CN114069961B - Driving power assisting device of outer rotor motor - Google Patents
Driving power assisting device of outer rotor motor Download PDFInfo
- Publication number
- CN114069961B CN114069961B CN202111576590.9A CN202111576590A CN114069961B CN 114069961 B CN114069961 B CN 114069961B CN 202111576590 A CN202111576590 A CN 202111576590A CN 114069961 B CN114069961 B CN 114069961B
- Authority
- CN
- China
- Prior art keywords
- traction
- rotor motor
- cable
- load
- outer rotor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 238000005096 rolling process Methods 0.000 claims description 10
- 230000009191 jumping Effects 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 abstract description 10
- 230000008859 change Effects 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 5
- 230000010354 integration Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 3
- 238000009530 blood pressure measurement Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000000386 athletic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002902 bimodal effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62B—DEVICES, APPARATUS OR METHODS FOR LIFE-SAVING
- A62B35/00—Safety belts or body harnesses; Similar equipment for limiting displacement of the human body, especially in case of sudden changes of motion
- A62B35/0006—Harnesses; Accessories therefor
- A62B35/0025—Details and accessories
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/33—Drive circuits, e.g. power electronics
-
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/20—Controlling the acceleration or deceleration
-
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/24—Controlling the direction, e.g. clockwise or counterclockwise
-
- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
-
- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
- H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses an external rotor motor driving power assisting device. The invention aims to solve the technical problems that the labor-saving mechanism of the existing moving protective belt is complex, the working stroke is limited, and the quick working condition change cannot be adapted. The device comprises a cable, a traction wheel pressure sensor, a load wheel pressure sensor, a traction wheel rotating speed sensor, a load wheel rotating speed sensor, an outer rotor motor, a controller and the like; the controller is electrically connected with the pressure sensors and the rotating speed sensors, and controls the rotating speed and the output torque of the outer rotor motor through a real-time control algorithm, so that the force assisting effect on the pull force of the mooring rope is realized. The invention can keep the traction stroke unchanged while obtaining the labor-saving effect, has compact structure and high integration level, can be self-adapted to different driving friction conditions, and can keep normal work under the working condition of rapid change.
Description
Technical Field
The invention relates to the technical field of hoisting equipment, in particular to an outer rotor motor driving power assisting device.
Background
In the athletic training community, protective belts are used in the training of many sporting events, such as diving, gymnastics, trampolines, rock climbing, and the like. A protective belt is a commonly used sports protection device, one end of which is tied to the body of the athlete and the other end is held by a coach. The coach can control the protective belt, so that the safety of the athlete can be protected, the rotating speed of the athlete in the air can be changed, the dead time of the athlete can be prolonged, and the athlete can be helped to finish the air skill. Not only is the pulling of a protective belt a heavy physical effort, but the body to be pulled is absolutely much larger than the person being pulled. These limiting factors result in many female and old coaches not being able to harness the protective belt.
At present, an electric power-assisted protection belt adopting a multi-circle threaded rope reel structure exists in the market, and a motor is used as a supplementary power source of manpower. This product is on the middle section winding that will protect the rope is at the screw thread reel, utilizes many rings of screw threads to guarantee not taking place relative slip between reel and the rope, and then gives the reel equal proportion input power according to rope tension size, realizes the helping hand effect. The product can meet partial basic functions of the protective belt, realizes electric power assistance load reduction under the condition that the tension change is not rapid, but cannot be performed under the condition that the tension change is complex. For example, in the continuous somersault training, a coach needs to pull the athlete to keep a certain height in the air through a protective belt and continuously tumble, the pulling force of the coach is changed with time in a sine wave type periodic manner, the period duration is the same as the time (less than 0.5 second) when the athlete tumbles for one circle, and the amplitude is close to the weight of the athlete. In order to adapt to the situation of rapid change of the pulling force, the power assisting system is required to 1) reduce the rotational inertia of a transmission structure as much as possible, or 2) allow the rope and the rope disc to slide relatively, and 3) the working stroke of the rope is not limited by the system structure. In order to realize 2) and 3), 4) a system is needed to detect the release and relative sliding of the rope from the rope disc and implement a corresponding control strategy to ensure the continuity of the work and reduce the wear. These functional requirements are not fulfilled in constructions using multi-turn threaded reels.
