CN113511590A - Control method for heavy-load zero-speed starting of electric hoisting device - Google Patents
Control method for heavy-load zero-speed starting of electric hoisting device Download PDFInfo
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- CN113511590A CN113511590A CN202110624023.XA CN202110624023A CN113511590A CN 113511590 A CN113511590 A CN 113511590A CN 202110624023 A CN202110624023 A CN 202110624023A CN 113511590 A CN113511590 A CN 113511590A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/34—Arrangements for starting
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B50/00—Energy efficient technologies in elevators, escalators and moving walkways, e.g. energy saving or recuperation technologies
Abstract
The invention provides a control method for heavy-load zero-speed starting of an electric hoisting device, which comprises the following steps: starting a control period timer; judging whether the control period timer is in a clock interrupt state, if not, returning to judge whether the control period timer is in the clock interrupt state; if so, collecting the angle of the load bracket relative to the horizontal plane at the current moment; acquiring a thrust requirement value of the electric lifting cylinder; collecting an initial rotor position; acquiring the amplitude of the driving current of the servo motor; performing current loop control resolving to drive a servo motor to generate dead axle output torque; opening the mechanical lock; judging whether the driving controller receives an operation instruction of the electric lifting cylinder, if so, starting the electric lifting cylinder according to the operation instruction of the electric lifting cylinder; if not, returning to judge whether the control period timer is in the clock interrupt state. By applying the technical scheme of the invention, the technical problem that the electric hoisting device in the prior art cannot be stably controlled at the moment of heavy-load zero-speed starting can be solved.
Description
Technical Field
The invention relates to the technical field of servo control, in particular to a control method for heavy-load zero-speed starting of an electric hoisting device.
Background
The hoisting device is an engineering mechanical device for realizing the lifting of heavy loads by utilizing the linear thrust output of an actuator, and is widely applied to vehicle-mounted lifting applications such as a crane truck, a crane and an unmanned aerial vehicle launching vehicle. The traditional hoisting device mainly adopts a hydraulic scheme, namely the electro-hydraulic valve control servo technology is utilized to realize the adjustment of the oil pressure of two cavities of the hydraulic cylinder and push the hydraulic cylinder to extend or retract, has the advantages of high energy density, no blocking risk and the like, and is a servo system scheme adopted by most of the existing hoisting platforms. With the development of fully electric technology, the electric servo is gradually replacing the traditional hydraulic servo, and the electric servo has the advantages of small system volume, strong maintainability, high reliability and the like, and particularly has outstanding environmental adaptability under severe environments such as high and low temperature and the like, thereby being the main development direction of the next generation of hoisting systems.
The electric hoisting device mainly comprises a lifting cylinder, a driving controller and other components, and the lifting cylinder can be divided into a servo motor, a mechanical locking device, a speed reducer, a lead screw and other components in detail. The servo motor is used as a power source, power is output outwards under the driving action of the output current of the driving controller, high-speed rotary motion generated by a rotating shaft of the servo motor is converted into low-speed large-torque rotary output through the speed reducer, the rotary motion is further converted into linear thrust output by pushing the lifting cylinder, and the lifting function of an external load is realized. Because the device adopts the full electric drive scheme, the device has the advantages of strong maneuverability, good flexibility, high unfolding speed, strong environmental adaptability and the like, and becomes the mainstream development direction of the engineering hoisting system in the future.
As a core unit of the hoisting device, a servo motor is an energy and motion form source of a hoisting system, the control performance of the servo motor directly determines the motion stability and comprehensive efficiency of the hoisting system, and the realization of high-precision, fast-response and high-robustness servo control is an important guarantee for the high-reliability and high-safety operation of the hoisting system. Because the hoisting system has high output power and heavy load weight, the hoisting system faces a special working condition of heavy load zero-speed starting at the starting moment and becomes a core key point of the control stability of the hoisting system. Specifically, at the moment of starting a hoisting system, a mechanical locking device is opened instantly, a gravity load acts on an electric hoisting device immediately, and as the time for adjusting the current of a motor from an initial zero value to a peak current balanced with the load is required, an actuator inevitably has an instant falling state under the action of the peak load, the system is easily excited to generate severe vibration, and even falling impact damages a mechanical transmission mechanism. In order to solve the problem of heavy load starting of the electric hoisting device, a speed and current double-closed-loop servo motor control method is usually adopted in the control of the conventional electric hoisting device, but the problems that the system drop angle is large, the time for returning back is slow and the like are easily caused because the rotating speed at the starting moment is low, the control output is mainly generated by the integral quantity of a rotating speed loop, the response characteristic is difficult to be compatible with the stability and the rapidity of the system, and the like are easily caused. On the basis of double-loop control, the position loop control is further added to form a three-closed loop, which is helpful for solving the problems, but the position sensor assembly is added, so that the reliability of the system under the mechanical action of vehicle-mounted vibration is reduced. Therefore, how to solve the problem of instantaneous stable control of the heavy-load zero-speed starting of the electric hoisting device is an important ring for realizing stable and reliable operation of the hoisting device.
