CN113756385A - Winch follow-up control method - Google Patents
Winch follow-up control method Download PDFInfo
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- CN113756385A CN113756385A CN202111074567.XA CN202111074567A CN113756385A CN 113756385 A CN113756385 A CN 113756385A CN 202111074567 A CN202111074567 A CN 202111074567A CN 113756385 A CN113756385 A CN 113756385A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/02—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches
- E02F5/08—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches with digging wheels turning round an axis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/18—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/18—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
- E02F3/22—Component parts
- E02F3/26—Safety or control devices
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/02—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches
- E02F5/14—Component parts for trench excavators, e.g. indicating devices travelling gear chassis, supports, skids
- E02F5/145—Component parts for trench excavators, e.g. indicating devices travelling gear chassis, supports, skids control and indicating devices
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention relates to the technical field of engineering machinery, in particular to a winch follow-up control method. The winch follow-up control method comprises the steps of S1, starting up, and operating a follow-up switching key; s2, obtaining a tension measured value of the winch, and judging whether the tension measured value meets a follow-up condition; s3, if yes, entering a follow-up effective mode; and S4, if the measured value is not satisfied, acquiring a lifting current and a back pressure current according to the tension threshold value and the tension measured value of the opening winch, and then respectively acting the lifting current and the back pressure current on the lifting electromagnetic valve and the back pressure overflow valve for a first preset time to execute S2-S4. The winch follow-up control method provided by the invention has the advantages of high winch follow-up switching intelligent degree, few and simple manual operation steps and high winch follow-up control precision.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a winch follow-up control method.
Background
The double-wheel slot milling machine is special equipment for underground diaphragm wall construction, and has the advantages of high slot forming construction efficiency, high slot forming precision, regular hole shape, safety, environmental protection, wide range of stratum geology adaptation and the like.
The prior double-wheel slot milling machine is in a follow-up invalid mode by default after being started, and firstly needs manual operation to control a mud pipe winch and an oil pipe winch to tension on the premise that the double-wheel slot milling machine needs to enter the follow-up valid mode and then works, when the working pressure of the mud pipe winch and the oil pipe winch reaches a set value, an indicator lamp turns green, and a follow-up valid key can be switched to enter the follow-up valid mode. After the construction is finished and the follow-up invalid mode is switched, the tension force is released by manually operating the mud pipe winch and the oil pipe winch again. Winch follow-up switching intelligent degree is low, and the operating procedure is complicated, and manual operation's precision is lower.
Disclosure of Invention
Therefore, the technical problem to be solved by the present invention is to overcome the defects of low intellectualization degree and complex operation steps of winch follow-up switching in the prior art, so as to provide a winch follow-up control method with high intellectualization degree.
In order to solve the above problems, the present invention provides a winch follow-up control method, including:
s1, starting up, and operating a follow-up switching key;
s2, obtaining a tension measured value of the winch, and judging whether the tension measured value meets a follow-up condition;
s3, if yes, entering a follow-up effective mode;
and S4, if the measured value is not satisfied, acquiring a lifting current and a back pressure current according to the tension threshold value and the tension measured value of the opening winch, and then respectively acting the lifting current and the back pressure current on the lifting electromagnetic valve and the back pressure overflow valve for a first preset time to execute S2-S4.
According to the winch follow-up control method provided by the invention, the winch comprises the mud pipe winch and the oil pipe winch, and when the tension measured values of the mud pipe winch and the oil pipe winch meet follow-up conditions, the winch enters a follow-up effective mode.
The winch follow-up control method provided by the invention comprises the following steps of judging whether a tension measured value meets a follow-up condition or not:
s21, judging whether the tension measured value is larger than or equal to a tension threshold value;
s22, if yes, a follow-up condition is met;
and S23, if not, the follow-up condition is not satisfied.
According to the winch follow-up control method provided by the invention, the winch is connected with the tool rest through the pipeline assembly, the tool is arranged on the tool rest, the buoyancy force borne by the tool rest can be obtained through the current depth information of the tool, and the tension force threshold value is calculated according to the gravity and the buoyancy force of the tool rest.
The winch follow-up control method provided by the invention comprises the following steps of:
s411, acquiring a difference value between a tension threshold value and a tension measured value;
and S412, calculating the lifting current according to the difference value and a preset algorithm.
The invention provides a winch follow-up control method, which comprises the following steps of:
s421, acquiring a difference value between a tension threshold value and a tension measured value;
s422, calculating a compensation current according to the difference and a preset algorithm;
and S423, acquiring a sum of the compensation current and the base current of the back pressure relief valve, wherein the sum is the back pressure current.