Disclosure of Invention
The invention aims to provide an outer rotor motor driving power assisting device to solve the technical problem that an existing threaded power assisting protective belt cannot adapt to a rapidly changing working condition.
The invention provides a novel power-assisted protective belt adopting a single-loop rope reel and self-adaptive control, which innovates a multi-loop thread rope reel product from the basic working principle level and adds a bimodal control algorithm aiming at the torque and the rotating speed of a motor. The new control algorithm recognizes the inevitable existence of a small tension state of the rope, and when the tension of the rope is small, the rope and the rope disc are inevitably separated and slide relatively. The design idea of the invention is not to avoid, but to actively adapt to the occurrence of such a condition. When the rope disc is separated, the system changes the motor into a speed control mode instead of adopting a moment control mode, so that the speeds of the rope disc and the rope are as close as possible, thereby reducing the abrasion as possible on one hand, and on the other hand, the system can immediately recover the normal working state when the tension of the rope is increased.
The invention overcomes the design defects of the existing products, cancels the limitation on the working stroke range of the mooring rope, and ensures that the system can still stably work when relative sliding occurs by adding a new control algorithm. Meanwhile, the control logic does not assume that the assistance coefficient is constant under any working condition, but actively detects the appropriate assistance coefficient under different cable tension conditions, so that the self-adaptive adjustment can be carried out on different rope reel friction coefficient conditions. In addition, the single-loop rope disc and the outer rotor motor are adopted, so that the transmission structure is greatly simplified, the system integration level is improved, and the production cost is reduced.
The invention adopts the following technical scheme:
the outer rotor motor driving power assisting device comprises a cable, a traction force acquisition mechanism, a load force acquisition mechanism, a traction wheel rotating speed sensor, a load wheel rotating speed sensor and an outer rotor motor; the traction force acquisition mechanism and the load force acquisition mechanism respectively acquire and calculate the internal stress tension P2 of the cable on the traction side and the internal stress tension P1 on the load side; the outer rotor motor is provided with a driving rope disc integrated with the outer rotor of the outer rotor motor, and the cable is wound on the driving rope disc; the traction wheel rotating speed sensor and the load wheel rotating speed sensor acquire and calculate the linear speed Va of the cable; the outer rotor motor is electrically connected with a controller and used for controlling the rotating speed omega and the torque M of the outer rotor motor; the control algorithm adopted by the controller comprises the following steps:
(1) under the normal working state of the outer rotor motor, setting the torque M of the outer rotor motor according to the power assisting coefficient k and the internal stress tension P2 of the cable on the traction side, wherein M = P2 k;
(2) calculating whether a speed difference | Va-Vb | between the linear speed Va of the cable and the linear speed Vb of the drive sheave exceeds a speed difference threshold dV; wherein the linear speed Vb = ω R of the drive rope disc, ω being the rotation speed of the outer rotor motor, R being the radius of the drive rope disc;
(3) calculating whether the internal tension P1 of the cable on the load side is less than a minimum tension threshold dP;
(4) calculating whether the internal tension P2 of the cable on the traction side is less than a minimum tension threshold value dP;
(5) if any one of the steps (2), (3) and (4) is true, judging that the cable is separated from the driving rope disc;
(6) when the cable is separated, judging whether the cable is loosened or not;
(7) immediately limiting the rotation speed omega of the outer rotor motor if the cable is loose, so that omega = Va/R, wherein Va is the linear speed of the cable, and R is the radius of the driving rope disc;
(8) otherwise, the torque M of the outer rotor motor is too large, and the power assisting coefficient k is reduced;
(9) repeatedly recording proper assistance coefficients k of various different cables under the condition of internal stress tension P2 at the traction end through the algorithm, and fitting a relation curve of the assistance coefficients k to the internal stress tension P2 at the traction end of the cables;
(10) returning to the step (1), but the power assisting coefficient k is required to be lower than the critical value which can be obtained by the fitted curve in the step (9) and can enable the driving rope disc to be disengaged.
Preferably, the traction force acquisition mechanism comprises a traction fixed pulley and a traction pressure sensor, and the load force acquisition mechanism comprises a load fixed pulley and a load pressure sensor; one end of the cable is wound on the traction fixed pulley, the other end of the cable is wound on the load fixed pulley, the traction pressure sensor and the load pressure sensor are used for collecting the pressure of the cable on the traction fixed pulley and the load fixed pulley respectively, and then the internal stress tension P2 of the cable on the traction side and the internal stress tension P1 of the cable on the load side are calculated.
