When the cable is taken up, the cable is prevented from being broken due to overlarge stress, a motor torque limiter is usually used, and in addition, the cable is taken up, the motor is usually controlled to rotate in a point-action mode. Such protection is very passive and reduces the efficiency of the system operation. The existing method can also realize the protection of the cable by monitoring the stress condition of the cable. However, the existing scheme for monitoring the stress condition of the cable has certain requirements on the structure or the manufacturing process of the cable, so that the manufacturing cost of the cable is high. Therefore, no better solution for monitoring the tension experienced by the cable has been proposed.
Disclosure of Invention
The invention provides a method and a device for monitoring the tension of a cable drum, which can calculate the tension borne by a cable in the cable drum based on the rotational inertia of the cable drum, and greatly reduce the tension monitoring cost.
In a first aspect, an embodiment of the present invention provides a cable drum tension monitoring method, including: acquiring the corresponding relation between the rotational inertia of the winding drum and the number of layers of cables; when a target drum rotation inertia value is received, determining a cable layer numerical value according to the target drum rotation inertia value and the corresponding relation; and calculating the tensile force of the cable drum according to the target drum rotation inertia value and the cable layer number value.
In a second aspect, an embodiment of the present invention further provides a cable drum tension monitoring device, where the cable drum tension monitoring device includes: the acquisition module is used for acquiring the corresponding relation between the rotational inertia of the winding drum and the number of cable layers; the determining module is used for determining a cable layer numerical value according to the target winding drum rotation inertia value and the corresponding relation when the target winding drum rotation inertia value is received; and the calculation module is used for calculating the tensile force of the cable drum according to the target drum rotation inertia value and the cable layer number value.
In a third aspect, an embodiment of the present invention further provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the cable drum tension monitoring method.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, where a computer program for executing the method for monitoring tension of a cable drum is stored in the computer-readable storage medium.
The embodiment of the invention has the following beneficial effects: the embodiment of the invention provides a cable drum tension monitoring scheme, which comprises the steps of obtaining the corresponding relation between the rotational inertia of a drum and the number of cable layers; when the target drum rotation inertia value is received, determining a cable layer numerical value according to the target drum rotation inertia value and the corresponding relation; and calculating the tensile force of the cable drum according to the target drum rotation inertia value and the cable layer number. According to the embodiment of the invention, the tension borne by the cable in the cable drum can be calculated in real time based on the target drum rotational inertia value and the cable layer value, the cable does not need to be improved, and the tension monitoring cost is greatly reduced.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a method for monitoring tension of a cable drum according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a maximum stress point of the cable drum according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a rotational inertia observation provided by an embodiment of the invention;
FIG. 4 is a schematic diagram of a slip form observation cable tension moment provided by the embodiment of the invention;
FIG. 5 is a block diagram of a cable drum tension monitoring device according to an embodiment of the present invention;
FIG. 6 is a block diagram of another cable drum tension monitoring device according to an embodiment of the present invention;
fig. 7 is a block diagram of a computer device according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to prevent the cable from being broken due to overlarge stress when the cable is taken up, a motor torque limiter is commonly used at present, and in addition, the motor is controlled to rotate in a inching mode when the cable is taken up. Such protection is very passive and reduces the efficiency of the system operation. The torque limiter can be worn after being used for a long time, the motor is in an acceleration and deceleration state when in inching, a considerable part of torque is used for accelerating the winding drum and the cable wound on the winding drum, and the tension borne by the cable is reduced along with the increase of the winding layer number of the cable, so that the torque of the motor which can be effectively utilized is reduced, and the tension borne by the cable is difficult to keep constant.
In addition, the existing scheme for monitoring the stress condition of the cable generally needs to add hardware in the cable to assist in monitoring the stress condition of the cable, and the existing scheme greatly increases the cable production and tension monitoring cost.
Based on the method and the device for monitoring the tension of the cable drum, provided by the embodiment of the invention, the operation parameters of the motor are read by using a frequency conversion technology, the tension born by the cable and the change of the rotational inertia of the drum can be calculated, the output of a frequency converter is regulated, the tension of the cable is actively controlled, the use efficiency of machinery and energy is greatly improved, and the cable is more accurately protected.
To facilitate understanding of the present embodiment, a method for monitoring tension of a cable reel disclosed in the present embodiment will be described in detail.
The embodiment of the invention provides a cable drum tension monitoring method, which is shown in a flow chart of the cable drum tension monitoring method in figure 1 and comprises the following steps:
and S102, acquiring the corresponding relation between the rotational inertia of the winding drum and the number of layers of cables.