According to the winch follow-up control method, the first preset time is kept between 4s and 6 s.
According to the winch follow-up control method provided by the invention, the follow-up effective mode comprises a follow-up lifting mode and a follow-up lowering mode; in the servo lifting mode, the lifting electromagnetic valve is electrified, the lowering electromagnetic valve is not electrified, and the back pressure overflow valve is continuously electrified; in the follow-up lowering mode, the upward lifting electromagnetic valve and the lowering electromagnetic valve are both powered off, and the back pressure overflow valve is continuously powered on.
The winch follow-up control method provided by the invention further comprises the following steps:
s5, operating the follow-up switch key again;
s6, acquiring a preset current and a lowering current, acting the preset current on the backpressure overflow valve, and acting the lowering current on a lowering solenoid valve of the winch for a second preset time; a follow-up invalidation mode is entered.
According to the winch follow-up control method, the second preset time is kept between 1.5s and 2.5 s.
The invention has the following advantages:
1. the winch follow-up control method provided by the invention is characterized in that a follow-up switching key is operated, a follow-up effective mode is triggered, then the tensioning force of the winch is automatically measured, whether the measured value of the tensioning force meets a follow-up condition or not is judged, if the measured value of the tensioning force meets the follow-up condition, the winch automatically enters the follow-up effective mode, if the measured value of the tensioning force does not meet the follow-up condition, the winch is automatically tensioned according to the difference value between the measured value of the tensioning force and the threshold value of the tensioning force, whether the measured value of the tensioning force meets the follow-up condition or not is automatically judged in the tensioning process, and the winch automatically enters the follow-up effective mode until the follow-up condition is met. The winch follow-up switching intelligent degree is high, the manual operation steps are few and simple, and the winch follow-up control precision is high.
2. According to the winch follow-up control method provided by the invention, the winch comprises the mud pipe winch and the oil pipe winch, and when the tension measured values of the mud pipe winch and the oil pipe winch meet follow-up conditions, the winch enters a follow-up effective mode. The mud pipe capstan winch passes through the mud pipe and is connected with the knife rest, and the oil pipe capstan winch passes through oil pipe and is connected with the knife rest, when mud pipe capstan winch and oil pipe capstan winch all satisfied the follow-up condition, just get into the follow-up effective mode, guarantee the knife rest atress balanced, prevent the knife rest slope.
3. According to the winch follow-up control method provided by the invention, when the follow-up mode is valid, the follow-up switching key is operated again, and after the follow-up invalid mode is triggered, the back pressure overflow valve and the lower electromagnetic valve are controlled to automatically remove the tension force of the winch, so that the winch enters the follow-up invalid mode. The winch follow-up switching intelligent degree is high, the manual operation steps are few and simple, and the winch follow-up control precision is high.
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 shows a first schematic diagram of a winch follow-up control method;
FIG. 2 is a schematic diagram showing the steps of determining whether a tension measurement satisfies a follow-up condition;
FIG. 3 shows a schematic diagram of a method of obtaining a pull-up current;
FIG. 4 shows a schematic diagram of a method of deriving backpressure current;
FIG. 5 shows a second schematic of the winch follow-up control method;
fig. 6 shows a partial schematic view of the winch follower control.
Description of reference numerals:
1. a mud pipe; 2. a first sensor; 3. an oil pipe; 4. a second sensor; 5. a knife rest.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood 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 the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1 to 6, the present embodiment discloses a winch following control method, including:
s1, starting up, and operating a follow-up switching key;
s2, obtaining a tension measured value of the winch, and judging whether the tension measured value meets a follow-up condition;
s3, if yes, entering a follow-up effective mode;
and S4, if the measured value is not satisfied, acquiring a lifting current and a back pressure current according to the tension threshold value and the tension measured value of the opening winch, and then respectively acting the lifting current and the back pressure current on the lifting electromagnetic valve and the back pressure overflow valve for a first preset time to execute S2-S4.
In this embodiment, after the follow-up switching key is operated and the follow-up valid mode is triggered, the tension of the winch is automatically measured, whether the tension measured value meets the follow-up condition is judged, if yes, the winch is automatically tensioned according to the difference between the tension measured value and the tension threshold value, whether the tension measured value meets the follow-up condition is automatically judged in the tensioning process, and the winch is automatically tensioned until the follow-up condition is met. The winch follow-up switching intelligent degree is high, the manual operation steps are few and simple, and the winch follow-up control precision is high.