Preferably, the traction wheel rotation speed sensor acquires the rotation speed ω 1 of the traction fixed pulley, and the load wheel rotation speed sensor acquires the rotation speed ω 2 of the load fixed pulley; calculating a linear velocity V1= ω 1 × r1 of the traction fixed sheave and a linear velocity V2= ω 2 × r2 of the load fixed sheave, wherein r1 is a radius of the traction fixed sheave and r2 is a radius of the load fixed sheave; the linear velocity Va = (V1 + V2)/2 = (ω 1 × r1+ ω 2 × r 2)/2 of the rope.
Preferably, the controller is electrically connected with the traction pressure sensor, the load pressure sensor, the traction wheel rotating speed sensor and the load wheel rotating speed sensor, and the rotating speed omega and the torque M of the outer rotor motor are controlled through the internal stress tension of the cable at the traction end and the load end and the rotating speeds of the traction fixed pulley and the load fixed pulley.
Further, the motor drive and the encoder are included, the motor drive is electrically connected with the controller, and the controller obtains the rotating speed omega of the outer rotor motor through the encoder.
Further, the device also comprises a frame; one end of a wheel shaft of the traction fixed pulley is connected with the rack through a joint bearing, and the other end of the wheel shaft is installed on the rack through a rolling bearing; one end of a wheel shaft of the load fixed pulley is connected with the rack through a joint bearing, and the other end of the wheel shaft is installed on the rack through a rolling bearing; the outer rotor motor is provided with a motor shaft, and the outer rotor motor is fixed on the rack through the motor shaft and a bolt.
Furthermore, the anti-bouncing device also comprises an anti-bouncing shaft, wherein two ends of the anti-bouncing shaft are fixed on the rack; the anti-jumping shafts are arranged outside the traction fixed pulley and the load fixed pulley to prevent the cable from jumping out of the traction fixed pulley and the load fixed pulley.
Preferably, the controller detects an internal tension P2 of the cable on a traction side and an internal tension P1 of the cable on a load side in real time, and adjusts the magnitude and direction of the driving force of the outer rotor motor in real time.
Preferably, the controller detects a speed difference between the linear speed Va of the cable and the linear speed Vb of the drive rope reel in real time, and adjusts the magnitude and direction of the driving force of the outer rotor motor in real time.
Preferably, the real-time detected frequency of the controller is not lower than 1kHz, and the real-time adjusted frequency of the driving force of the outer rotor motor is not lower than 1 kHz.
Compared with the prior art, the invention has the beneficial technical effects that:
1. the invention relates to a device for electrically assisting a cable by using an outer rotor motor, which is driven by the outer rotor motor, ensures the speed and the assisting power and realizes the assisting power for a cable pull rope. After a certain traction force is applied to the traction end of the cable, a certain proportion of amplified traction force can be obtained at the load end, and the traction stroke is kept unchanged while the labor-saving effect is obtained.
2. The invention overcomes the design defects of the existing products, cancels the limitation on the working stroke range of the mooring rope, and ensures that the system can still stably work when relative sliding occurs by adding a new control algorithm.
3. The control logic of the invention does not assume that the assistance coefficient is constant under any working condition, but actively detects the appropriate assistance coefficient under different cable tension conditions, thereby being capable of adaptively adjusting different rope reel friction coefficient conditions.
4. The power assisting device provided by the invention has the advantages that a complex multi-circle roller mechanism is omitted, an outer rotor motor and a driving rope disc are integrally designed, a transmission mechanism is omitted, the system integration level is improved, the product structure is simple, the size is small, the weight is light, the installation is convenient, the production cost is low, and the power assisting device can be used for scenes such as rescue, transportation and the like.
Drawings
Fig. 1 is a schematic diagram of an external rotor motor driving power assisting device according to the present invention.
Fig. 2 is a schematic diagram of a tension force acquisition mechanism and a load force acquisition mechanism of the external rotor motor driving power assisting device.
Fig. 3 is a schematic diagram of an external rotor motor power assisting mechanism of an external rotor motor driving power assisting device according to the present invention.
Fig. 4 is a schematic diagram of a machine body frame of the external rotor motor driven power assisting device.