Disclosure of Invention
The invention provides a control method for the heavy-load zero-speed starting of an electric hoisting device, which can solve the technical problem that the electric hoisting device in the prior art cannot be stably controlled at the moment of the heavy-load zero-speed starting.
The invention provides a control method for the heavy-load zero-speed starting of an electric hoisting device, which comprises the following steps: the driving controller starts a control period timer after receiving a starting instruction of the electric jacking cylinder; judging whether the control period timer is in a clock interrupt state, if the control period timer is not in the clock interrupt state, keeping a waiting state and returning to judge whether the control period timer is in the clock interrupt state until the control period timer is in the clock interrupt state; if the control period timer is in a clock interrupt state, acquiring the angle of the load bracket relative to the horizontal plane at the current moment; acquiring a thrust requirement value of the electric lifting cylinder according to the angle of the load bracket relative to the horizontal plane at the current moment; collecting an initial rotor position; acquiring the driving current amplitude of the servo motor according to the thrust requirement value of the electric lifting cylinder; the method comprises the following steps of taking a servo motor driving current amplitude as a current loop control current input instruction, taking an initial rotor position and a frequency of a pulse width modulation signal subjected to frequency reduction as input, adopting a vector control strategy of Id being 0, performing current loop control resolving on q-axis current, and driving a servo motor to generate a fixed axis output torque; opening the mechanical lock; judging whether the driving controller receives an operation instruction of the electric lifting cylinder, if so, starting the electric lifting cylinder according to the operation instruction of the electric lifting cylinder to complete the heavy-load zero-speed starting control of the electric lifting device; and if the driving controller does not receive the running instruction of the electric lifting cylinder, returning to judge whether the control period timer is in a clock interrupt state or not until the driving controller receives the running instruction of the electric lifting cylinder.
Further, the electric hoist heavy load zero speed start control method is according to FL＝FlX α obtains the thrust requirement value of the electric lift cylinder, wherein FLA thrust requirement value for the electric lifting cylinder; alpha is an equivalent coefficient, and the equivalent coefficient alpha is related to a theoretical solving error and a safety coefficient; flIs the theoretical thrust value of the electric lifting cylinder,
F1the first hinge at the joint of the electric lifting cylinder and the load bracket is subjected to the component force of the electric lifting cylinder perpendicular to the load bracket, F2The first hinge is subjected to a force component parallel to the load carrier by the electric jacking cylinder, F1And F2According to
Obtaining, F3The second hinge at the connection of the load carrier and the vehicle chassis is subjected to a force component of the vehicle chassis perpendicular to the load carrier, F4The component force of the second hinge, which is parallel to the load bracket, of the vehicle-mounted chassis, G is the equivalent gravity of the load bracket and the load whole, theta is the angle of the load bracket relative to the horizontal plane at the current moment, l is the distance between the first hinge and the second hinge along the direction of the load bracket, and h is the distance between the center of mass of the load bracket and the load whole and the second hinge along the direction of the load bracket.
Further, the electric hoist heavy load zero speed start control method is based on
Obtaining the amplitude of the drive current of the servo motor, wherein IampFor the amplitude of the servo motor drive current, T is the required starting torque of the servo motor, KTThe torque coefficient of the servo motor is shown, eta is the comprehensive transmission efficiency of a screw rod and a speed reducer in the electric lifting cylinder, and gamma is the comprehensive reduction ratio of the screw rod and the speed reducer in the electric lifting cylinder.