In the winch follow-up control method in the present embodiment, the first preset time is kept between 4s and 6 s. In one implementation mode of the embodiment, the lifting current and the back pressure current respectively act on the lifting electromagnetic valve and the back pressure overflow valve for 4S, so that the tension measurement value can generally meet the follow-up condition without performing judgment cycle for multiple times; in another embodiment of the embodiment, the lifting current and the backpressure current respectively act on the lifting electromagnetic valve and the backpressure overflow valve for 6S, so that the tension measurement value generally meets the follow-up condition without performing judgment cycle for multiple times; in a preferred embodiment of the present embodiment, the upward lifting current and the back pressure current are applied to the upward lifting solenoid valve and the back pressure relief valve 5S, respectively.
As shown in fig. 6, the present disclosure further provides a winch follow-up control device, which includes a follow-up switching button, a winch, a back pressure overflow valve, a lift solenoid valve, a pipeline assembly, a tension sensor, and a controller, wherein the back pressure overflow valve is connected in parallel with a motor of the winch; the tension sensor is arranged on the pipeline assembly; the controller is in communication connection with the follow-up switching key, the winch, the back pressure overflow valve, the lifting electromagnetic valve and the tension sensor respectively, and the controller is used for executing the methods from step S1 to step S4. The tension sensor is used for measuring a tension measured value, is arranged on the pipeline assembly, directly measures the tension of the pipeline assembly, and is accurate in measurement result without calculation with other parameters. The back pressure overflow valve is connected with a motor of the winch in parallel, the voltage of the back pressure overflow valve is the same as that of the motor, the working current of the back pressure overflow valve is changed, the working voltage of the back pressure overflow valve and the working voltage of the motor can be changed, the torque of the motor can be changed through changing the working voltage of the motor, and the working tension of the winch can be changed. Communication connection in this embodiment includes through conducting structure wired connection such as wire, through network wireless connection such as 2G, 3G, 4G and WIFI.
In this embodiment, the winch includes a mud pipe winch and an oil pipe winch, and the follow-up effective mode is entered when the tension measurement values of the mud pipe winch and the oil pipe winch both satisfy the follow-up condition. The mud pipe capstan winch passes through mud pipe 1 and is connected with knife rest 5, and the oil pipe capstan winch passes through oil pipe 3 and is connected with knife rest 5, when mud pipe capstan winch and oil pipe capstan winch all satisfied the follow-up condition, just get into the follow-up effective mode, guarantee that knife rest 5 atress is balanced, prevent 5 slopes of knife rest.
In a specific embodiment, one end of the mud pipe 1 is connected with a mud pipe winch, and the other end is connected with one side of the tool rest 5; one end of the oil pipe 3 is connected with the oil pipe winch, and the other end of the oil pipe is connected with the other side of the tool rest 5; the measured value of the tension of the mud pipe winch is the same as that of the oil pipe winch, so that the balance of the tension on the two sides of the tool rest 5 is guaranteed, and the tool rest 5 is prevented from inclining. The tension sensor is arranged at the joint of the pipeline assembly and the tool rest 5. The pulling force that the force sensor surveyed is more accurate, can not receive the influence of other pressures.
The back pressure overflow valve comprises a first back pressure overflow valve connected with a motor of the mud pipe winch in parallel and a second back pressure overflow valve connected with the motor of the oil pipe winch in parallel; the lifting electromagnetic valve comprises a first lifting electromagnetic valve connected with the mud pipe winch and a second lifting electromagnetic valve connected with the oil pipe winch; the tension sensor comprises a first sensor 2 arranged at the connection of the mud pipe 1 and the tool holder 5, and at least one second sensor 4 arranged at the connection of the oil pipe 3 and the tool holder 5. The mud pipe winch is connected with the mud pipe 1 and applies different tension forces to the mud pipe 1; the tubing winch is connected to the tubing 3 and applies different tensioning forces to the tubing 3. The mud pipe winch adjusts the working pressure through the first backpressure overflow valve, and the oil pipe winch adjusts the working pressure through the second backpressure overflow valve, so that the mud pipe winch and the oil pipe winch are respectively controlled. The mud pipe 1 and the oil pipe 3 are respectively connected with two sides of the tool rest 5, and the same pulling force is applied to the tool rest 5, so that the tool rest 5 is prevented from inclining, and the tool rest 5 is prevented from being stressed unevenly. In a preferred embodiment, two second sensors 4 are provided at the connection of the oil pipe 3 and the tool rest 5, and the two second sensors 4 are symmetrically arranged. The winch follow-up control device in the embodiment further comprises a lowering electromagnetic valve, is connected with the winch and is suitable for controlling the lowering electromagnetic valve. The lowering solenoid valve is adapted to control the winch to unload the tensioning force. The unlocking oil cylinder comprises a first unlocking oil cylinder matched with the mud pipe winch and a second unlocking oil cylinder matched with the oil pipe winch; the unlocking electromagnetic valve comprises a first unlocking electromagnetic valve communicated with the first unlocking oil cylinder and a second unlocking electromagnetic valve communicated with the second unlocking oil cylinder.