Fig. 5 is a schematic diagram of a traction fixed pulley or load fixed pulley rotation speed acquisition mechanism of the external rotor motor driving power assisting device.
In the figure, 1 is a cable, 2 is a load fixed pulley, 3 is a traction fixed pulley, 4 is a load pressure sensor, 5 is a traction pressure sensor, 6 is a controller, 7 is an outer rotor motor, 8 is a motor driver, 9 is a driving rope disc, 10 is a rolling bearing, 11 is a frame, 12 is a motor shaft, 13 is a pipeline, 14 is a joint bearing, 15 is an anti-bouncing shaft, 16 is a rotation speed sensor (a traction wheel rotation speed sensor or a load wheel rotation speed sensor), 17 is a sensor fixing seat, and 18 is a fixed pulley bearing end cover.
FIG. 6 is a block diagram of a control algorithm flow of the present invention.
In the figure, the system control amount includes: m motor output torque; the system measurements include: the output rotating speed of the omega motor, the rotating speed of the omega 1 traction fixed pulley, the rotating speed of the omega 2 load fixed pulley, the pressure measured by the N1 load pressure sensor and the pressure measured by the N2 traction pressure sensor are measured; the calculated values include: va rope linear speed, Vb rope reel linear speed, P1 rope internal stress tension on the load side (i.e. load side tension), P2 rope internal stress tension on the traction side (i.e. traction side tension), k assistance coefficient; the system structure parameters comprise: r1 traction fixed pulley radius, R2 load fixed pulley radius, R rope sheave radius; the set values include: dV reel maximum speed difference threshold, dP minimum rope tension threshold.
Detailed Description
The following examples are intended to illustrate the present invention in detail and should not be construed as limiting the scope of the present invention in any way.
Example 1: an external rotor motor driving power assisting device is shown in figures 1-6 and comprises five parts, namely a traction force acquisition mechanism, a load force acquisition mechanism, an external rotor motor power assisting mechanism, a rotating speed acquisition mechanism and a machine body frame.
The traction force acquisition mechanism comprises a traction fixed pulley 3 and a traction pressure sensor 5; the load force acquisition mechanism comprises a load fixed pulley 2 and a load pressure sensor 4. One end of a wheel shaft of the traction fixed pulley 3 is connected with the rack 11 through a joint bearing 14, the joint bearing 14 can realize the swing of the wheel shaft within a certain angle and the rotation of the wheel shaft, the other end of the wheel shaft is arranged at a groove-shaped hole in the vertical direction of the rack 11 through a rolling bearing 10 to limit the left-right swing of the wheel shaft, the up-down swing is not limited, the rolling bearing 10 is adopted to effectively reduce the resistance of the up-down swing of the wheel shaft, the accuracy of pressure measurement is ensured, and the wheel shaft at the end is vertically pressed on the traction pressure sensor 5. Similarly, one end of the wheel axle of the load fixed pulley 2 is connected with the frame 11 through a joint bearing, the other end of the wheel axle is installed on the frame 11 through a rolling bearing, and the wheel axle at one end of the rolling bearing is vertically pressed on the load pressure sensor 4. When the traction side of the cable 1 is pulled, the pressure of the wheel axle is transmitted to the traction pressure sensor 5, and the traction pressure sensor 5 can measure the change of the pressure in real time; meanwhile, the pressure acquisition of the load fixed pulley 2 adopts the same structure as that of the traction side to realize the pressure acquisition; the above two pressure measurements are fed to the controller 6 for changing the operating state of the outer rotor motor 7.
The load force acquisition mechanism comprises a load fixed pulley 2 and a load pressure sensor 4, and the load force acquisition mechanism and the traction force acquisition mechanism have the same principle.
According to the above, the controller 6 collects the measured pressure of the traction pressure sensor as N2 through the traction pressure sensor 5 and the load pressure sensor 4, the load pressure sensor measures the pressure N1, and the internal stress tension P1 of the cable on the load side and the internal stress tension P2 of the cable on the traction side can be calculated according to the angle of the mechanical structure of the system.
The pressure and the rotating speed of the traction fixed pulley 3 and the load fixed pulley are fed back to the controller 6 in real time, and the controller 6 controls the rotating speed and the torque of the outer rotor motor 7 in real time through the signals, so that the magnitude and the direction of the driving force of the outer rotor motor 7 are adjusted in real time. The controller 6 drives the power outer rotor motor 7 to work in a torque output mode. The detection frequency of the pulling force of the pulling end of the cable 1 and the updating frequency of the output torque of the outer rotor motor 7 are not lower than 1 kHz.