Further, performing current loop control calculation on the q-axis current, and driving the servo motor to generate a fixed-axis output torque specifically includes: the servo motor driving current amplitude is used as a current loop control current input instruction, the current of an actual servo motor is used as feedback, and a current tracking error is obtained according to the servo motor driving current amplitude and the current of the actual servo motor; inputting the current tracking error into a current loop controller to be resolved to obtain a current output control quantity; the current output control quantity passes through a coordinate transformation module and is combined with the initial rotor position to obtain direct current components of each phase fixed shaft; and each phase fixed-axis direct current component passes through the space vector pulse width modulation module and is combined with the frequency of the pulse width modulation signal subjected to frequency reduction, and the pulse width modulation signal waveform is transmitted to the power module end to drive the servo motor to generate fixed-axis output torque.
Further, after the thrust requirement value of the electric lifting cylinder is obtained, the electric hoisting device heavy-load zero-speed starting control method further comprises the following steps: judging whether the initial rotor position is acquired or not, if so, not repeating the acquisition of the initial rotor position, and directly executing the acquisition of the driving current amplitude of the servo motor in the next step; if the initial rotor position is not acquired, the initial rotor position is acquired.
Further, before the drive controller starts the control cycle timer after receiving the start command of the electric jacking cylinder, the method for controlling the heavy-load zero-speed start of the electric hoisting device further comprises the following steps: judging whether the driving controller receives a starting instruction of the electric lifting cylinder, if not, keeping the driving controller in a standby monitoring state, and returning to judge whether the driving controller receives the starting instruction of the electric lifting cylinder until the driving controller receives the starting instruction of the electric lifting cylinder; and if the driving controller receives a starting instruction of the electric jacking cylinder, starting a control period timer.
Further, the heavy-load zero-speed starting control method of the electric hoisting device restores the frequency of the pulse width modulation signal from the frequency reduction state to the normal state after the driving controller receives the operation instruction of the electric jacking cylinder.
Further, the electric hoisting device heavy-load zero-speed starting control method utilizes a horizontal angle sensor arranged on the load bracket to acquire the angle of the load bracket relative to the horizontal plane at the current moment.
Further, the electric hoisting device heavy load zero speed starting control method opens the mechanical lock by driving the mechanical locking device.
The technical scheme of the invention is applied to provide a control method for the heavy-load zero-speed starting of the electric hoisting device, the control method starts from a servo control angle, angle information acquisition, electric jacking cylinder thrust demand calculation and servo motor dead axle torque calculation output are sequentially carried out in a single control period, a mechanical lock is opened after the servo motor torque is established, and the conversion of the load force from a locking device to a servo motor is completed. The control method for the heavy-load zero-speed starting can realize the stable control at the moment of heavy-load starting, and has the advantages of high reliability and low cost. Compared with the prior art, the technical scheme of the invention can solve the technical problem that the electric hoisting device in the prior art cannot be stably controlled at the moment of heavy-load zero-speed starting.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a flow chart of a method for controlling a heavy-duty zero-speed start of an electric hoist according to an embodiment of the present invention;
FIG. 2 illustrates a schematic structural view of an electric hoist and load system;
FIG. 3 is a schematic diagram showing the internal structure of the electric lift cylinder;
fig. 4 is a schematic diagram illustrating a mechanical analysis of an electric lifting device and a load system according to an embodiment of the present invention;
fig. 5 illustrates a block diagram of a current loop control provided in accordance with a specific embodiment of the present invention.