In the winch follow-up control method according to this embodiment, as shown in fig. 2, the step of determining whether the measured value of the tension force satisfies the follow-up condition includes:
s21, judging whether the tension measured value is larger than or equal to a tension threshold value;
s22, if yes, a follow-up condition is met;
and S23, if not, the follow-up condition is not satisfied.
The controller of the winch follow-up control device automatically judges the tension measured value and the tension threshold according to the method, the judgment result is accurate, manual operation and manual judgment are not needed, and the operation is accurate.
In the winch follow-up control method, the winch is connected with the tool rest 5 through the pipeline assembly, the tool is arranged on the tool rest 5, the buoyancy force applied to the tool rest can be obtained through the current depth information of the tool, and the tensioning force threshold value is calculated according to the gravity force and the buoyancy force applied to the tool rest. The current depth information of the cutter is the depth of the cutter penetrating into the slurry when the cutter is started to work, the buoyancy and the like of the winch can be obtained according to the depth information, the tensioning force threshold value obtained according to the information of the buoyancy, the gravity and the like is more suitable for the current actual information, and the method is suitable for winch follow-up control when the cutter is restarted in the slurry.
In the winch follow-up control method of the present embodiment, as shown in fig. 3, the method for obtaining the uplifting current includes:
s411, acquiring a difference value between a tension threshold value and a tension measured value;
and S412, calculating the lifting current according to the difference value and a preset algorithm. In this step, the lifting current can be calculated by using algorithms such as a PID (proportion integration differentiation) regulation algorithm and the like. The lifting electromagnetic valve works by lifting current to apply lifting tension force to the winch.
In the winch follow-up control method according to the present embodiment, as shown in fig. 4, the method of obtaining the back pressure current includes:
s421, acquiring a difference value between a tension threshold value and a tension measured value;
s422, calculating a compensation current according to the difference and a preset algorithm;
and S423, acquiring a sum of the compensation current and the base current of the back pressure relief valve, wherein the sum is the back pressure current. In the step, the current lifting can be calculated by adopting algorithms such as a PID (proportion integration differentiation) adjusting algorithm and the like, and the specific algorithm can be selected according to actual needs.
In the winch follow-up control method of the embodiment, a follow-up effective mode is a follow-up lifting mode and a follow-up lowering mode; in the servo lifting mode, the lifting electromagnetic valve is electrified, the lowering electromagnetic valve is not electrified, the back pressure overflow valve is continuously electrified, and the current of the back pressure overflow valve is related to the depth of the cutter. In the follow-up lifting mode, pressure is applied to a pipeline assembly connected with the winch through a lifting electromagnetic valve and a back pressure overflow valve, so that the tensioning force of the winch is kept unchanged. In the follow-up lowering mode, the upward electromagnetic valve and the downward electromagnetic valve are both powered off, the back pressure overflow valve is continuously powered on, and the current of the back pressure overflow valve is related to the depth of the cutter. In the follow-up lowering mode, pressure is only required to be applied to a pipeline assembly connected with the winch through the backpressure overflow valve, so that the tensioning force of the winch is kept unchanged.
In the winch follow-up control method according to this embodiment, the method further includes:
s5, operating the follow-up switch key again;
s6, acquiring a preset current and a lowering current, acting the preset current on the backpressure overflow valve, and acting the lowering current on a lowering solenoid valve of the winch for a second preset time; a follow-up invalidation mode is entered.
And when the follow-up invalid mode is triggered, the back pressure overflow valve and the lowering electromagnetic valve are controlled to automatically remove the tension force of the winch, and the follow-up invalid mode is entered. The winch follow-up switching intelligent degree is high, the manual operation steps are few and simple, and the winch follow-up control precision is high. In a specific embodiment, the preset current is a higher current value, and the maximum current of the back pressure overflow valve is preferred so as to unload the tensioning force of the winch as soon as possible.