The rotating speed acquisition mechanism is used for acquiring the rotating speed of the traction wheel and the rotating speed of the load wheel respectively, and the principle of acquiring the rotating speed of the traction wheel is the same as that of acquiring the rotating speed of the load wheel, and comprises the following steps:
the rotating speed acquisition mechanism comprises a rotating speed sensor 16, a sensor fixing seat 17 and a fixed pulley bearing end cover 18, and the rotating speed sensor 16 is a traction wheel rotating speed sensor or a load wheel rotating speed sensor. One end of the revolution speed sensor 16 is fixed on the frame 11 through a sensor fixing seat 17, and the other end is connected to a fixed pulley bearing end cover 18. When the load fixed pulley 2 or the traction fixed pulley 3 rotates, the fixed pulley bearing end cover 18 is driven, and the other end of the rotating speed sensor 16 is fixed on the frame 11 and keeps stationary, so that the rotating angle of the sensor is acquired by the controller 6. The controller 6 collects the rotation speed of the load fixed pulley 2, the traction fixed pulley 3 and the outer rotor motor and sends out a motor control command according to the requirement of a control algorithm flow chart (figure 6).
According to the data collected by the rotation speed sensor 16, ω is the output rotation speed of the motor, ω 1 is the rotation speed of the traction fixed pulley, ω 2 is the rotation speed of the load fixed pulley, and it can be known that the linear speed of the traction fixed pulley V1, the linear speed of the load fixed pulley V2, the linear speed of the cable Va and the linear speed of the drive rope reel Vb are respectively
V1=ω1*r1；
V2=ω2*r2；
Taking the average value of the two values as the linear velocity of the cable near the cable drum: va = (V1 + V2)/2 = (ω 1 × r1+ ω 2 × r 2)/2;
rope reel linear velocity: vb = ω R;
wherein: r rope reel radius;
the outer rotor motor assisting mechanism comprises an outer rotor motor 7, a motor driver 8 and a driving rope disk 9, the surface of the outer rotor motor 7 is provided with the driving rope disk 9 integrated with an outer rotor of the outer rotor motor, a mooring rope 1 is wound on the driving rope disk 9, the outer rotor motor 7 drives the driving rope disk 9 to rotate through rotation, the friction force between the mooring rope 1 and the driving rope disk 9 is balanced, the mooring rope 1 is driven, and the assisting process is achieved. In this embodiment, the driving rope reel 9 is a single rope reel, which can effectively reduce the number of the ropes arranged side by side, and the driving rope reel 9 is subjected to anti-slip treatment to prevent the relative slip between the ropes 1 and the driving rope reel 9.
In a normal working state, the torque sent by the outer rotor motor is in a certain proportional relation with the pulling force of the cable at the traction end, under the action of the motor assistance, the frictional resistance at the positions of a winding drum rotating shaft, a load wheel shaft, a traction wheel shaft and the like is ignored, the pressure value of the traction pressure sensor 5 is N2, and the internal stress tension P2 of the cable at the traction side is calculated through the mechanical structure relation; and calculating the output torque M = P2 xk of the motor by using the power assisting coefficient k.
The machine body frame comprises screws for fixing the outer rotor motor 7, the driving rope disc 9 and the like, and connecting pieces such as a rolling bearing 10, a frame 11, a motor shaft 12, a pipeline 13 and the like, and the machine body frame is used for supporting and fixing a mechanism of the whole device. The motor shaft 12 is used for fixing the outer rotor motor 7 on the frame 11, the pipeline 13 is used for wiring, and the anti-jumping shaft 15 is used for supporting and fixing the frame and preventing the traction rope from jumping out of the fixed pulley chute.