Wherein the figures include the following reference numerals:
10. an electric jacking cylinder; 11. a mechanical locking device; 12. a servo motor; 13. a speed reducer; 14. a lead screw; 20. a load carriage; 30. a load; 40. a horizontal angle sensor; 50. a first hinge; 60. a second hinge; 70. a third hinge; 80. and (4) carrying a chassis on a vehicle.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. 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.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
As shown in fig. 1, according to an embodiment of the present invention, there is provided a method for controlling a heavy load zero-speed start of an electric crane, the method comprising: the driving controller starts a control period timer after receiving a starting instruction of the electric jacking cylinder; judging whether the control period timer is in a clock interrupt state, if the control period timer is not in the clock interrupt state, keeping a waiting state and returning to judge whether the control period timer is in the clock interrupt state until the control period timer is in the clock interrupt state; if the control period timer is in a clock interrupt state, acquiring the angle of the load bracket relative to the horizontal plane at the current moment; acquiring a thrust requirement value of the electric lifting cylinder according to the angle of the load bracket relative to the horizontal plane at the current moment; collecting an initial rotor position; acquiring the driving current amplitude of the servo motor according to the thrust requirement value of the electric lifting cylinder; the method comprises the following steps of taking a servo motor driving current amplitude as a current loop control current input instruction, taking an initial rotor position and a frequency of a pulse width modulation signal subjected to frequency reduction as input, adopting a vector control strategy of Id being 0, performing current loop control resolving on q-axis current, and driving a servo motor to generate a fixed axis output torque; opening the mechanical lock; judging whether the driving controller receives an operation instruction of the electric lifting cylinder, if so, starting the electric lifting cylinder according to the operation instruction of the electric lifting cylinder to complete the heavy-load zero-speed starting control of the electric lifting device; and if the driving controller does not receive the running instruction of the electric lifting cylinder, returning to judge whether the control period timer is in a clock interrupt state or not until the driving controller receives the running instruction of the electric lifting cylinder.
By applying the configuration mode, the control method for the heavy-load zero-speed starting of the electric hoisting device is provided, starting from a servo control angle, angle information acquisition, electric jacking cylinder thrust demand calculation and servo motor dead axle torque calculation output are sequentially carried out in a single control period, a mechanical lock is opened after the servo motor torque is established, and the conversion of a load force from a locking device to a servo motor is completed. The control method for the heavy-load zero-speed starting can realize the stable control at the moment of heavy-load starting, and has the advantages of high reliability and low cost. Compared with the prior art, the technical scheme of the invention can solve the technical problem that the electric hoisting device in the prior art cannot be stably controlled at the moment of heavy-load zero-speed starting.
In the present invention, the control objects related to the method for controlling the heavy-duty zero-speed start of the electric hoist include the electric hoist cylinder 10, the load bracket 20, the plurality of hinges, and the load 30, and the positional relationship between the respective components is as shown in fig. 2. One end of the electric lifting cylinder 10 is fixed on the vehicle-mounted chassis 80 through the third hinge 70, the electric lifting cylinder 10 can generate single-axis rotation motion around the third hinge 70 relative to the vehicle-mounted chassis 80, the other end of the electric lifting cylinder 10 is fixed on the bottom surface of the load bracket 20 through the first hinge 50, and the electric lifting cylinder 10 can generate single-axis rotation motion around the first hinge 50 relative to the load bracket 20. One end of the load bracket 20 is fixed to the vehicle-mounted chassis 80 through the second hinge 60, the load bracket 20 can rotate around the second hinge 60 relative to the vehicle-mounted chassis 80 in a single axis, and the other end of the load bracket 20 and the electric lift cylinder 10 generate a supporting effect through the first hinge 50. The load 30 is fixed to the load carrier 20 and can be considered as a rigid body together with the load carrier 20.
As shown in fig. 3, the internal structural components of the electric lifting cylinder 10 are shown, and the electric lifting cylinder 10 includes a mechanical locking device 11, a servo motor 12, a speed reducer 13 and a lead screw 14, and all the components are sequentially in an axial series structure. The front output shaft of the servo motor 12 is connected with a speed reducer 13, and the high-speed low-torque output of the motor is converted into low-speed high-torque output through the speed reducer 13. The rear output shaft of the servo motor 12 is connected with the mechanical locking device 11, the mechanical locking device 11 keeps a locking state in a non-operation state, the output shaft of the motor is in a locking state and cannot rotate, and the load force borne by the electric lifting cylinder 10 is borne by the mechanical locking device 11. In the operating state, the mechanical locking device 11 is opened, the motor shaft of the servo motor 12 can rotate freely, and the load force borne by the electric jacking cylinder 10 is completely borne by the motor output torque. Taking the starting process in the prior art as an example, at the starting moment of the electric hoisting device, the mechanical locking device 11 is switched from the locking state to the opening state, the load force is instantly born by the mechanical locking device 11 and is converted into being born by the output torque of the motor, the slow establishment process of the output torque of the motor is a key factor causing unstable control at the starting moment, so the output torque of the motor needs to be gradually established before the mechanical locking device 11 is opened, the torque of the motor can immediately take over the load force after the mechanical locking device 11 is opened, and stable control is realized. An output shaft of a speed reducer 13 in the electric lifting cylinder 10 is connected with a lead screw 14, low-speed large-torque motion generated by the speed reducer 13 is converted into linear large-thrust motion of the lead screw 14, and finally the electric lifting cylinder 10 is driven to generate extending or retracting linear motion.