In the winch follow-up control method of the present embodiment, the second preset time is maintained between 1.5s and 2.5 s. In one implementation of the embodiment, the lowering current acts on the lowering solenoid valve for 1.5S, so that the tension is generally relieved to enter a follow-up ineffective mode; in another embodiment of this embodiment, the lowering current acts on the lowering solenoid valve for 2.5S, which generally releases the tension to enter the follow-up disabling mode; in a preferred embodiment of the present embodiment, a discharging current is applied to the discharging solenoid valve 2S.
In this embodiment, a double-wheel slot milling machine is further provided, which includes the above-mentioned winch following device, and is configured to perform steps S1 to S6.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (10)
1. A winch follow-up control method, comprising:
s1, starting up, and operating a follow-up switching key;
s2, obtaining a tension measured value of the winch, and judging whether the tension measured value meets a follow-up condition;
s3, if yes, entering a follow-up effective mode;
s4, if the measured value does not meet the requirements, obtaining a lifting current and a back pressure current according to a tension threshold value for opening the winch and the tension measured value, then respectively acting the lifting current and the back pressure current on a lifting electromagnetic valve and a back pressure overflow valve for a first preset time, and executing S2-S4.
2. The winch follow-up control method according to claim 1, wherein the winches include a mud pipe winch and an oil pipe winch, and the follow-up active mode is entered when the tension measurement values of the mud pipe winch and the oil pipe winch both satisfy the follow-up condition.
3. The winch follow-up control method according to claim 1 or 2, wherein the step of determining whether the tension measurement value satisfies a follow-up condition includes:
s21, judging whether the tension measured value is larger than or equal to the tension threshold value;
s22, if yes, the follow-up condition is met;
and S23, if not, the follow-up condition is not satisfied.
4. The winch follow-up control method according to claim 1 or 2, wherein the winch is connected to a tool rest through a pipeline assembly, the tool rest is provided with a tool, the buoyancy force applied to the tool rest can be obtained through the current depth information of the tool, and the tension threshold value is calculated according to the gravity force and the buoyancy force of the tool rest.
5. The winch follow-up control method according to claim 4, wherein the method of obtaining the uplift current comprises:
s411, acquiring a difference value between the tension threshold value and the tension measured value;
and S412, calculating the lifting current according to the difference value and a preset algorithm.
6. The winch follow-up control method according to claim 4, wherein the method of obtaining the back pressure current includes:
s421, acquiring a difference value between the tension threshold value and the tension measured value;
s422, calculating a compensation current according to the difference and a preset algorithm;
and S423, acquiring a sum of the compensation current and a base current of the back pressure relief valve, wherein the sum is the back pressure current.
7. Winch-follow control method according to any of claims 1-2, 5-6, characterised in that the first preset time is kept between 4s and 6 s.
8. Winch follow-up control method according to any of claims 1-2, 5-6, characterised in that the follow-up active mode comprises a follow-up mode and a follow-up down mode; in the servo lifting mode, the lifting electromagnetic valve is electrified, the lowering electromagnetic valve is not electrified, and the back pressure overflow valve is continuously electrified; in the follow-up lowering mode, the upward lifting electromagnetic valve and the lowering electromagnetic valve are both powered off, and the back pressure overflow valve is continuously powered on.
9. The winch follow-up control method according to any one of claims 1 to 2 and 5 to 6, further comprising:
s5, operating the follow-up switch key again;
s6, acquiring a preset current and a lowering current, acting the preset current on the backpressure overflow valve, and acting the lowering current on a lowering electromagnetic valve of a winch for a second preset time; a follow-up invalidation mode is entered.
10. Winch-follow control method according to claim 9, characterised in that the second preset time is kept between 1.5s and 2.5 s.
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| CN109162312A (en) * | 2018-09-28 | 2019-01-08 | 徐州徐工基础工程机械有限公司 | A kind of capstan winch torque self-adjusting system, method and diaphragm wall hydraulic chute forming machine |
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| CN114620631A (en) * | 2022-05-12 | 2022-06-14 | 徐州徐工基础工程机械有限公司 | Steel wire rope protection control system and method for rotary drilling rig |
| CN114620631B (en) * | 2022-05-12 | 2022-07-22 | 徐州徐工基础工程机械有限公司 | Steel wire rope protection control system and method for rotary drilling rig |
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