In the embodiment of the invention, the moment of inertia of the winding drum is composed of the moment of inertia of the winding drum body and the moment of inertia of the wound cable, and the moment of inertia is increased in the process of cable winding. Therefore, the correspondence between the moment of inertia of the drum and the number of layers of cable needs to be predetermined. The number of cable layers refers to the number of layers of the cable wound on the cable drum.
It should be noted that, when the cable is wound, special personnel and machinery are provided to tightly wind the cable to prevent the cable from being wound in a cross manner, so that the number of layers wound at present can be calculated through the moment of inertia. The cable drum used on the shield does not exceed two layers, and the moment of inertia when the empty drum, the single-layer full tight winding and the double-layer full tight winding are observed respectively can be used as the standard value for judging the number of layers. When the moment of inertia is larger than that of the hollow cylinder and smaller than that of single-layer tight winding, the cable is wound on the first layer, and the same principle is adopted when the cable is wound on the second layer.
And step S104, determining a cable layer numerical value according to the target drum rotational inertia value and the corresponding relation when the target drum rotational inertia value is received.
In the embodiment of the invention, the rotational inertia of the winding drum is calculated according to a specific period, and the rotational inertia value of the winding drum in the current period is taken as the target rotational inertia value of the winding drum. And determining the cable layer numerical values corresponding to different drum rotational inertia values according to the corresponding relation, so that when the drum rotational inertia value of the current period sent by the self-adaptive module is received, determining the cable layer numerical value according to the target drum rotational inertia value and the corresponding relation.
And S106, calculating the tensile force of the cable drum according to the target drum rotational inertia value and the cable layer number.
In the embodiment of the invention, the rotation inertia value of the target winding drum and the layer number value of the cable are used for calculating the tension of the cable winding drum, the stress of the winding drum is analyzed, the cable wound on the winding drum is static relative to the winding drum and only bears the static friction force, the magnitude of the tension is equal to the tension of the cable which is dragged to be not wound, the maximum stress point schematic diagram of the winding drum cable shown in figure 2 is shown, the maximum position of the cable tension is just one section wound on the winding drum, the tension is regarded as the load force, an equation is established, and the tension of the cable winding drum can be calculated by solving the equation.
It should be noted that, in one embodiment, the following equation may be established:
TfFR, wherein TeRepresenting the drum drive torque, J representing the target drum rotational inertia value, TfWhich is indicative of the load torque,
the angular acceleration of the winding drum is represented, F represents the tensile force of the cable winding drum, R represents the numerical value of a cable layer, R can also represent the distance from the cable to the center of a circle, and R can be increased as the number of cable winding layers is increased.
The embodiment of the invention provides a cable drum tension monitoring scheme, which comprises the steps of obtaining the corresponding relation between the rotational inertia of a drum and the number of cable layers; when the target drum rotation inertia value is received, determining a cable layer numerical value according to the target drum rotation inertia value and the corresponding relation; and calculating the tensile force of the cable drum according to the target drum rotation inertia value and the cable layer number. According to the embodiment of the invention, the tension borne by the cable in the cable drum can be calculated in real time based on the target drum rotational inertia value and the cable layer value, the cable does not need to be improved, and the tension monitoring cost is greatly reduced.
In one embodiment, before receiving the target drum rotational inertia value, the following steps can be further performed:
and determining a target drum rotation inertia value through a model reference self-adaptive method.
In the embodiment of the invention, the model reference adaptive method is that an equation without rotating speed is used as a reference model, a model with rotating speed is used as an adjustable model, 2 models have output quantities with the same physical significance, and a proper adaptive law is formed by utilizing errors of the 2 model output quantities to adjust parameters (intermediate variables containing inertia) of the adjustable model in real time, so that the winding drum speed value of the adjustable model is the same as the measured actual winding drum speed value, the purpose that the observed quantity (inertia) of the adjustable model is the same as the actual inertia of the reference model is achieved, and the purpose that the output of a control object tracks the reference model is further achieved.
In one embodiment, the determination of the target drum rotational inertia value through the model reference adaptive method can be performed according to the following steps:
determining an adjustable model according to the drum driving torque information, the sampling period information, the drum rotating speed information and the drum rotational inertia information; determining proportionality coefficient information according to the reel driving torque information and the reel rotating speed information; and determining the rotation inertia value of the target winding drum by using the adjustable model and the proportionality coefficient information through a model reference self-adaptive method.