The method for controlling the heavy-load zero-speed starting of the electric hoisting device is implemented by taking the structure composition and the working principle of the hoisting system as hardware conditions, and comprises the steps of firstly judging whether a driving controller receives a starting instruction of an electric hoisting cylinder, if the driving controller does not receive the starting instruction of the electric hoisting cylinder, keeping the driving controller in a standby monitoring state, and returning to judge whether the driving controller receives the starting instruction of the electric hoisting cylinder until the driving controller receives the starting instruction of the electric hoisting cylinder; and if the driving controller receives a starting instruction of the electric jacking cylinder, starting a control period timer.
As an embodiment of the invention, the driving controller can receive the starting command of the electric lifting cylinder through an external communication bus or a digital switching value.
As another specific embodiment of the present invention, before the start of the control cycle timer after the drive controller receives the start command of the electric jacking cylinder, the method for controlling heavy load zero-speed start of the electric hoisting device further includes: after the driving controller is electrified, judging whether the driving controller receives a starting instruction of the electric lifting cylinder, if the driving controller does not receive the starting instruction of the electric lifting cylinder, keeping the driving controller in a standby monitoring state, and returning to judge whether the driving controller receives the starting instruction of the electric lifting cylinder until the driving controller receives the starting instruction of the electric lifting cylinder; and if the driving controller receives a starting instruction of the electric jacking cylinder, starting a control period timer.
Further, in the invention, after the control period timer is started, whether the control period timer is in a clock interrupt state is judged, if the control period timer is not in the clock interrupt state, the waiting state is kept, and whether the control period timer is in the clock interrupt state is judged until the control period timer is in the clock interrupt state; and if the control period timer is in a clock interrupt state, acquiring the angle of the load bracket relative to the horizontal plane at the current moment.
The control period timer triggers clock interruption once at regular intervals, and a subsequent heavy-load zero-speed starting control method of the electric hoisting device is used in a clock interruption state, and comprises angle information acquisition, dead axle output torque and operation instruction monitoring of an electric lifting cylinder. As an embodiment of the present invention, the duration of the interrupt period of the control period timer should be longer than the running time of the subsequent electric hoisting apparatus heavy load zero speed start control method, so as to ensure that the subsequent operation can be completed in a single interrupt period. The present invention may utilize a horizontal angle sensor 40 disposed on the load carriage to acquire the angle of the load carriage relative to the horizontal at the present time.
Further, in the present invention, after the angle of the load bearer with respect to the horizontal plane at the present time is acquired, the thrust demand value of the electric jack cylinder is acquired based on the angle of the load bearer with respect to the horizontal plane at the present time.
As an embodiment of the present invention, as shown in FIG. 4, the control method for the heavy-duty zero-speed start of the electric hoist may be based on FL＝FlX α obtains the thrust requirement value of the electric lift cylinder, wherein FLA thrust requirement value for the electric lifting cylinder; alpha is an equivalent coefficient, and the equivalent coefficient alpha is related to a theoretical solving error and a safety coefficient; flIs the theoretical thrust value of the electric lifting cylinder,
F1the first hinge 50 at the connection of the electric lifting cylinder and the load carrier is subjected to a force component perpendicular to the load carrier of the electric lifting cylinder, F2The first hinge 50 is subjected to a force component parallel to the load carrier by the electric jacking cylinder, F1And F2According to
Obtaining, F3The second hinge 60, where the load carrier is connected to the vehicle chassis 80, is subject to a force component of the vehicle chassis 80 perpendicular to the load carrier, F4The component force of the vehicle-mounted chassis 80 parallel to the load bracket is applied to the second hinge 60, G is the equivalent gravity of the load bracket and the load as a whole, and theta is negative at the present momentThe angle of the load carrier relative to the horizontal, l is the distance of the first and second hinges 50, 60 in the direction of the load carrier, h is the distance of the centre of mass of the load carrier and load as a whole from the second hinge 60 in the direction of the load carrier, and the distance l and the distance h are both determined at the time of installation as known quantities.
Further, after the thrust requirement value of the electric lifting cylinder is obtained, the fixed shaft torque resolving process is carried out, and the initial rotor position is collected. In the present invention, a first periodic rotor position is collected as an initial rotor position.
As an embodiment of the present invention, in order to save the process, after the thrust requirement value of the electric jacking cylinder is obtained, the electric hoisting device heavy load zero speed start control method further includes: judging whether the initial rotor position is acquired or not, if so, not repeating the acquisition of the initial rotor position, and directly executing the acquisition of the driving current amplitude of the servo motor in the next step; if the initial rotor position is not acquired, the initial rotor position is acquired.
In addition, after the initial rotor position is collected, the thrust required value of the electric lifting cylinder is used as starting torque input, and the amplitude of the driving current of the servo motor is obtained.
As an embodiment of the present invention, the electric hoist heavy load zero speed start control method is based on
Obtaining the amplitude of the drive current of the servo motor, wherein IampFor the amplitude of the servo motor drive current, T is the required starting torque of the servo motor, KTThe torque coefficient of the servo motor is shown, eta is the comprehensive transmission efficiency of a screw rod and a speed reducer in the electric lifting cylinder, and gamma is the comprehensive reduction ratio of the screw rod and the speed reducer in the electric lifting cylinder.
Further, in the invention, after the amplitude of the servo motor driving current is obtained, the amplitude of the servo motor driving current is used as a current loop control current input instruction, the initial rotor position and the frequency of the pulse width modulation signal after frequency reduction are used as input, a vector control strategy with Id being 0 is adopted, current loop control resolving is carried out on the q-axis current, and the servo motor is driven to generate fixed axis output torque.
As an embodiment of the present invention, as shown in fig. 5, the current loop control calculation of the q-axis current to drive the servo motor to generate the fixed-axis output torque specifically includes: amplitude I of servo motor driving currentampThe current loop control current input instruction is used as a current loop control current input instruction, the current of the actual servo motor is used as feedback, and a current tracking error is obtained according to the amplitude of the servo motor driving current and the current of the actual servo motor; inputting the current tracking error into a current loop controller to be resolved to obtain a current output control quantity; the current output control quantity passes through a coordinate transformation module and is combined with the initial rotor position beta0Obtaining direct current components of each phase fixed shaft; each phase fixed axis direct current component passes through a space vector Pulse Width Modulation (PWM) module and is combined with the frequency f of the pulse width modulation signal after frequency reductionlowAnd the pulse width modulation signal waveform is transmitted to the power module end to drive the servo motor to generate a fixed-axis output torque.
In the invention, in order to reduce the heating problem of the driver in the process of dead axle zero speed control and reduce the heat effect generated by direct current component in the starting mode, the frequency reduction processing can be carried out on the driving pulse width modulation signal, and the switching frequency of the pulse width modulation signal in the process of position locking is reduced, thereby achieving the effect of reducing the switching loss of the power device. And after the driving controller receives the operation instruction of the electric lifting cylinder, restoring the frequency of the pulse width modulation signal from the frequency reduction state to the normal state. In addition, in the control method, the direct current component of each fixed shaft is locked until the driving controller receives the operation command of the electric jacking cylinder, and then the direct current component of each fixed shaft is recovered to a normal mode.
In addition, in the invention, after the output torque of the fixed shaft of the servo motor is obtained, the mechanical lock is opened, and the process of converting the load force from the locking device to the servo motor is completed. As one embodiment of the invention, the electric hoisting device heavy load zero speed starting control method opens the mechanical lock by driving the mechanical locking device.
Further, after the mechanical lock is opened, whether the driving controller receives an operation instruction of the electric lifting cylinder is judged, and if the driving controller receives the operation instruction of the electric lifting cylinder, the electric lifting cylinder is started according to the operation instruction of the electric lifting cylinder to complete the heavy-load zero-speed starting control of the electric lifting device; and if the driving controller does not receive the running instruction of the electric lifting cylinder, returning to judge whether the control period timer is in a clock interrupt state or not until the driving controller receives the running instruction of the electric lifting cylinder.