In the embodiment of the invention, the actual rotating speed, the stress condition and the like of the cable drum are taken as parameters in the reference model, the adjustable model is adaptively adjusted by utilizing the proportionality coefficient information (the proportionality coefficient information is used for describing the adaptive law of the variable to be observed), so that the rotating speeds of the two models are the same, the inertia of the adjustable model can be taken as the actual inertia, and the actual target drum rotating inertia value of the cable drum is determined based on the rotating inertia value of the adjustable model because various motion values of the adjustable model are the same as those of the reference model (actual system).
In one embodiment, the adjustable model is determined based on the spool drive torque information, the sampling period information, the spool speed information, and the spool moment of inertia information according to the following equation:
ΔTe(K-1)＝Te(K-1)-Te(K-2)
wherein,
indicating the regulated drum speed for the K cycle, ω (K-1) indicating the drum speed for the K-1 cycle, ω (K-2) indicating the drum speed for the K-2 cycle,
denotes the proportionality coefficient of the K-1 period, Te(K-1) represents the drum drive torque, T, of the K-1 cyclee(K-2) represents the drum drive torque for the K-2 cycle, J (K-1) represents the drum moment of inertia for the K-1 cycle, and T represents the sample period.
In the embodiment of the invention, the K period can be used as the current period, an adjustable model is established for the current period, and the rotating speed of the adjustable winding drum in the current period is solved. The K-1 period represents the previous period of the current period, the K-2 period represents the previous period of the K-1 period, and relevant information of the K-1 period and the K-2 period is historical information which is obtained through calculation and can be directly used for calculating the rotating speed of the adjusting drum in the current period.
it should be noted that the rotational speed of the drum in the cable drum can be measured by an encoder mounted on the drum.
In the embodiment of the invention, the output torque of the speed reducer can be obtained by multiplying the electromagnetic torque of the motor obtained by the calculation of the frequency converter by the speed ratio, and the efficiency engineering can be approximate to 1. The output torque of the speed reducer is regarded as a motor with zero rotational inertia and low speed and high torque to directly drive the winding drum, so that the rotational inertia of the winding drum can be observed through a model reference self-adaptive method after the rotating speed of the winding drum is obtained.
Since the frequency converter sampling and calculation is a digital discretization process, the formula is required to be matched
Discretizing to obtain a discrete equation:
where T is the sampling period.
The variation cycle of the torque load carried by the motor is far greater than the inertia identification control cycle, and the load torque at the moment k-1 and k-2 is considered to be unchanged: t isf(k-1)＝Tf(k-2) to
By subtracting the above two equations, the motion model of the web can be expressed as:
therefore, the temperature of the molten metal is controlled,
because the sampling frequency is extremely high, the cable is not a rigid object, and the load torque cannot suddenly change instantly, the load torque in two adjacent sampling periods can be considered to be kept unchanged, and the acceleration in two adjacent periods can be approximated to be constant acceleration, therefore, the above formula can be adjusted as follows: ω (K) ═ 2 ω (K-1) - ω (K-2) + b Δ Te(K-1)。
Wherein, Delta Te(K-1)＝Te(K-1)-Te(K-2)，
T is the sampling period.
The adjustable model can be designed to be:
wherein Δ Te(K-1)＝Te(K-1)-Te(K-2)，
T is the sampling period.
In one embodiment, the scaling factor information is determined from the spool drive torque information and the spool speed information according to the following equation:
wherein,
a scaling factor that represents the K period,
a proportionality coefficient representing the period of K-1, beta is the identification gain, Te(K-1) represents the drum drive torque for the K-1 cycle,
represents the adjusted spool speed for the K cycle, and ω (K) represents the spool speed for the K cycle.
In the embodiment of the present invention, referring to the rotational inertia observation schematic diagram shown in fig. 3, an adjustable model may be established for a current period by using a K period as the current period, and the proportionality coefficient information of the current period is solved. The value of β may be set according to actual requirements, and is not particularly limited in this embodiment of the present invention. The scaling factor may be used to calculate the adjusted spool rotation speed.
It should be noted that the scaling factor information is used to describe the approximation rule of the observed quantity of the adjustable model.
And
is the variable to be observed of the adjustable model; ω (K) represents the measured actual drum speed for the K cycle.
It should be noted that, after obtaining the proportionality coefficient of the current period satisfying the requirement, the formula can be used
And calculating the rotational inertia value of the K period. Wherein J (K) represents the moment of inertia of K period, and T is the sampling period.