The invention discloses a control method for the heavy-load zero-speed starting of an electric hoisting device, which is used for estimating a gravity component load at the starting moment in real time through horizontal angle information from a servo control angle, converting the load into a current input of a servo motor for current loop calculation, and locking rotor position information in the current loop calculation process of the motor, thereby realizing the direct-current constant driving of the motor, generating a fixed-axis fixed-torque output torque and achieving the stable control effect of quickly establishing the current at the starting moment. Because the initial rotor position is locked in the first control period, the direct current component of each fixed shaft is generated, the amplitude of the direct current component of each fixed shaft is matched with the required starting torque of the servo motor acquired in real time, and the servo motor is ensured to be capable of generating output torque covering the current angle position and the load. After the motor torque is established, the mechanical locking device is opened, so that the problem of instant load drop caused by slow torque establishment can be avoided, the problem of stable control under a heavy-load starting working condition is effectively solved, the stability and robustness of a control system are improved, and the high reliability and safety of the system are ensured.
Compared with the prior art, the control method for the heavy-load zero-speed starting of the electric hoisting device has the following outstanding advantages:
(1) the invention can realize the stable control effect at the moment of heavy load starting without a position sensing device and has the outstanding advantages of high reliability and low cost.
(2) The invention estimates the load magnitude at the starting moment by utilizing a horizontal angle meter in the device, and the load magnitude is used as the control basis of the current loop, thereby meeting the stable control requirement of the starting moment at any angle and under any load working condition.
(3) According to the invention, a position locking strategy is calculated by a starting instant current loop, so that the stable output characteristic of fixed axis and fixed torque is realized, meanwhile, the frequency reduction processing is carried out on the pulse width modulation signal, the heating loss of a system switch is reduced, and the high-reliability and high-safety heavy-load starting effect is realized.
In summary, the invention provides a control method for heavy-load zero-speed starting of an electric hoisting device, which starts from a servo control angle, sequentially acquires angle information, calculates thrust requirements of an electric jacking cylinder and calculates output of fixed-axis torque of a servo motor in a single control period, and opens a mechanical lock after the torque of the servo motor is established so as to complete conversion of load force from a locking device to the servo motor. The control method for the heavy-load zero-speed starting can realize the stable control at the moment of heavy-load starting, and has the advantages of high reliability and low cost. Compared with the prior art, the technical scheme of the invention can solve the technical problem that the electric hoisting device in the prior art cannot be stably controlled at the moment of heavy-load zero-speed starting.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A heavy-load zero-speed starting control method for an electric hoisting device is characterized by comprising the following steps:
the driving controller starts a control period timer after receiving a starting instruction of the electric jacking cylinder;
judging whether the control period timer is in a clock interrupt state, if the control period timer is not in the clock interrupt state, keeping a waiting state and returning to judge whether the control period timer is in the clock interrupt state until the control period timer is in the clock interrupt state; if the control period timer is in a clock interrupt state, acquiring the angle of the load bracket relative to the horizontal plane at the current moment;
acquiring a thrust requirement value of the electric lifting cylinder according to the angle of the load bracket at the current moment relative to the horizontal plane;
collecting an initial rotor position;
acquiring the driving current amplitude of a servo motor according to the thrust requirement value of the electric lifting cylinder;
taking the amplitude of the servo motor driving current as a current loop control current input instruction, taking the initial rotor position and the frequency of the pulse width modulation signal after frequency reduction as input, adopting a vector control strategy of Id being 0, performing current loop control resolving on the q-axis current, and driving a servo motor to generate a dead axle output torque;
opening the mechanical lock;
judging whether the driving controller receives an operation instruction of an electric lifting cylinder, if so, carrying out the starting operation of the electric lifting cylinder according to the operation instruction of the electric lifting cylinder to complete the heavy-load zero-speed starting control of the electric lifting device; and if the driving controller does not receive the operation instruction of the electric lifting cylinder, returning to judge whether the control period timer is in a clock interrupt state or not until the driving controller receives the operation instruction of the electric lifting cylinder.
2. The electric hoist heavy-load zero-speed start control method of claim 1, wherein the electric hoist heavy-load zero-speed start control method is according to FL＝FlX α obtains the thrust requirement value of the electric lift cylinder, wherein FLA thrust requirement value for the electric jacking cylinder; alpha is an equivalent coefficient, and the equivalent coefficient alpha is related to a theoretical solving error and a safety coefficient; flThe theoretical thrust value of the electric lifting cylinder is,
F1the first hinge at the joint of the electric lifting cylinder and the load bracket is subjected to the component force of the electric lifting cylinder, which is perpendicular to the load bracket, F2For the first hinge to be subjected to a force component of the electric jacking cylinder parallel to the load carrier, F1And F2According to
Obtaining, F3For the second hinge at the connection of the load carrier and the vehicle chassis to receive a component force of the vehicle chassis perpendicular to the load carrier, F4The component force of the second hinge, which is parallel to the load bracket, of the vehicle-mounted chassis, G is the equivalent gravity of the load bracket and the whole load, theta is the angle of the load bracket relative to the horizontal plane at the current moment, and l is the distance between the first hinge and the second hinge along the direction of the load bracket,h is the distance of the centre of mass of the load carrier and load unit from the second hinge in the direction of the load carrier.
3. The electric hoist heavy-load zero-speed start control method according to claim 2, wherein the electric hoist heavy-load zero-speed start control method is based on
Obtaining the amplitude of the drive current of the servo motor, wherein IampFor the servo motor drive current amplitude, T is the servo motor required starting torque, KTThe torque coefficient of the servo motor is shown, eta is the comprehensive transmission efficiency of a screw rod and a speed reducer in the electric lifting cylinder, and gamma is the comprehensive reduction ratio of the screw rod and the speed reducer in the electric lifting cylinder.
4. The method for controlling the heavy-load zero-speed start of the electric hoisting device according to any one of claims 1 to 3, wherein the current loop control solution is performed on the q-axis current, and the driving of the servo motor to generate the fixed-axis output torque specifically comprises:
taking the servo motor driving current amplitude as a current loop control current input instruction, taking the current of an actual servo motor as feedback, and obtaining a current tracking error according to the servo motor driving current amplitude and the current of the actual servo motor;
inputting the current tracking error into a current loop controller to be calculated to obtain a current output control quantity;
the current output control quantity is combined with the initial rotor position through a coordinate transformation module to obtain direct current components of each phase fixed shaft;
and the direct current component of each fixed axis passes through the space vector pulse width modulation module and combines with the frequency of the pulse width modulation signal after frequency reduction, the pulse width modulation signal waveform is transmitted to the power module end, and the servo motor is driven to generate fixed axis output torque.
5. The electric hoist heavy-load stall-start control method according to claim 1, characterized in that after acquiring a thrust demand value of an electric hoist cylinder, the electric hoist heavy-load stall-start control method further comprises: judging whether the initial rotor position is acquired or not, if so, not repeating the acquisition of the initial rotor position, and directly executing the acquisition of the driving current amplitude of the servo motor in the next step; and if the initial rotor position is not acquired, acquiring the initial rotor position.
6. The electric hoist heavy-load zero-speed start control method according to any one of claims 1 to 5, characterized in that before starting the control cycle timer after the drive controller receives the electric jack start command, the electric hoist heavy-load zero-speed start control method further comprises: judging whether the driving controller receives a starting instruction of the electric lifting cylinder, if the driving controller does not receive the starting instruction of the electric lifting cylinder, keeping the driving controller in a standby monitoring state, and returning to judge whether the driving controller receives the starting instruction of the electric lifting cylinder until the driving controller receives the starting instruction of the electric lifting cylinder; and if the driving controller receives a starting instruction of the electric jacking cylinder, starting a control period timer.
7. The electric hoist heavy-load zero-speed start control method according to claim 1, wherein the electric hoist heavy-load zero-speed start control method restores the pulse width modulation signal frequency from a down-conversion state to a normal state after the drive controller receives an electric hoist cylinder operation instruction.
8. The electric hoist heavy-load zero-speed start control method according to claim 1, wherein the electric hoist heavy-load zero-speed start control method acquires an angle of the load bearer with respect to a horizontal plane at a present time using a horizontal angle sensor provided on the load bearer.
9. The electric hoist heavy-load zero-speed start control method according to claim 1, wherein the electric hoist heavy-load zero-speed start control method opens the mechanical lock by driving a mechanical locking device.
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