The tension may be calculated in an observation mode, considering that the differentiation calculation is prone to noise. In one embodiment, the cable drum tension is calculated according to the following formula according to the target drum rotational inertia value and the cable layer number value:
wherein, TeRepresenting the spool drive torque, J representing the target spool rotational inertia value,
in order to be the load torque,
is an estimate of velocity, ω is a measure of velocity, γ1、k1、γ2、k2And F represents the tensile force of the cable drum, and R represents the numerical value of the cable layer.
In the embodiment of the invention, referring to the schematic drawing of the slip form observation cable tension moment shown in fig. 4, a slip form observer is designed, and the slip form observer can specifically comprise
Thus, the device is provided with
Can be integrated and is less distorted.
It should be noted that, in the formula,
is composed of
The differential of (a) is determined,
is composed of
Differentiation of (2).
It should be noted that, in addition to the observation method, a tracking differentiator, such as a hyperbolic sine differentiator, may be used to directly calculate the angular acceleration of the winding drum and then calculate the tension.
In one embodiment, the method may further perform the steps of:
and generating a tension control instruction according to the tension of the cable drum, and sending the tension control instruction to the control module so that the control module controls the tension of the cable drum.
In the embodiment of the invention, after the tension born by the cable and the change of the rotational inertia of the winding drum are known according to the tension of the cable winding drum, the output of the frequency converter can be adjusted, the tension of the cable is actively controlled, the use efficiency of machinery and energy is greatly improved, and the cable is more accurately protected.
The embodiment of the invention provides a method and a device for monitoring the tension of a cable drum, wherein the method can calculate the tension borne by a cable in the cable drum based on the rotational inertia of the cable drum, and the tension value of the cable drum obtained through electric calculation can be used for realizing the control of the tension, can be applied to the field of shield construction, realizes more accurate protection of the cable in the cable drum, and prevents the cable from being broken.
Embodiments of the present invention also provide a cable drum tension monitoring device, as described in the following embodiments. Because the principle of the device for solving the problems is similar to the cable drum tension monitoring method, the implementation of the device can refer to the implementation of the cable drum tension monitoring method, and repeated parts are not described again. Referring to fig. 5, a block diagram of a cable drum tension monitoring device is shown, which includes:
an obtaining module 51, configured to obtain a correspondence between a rotational inertia of the drum and the number of cable layers; the determining module 52 is configured to determine a cable layer value according to the target drum rotational inertia value and the corresponding relationship when the target drum rotational inertia value is received; and the calculating module 53 is used for calculating the tensile force of the cable drum according to the target drum rotational inertia value and the cable layer number value.
In one embodiment, referring to the block diagram of another cable drum tension monitoring device shown in fig. 6, the device further includes an adaptive module 54 for: and determining a target drum rotation inertia value through a model reference self-adaptive method.
In one embodiment, the adaptation module is specifically configured to: determining an adjustable model according to the drum driving torque information, the sampling period information, the drum rotating speed information and the drum rotational inertia information; determining proportionality coefficient information according to the reel driving torque information and the reel rotating speed information; and determining the rotation inertia value of the target winding drum by using the adjustable model and the proportionality coefficient information through a model reference self-adaptive method.
In one embodiment, the adaptation module is specifically configured to: determining an adjustable model according to the drum driving torque information, the sampling period information, the drum rotating speed information and the drum rotational inertia information according to the following formula:
ΔTe(K-1)＝Te(K-1)-Te(K-2)
wherein,
regulated drum speed, ω (K), representing K period-1) represents the rotation speed of the mandrel for the period K-1, ω (K-2) represents the rotation speed of the mandrel for the period K-2,
denotes the proportionality coefficient of the K-1 period, Te(K-1) represents the drum drive torque, T, of the K-1 cyclee(K-2) represents the drum drive torque for the K-2 cycle, J (K-1) represents the drum moment of inertia for the K-1 cycle, and T represents the sample period.
In one embodiment, the adaptation module is specifically configured to: determining proportionality coefficient information according to the drum driving torque information and the drum rotating speed information according to the following formula:
wherein,
a scaling factor that represents the K period,
a proportionality coefficient representing the period of K-1, beta is the identification gain, Te(K-1) represents the drum drive torque for the K-1 cycle,
represents the adjusted spool speed for the K cycle, and ω (K) represents the spool speed for the K cycle.
In one embodiment, the calculation module is specifically configured to: calculating the tensile force of the cable drum according to the target drum rotational inertia value and the cable layer number value and the following formula:
wherein, TeRepresenting the spool drive torque, J representing the target spool rotational inertia value,
in order to be the load torque,
is an estimate of velocity, ω is a measure of velocity, γ1、k1、γ2、k2And F represents the tensile force of the cable drum, and R represents the numerical value of the cable layer.
In one embodiment, referring to the block diagram of another cable drum tension monitoring device shown in fig. 6, the device further includes a control module 55 for: and generating a tension control instruction according to the tension of the cable drum, and sending the tension control instruction to the control module so that the control module controls the tension of the cable drum.
The embodiment of the present invention further provides a computer device, referring to the schematic block diagram of the structure of the computer device shown in fig. 7, the computer device includes a memory 71, a processor 72 and a computer program stored in the memory and running on the processor, and the processor implements any of the above-mentioned steps of the cable reel tension monitoring method when executing the computer program.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the computer device described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
The embodiment of the invention also provides a computer readable storage medium, and the computer readable storage medium stores a computer program for executing any one of the cable reel tension monitoring methods.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A cable drum tension monitoring method, comprising:
acquiring the corresponding relation between the rotational inertia of the winding drum and the number of layers of cables;
when a target drum rotation inertia value is received, determining a cable layer numerical value according to the target drum rotation inertia value and the corresponding relation;
and calculating the tensile force of the cable drum according to the target drum rotation inertia value and the cable layer number value.
2. The method of claim 1, wherein prior to receiving the target spool moment of inertia value, further comprising:
and determining a target drum rotation inertia value through a model reference self-adaptive method.
3. The method of claim 2, wherein determining the target spool rotational inertia value by model reference adaptation comprises:
determining an adjustable model according to the drum driving torque information, the sampling period information, the drum rotating speed information and the drum rotational inertia information;
determining proportionality coefficient information according to the reel driving torque information and the reel rotating speed information;
and determining a target drum rotation inertia value by using the adjustable model and the proportionality coefficient information through a model reference self-adaptive method.
4. The method of claim 3, comprising determining the adjustable model based on the spool drive torque information, the sampling period information, the spool speed information, and the spool moment of inertia information according to the following equation:
ΔTe(K-1)＝Te(K-1)-Te(K-2)
wherein,
indicating the regulated drum speed for the K cycle, ω (K-1) indicating the drum speed for the K-1 cycle, ω (K-2) indicating the drum speed for the K-2 cycle,
denotes the proportionality coefficient of the K-1 period, Te(K-1) represents the drum drive torque, T, of the K-1 cyclee(K-2) represents the drum drive torque for the K-2 cycle, J (K-1) represents the drum moment of inertia for the K-1 cycle, and T represents the sample period.
5. The method of claim 4, wherein scaling factor information is determined from the spool drive torque information and the spool speed information according to the formula:
wherein,
a scaling factor that represents the K period,
a proportionality coefficient representing the period of K-1, beta is the identification gain, Te(K-1) represents the drum drive torque for the K-1 cycle,
represents the adjusted spool speed for the K cycle, and ω (K) represents the spool speed for the K cycle.
6. The method of claim 1, comprising calculating a cable drum tension based on the target drum rotational inertia value and the cable layer number value according to the following formula:
wherein, TeRepresenting the spool drive torque, J representing the target spool rotational inertia value,
in order to be the load torque,
is an estimate of velocity, ω is a measure of velocity, γ1、k1、γ2、k2And F represents the tensile force of the cable drum, and R represents the numerical value of the cable layer.
7. The method of claim 1, further comprising:
and generating a tension control instruction according to the tension of the cable drum, and sending the tension control instruction to a control module so that the control module controls the tension of the cable drum.
8. A cable drum tension monitoring device, comprising:
the acquisition module is used for acquiring the corresponding relation between the rotational inertia of the winding drum and the number of cable layers;
the determining module is used for determining a cable layer numerical value according to the target winding drum rotation inertia value and the corresponding relation when the target winding drum rotation inertia value is received;
and the calculation module is used for calculating the tensile force of the cable drum according to the target drum rotation inertia value and the cable layer number value.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of cable drum tension monitoring of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium storing a computer program for executing the cable reel tension monitoring method according to any one of claims 1 to 7.
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| CN114114914A (en) * | 2021-11-23 | 2022-03-01 | 上海三菱电梯有限公司 | Performance monitoring method of controlled object applied to model reference adaptive control system |
| CN115258826A (en) * | 2022-08-10 | 2022-11-01 | 江苏苏港智能装备产业创新中心有限公司 | Cable length-based cable reel motor input torque calculation method and system |
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