The system control algorithm is as follows:
(1) under the normal working state of the outer rotor motor 7, setting the torque M of the outer rotor motor 7 according to the assistance coefficient k and the internal stress tension P2 of the cable 1 on the traction side, wherein M = P2 k;
(2) calculating whether a speed difference | Va-Vb | between the linear speed Va of the cable 1 and the linear speed Vb of the drive rope disc 9 exceeds a speed difference threshold dV, wherein the linear speed Vb = ω R of the drive rope disc 9, ω being the rotational speed of the outer rotor motor 7 and R being the radius of the drive rope disc 9;
(3) calculating whether the internal tension P1 of the cable 1 on the load side is less than the minimum tension threshold dP;
(4) calculating whether the internal tension P2 of the cable 1 on the traction side is less than the minimum tension threshold dP;
(5) if any one of the steps (2), (3) and (4) is true, judging that the cable 1 is separated from the driving rope disc 9;
(6) when the cable 1 is separated, judging whether the cable 1 is loosened or not;
(7) if the cable 1 is loose, immediately limiting the rotation speed omega of the outer rotor motor 7 to enable omega = Va/R, wherein Va is the linear speed of the cable 1, and R is the radius of the driving rope disc 9;
(8) otherwise, the torque M of the outer rotor motor 7 is too large, and the power assisting coefficient k is reduced;
(9) repeatedly recording proper assistance coefficients k of various different cables under the condition of internal stress tension P2 at the traction end through the algorithm, and fitting a relation curve of the assistance coefficients k to the internal stress tension P2 at the traction end of the cables;
(10) returning to the step (1), but the assistance coefficient k is required to be lower than the critical value which can be obtained by the fitted curve in the step (9) and can be used for disengaging the driving rope disk 9.
The invention is explained in detail above with reference to the drawings and the embodiments; however, it will be understood by those skilled in the art that various changes in the specific parameters of the embodiments described above may be made or equivalents may be substituted for elements thereof without departing from the scope of the present invention, so as to form a plurality of specific embodiments, which are all common variations of the present invention and will not be described in detail.
Claims (10)
1. The outer rotor motor driving power assisting device is characterized by comprising a cable, a traction force acquisition mechanism, a load force acquisition mechanism, a traction wheel rotating speed sensor, a load wheel rotating speed sensor and an outer rotor motor; the traction force acquisition mechanism and the load force acquisition mechanism respectively acquire and calculate the internal stress tension P2 of the cable on the traction side and the internal stress tension P1 on the load side; the outer rotor motor is provided with a driving rope disc integrated with the outer rotor of the outer rotor motor, and the cable is wound on the driving rope disc; the traction wheel rotating speed sensor and the load wheel rotating speed sensor acquire and calculate the linear speed Va of the cable; the outer rotor motor is electrically connected with a controller and used for controlling the rotating speed omega and the torque M of the outer rotor motor; the control algorithm adopted by the controller comprises the following steps:
(1) under the normal working state of the outer rotor motor, setting the torque M of the outer rotor motor according to the power assisting coefficient k and the internal stress tension P2 of the cable on the traction side, wherein M = P2 k;
(2) calculating whether a speed difference | Va-Vb | between the linear speed Va of the cable and the linear speed Vb of the drive sheave exceeds a speed difference threshold dV; wherein the linear speed Vb = ω R of the drive rope disc, ω being the rotation speed of the outer rotor motor, R being the radius of the drive rope disc;
(3) calculating whether the internal tension P1 of the cable on the load side is less than a minimum tension threshold dP;
(4) calculating whether the internal tension P2 of the cable on the traction side is less than a minimum tension threshold value dP;
(5) if any one of the steps (2), (3) and (4) is true, judging that the cable is separated from the driving rope disc;
(6) when the cable is separated, judging whether the cable is loosened or not;
(7) immediately limiting the rotation speed omega of the outer rotor motor if the cable is loose, so that omega = Va/R, wherein Va is the linear speed of the cable, and R is the radius of the driving rope disc;
(8) otherwise, the torque M of the outer rotor motor is too large, and the power assisting coefficient k is reduced;
(9) repeatedly recording proper assistance coefficients k of various different cables under the condition of internal stress tension P2 at the traction end through the algorithm, and fitting a relation curve of the assistance coefficients k to the internal stress tension P2 at the traction end of the cables;
(10) returning to the step (1), but the power assisting coefficient k is required to be lower than the critical value which can be obtained by the fitted curve in the step (9) and can enable the driving rope disc to be disengaged.
2. The external rotor motor drive assist device of claim 1, wherein the traction force acquisition mechanism comprises a traction fixed pulley and a traction pressure sensor, and the load force acquisition mechanism comprises a load fixed pulley and a load pressure sensor; one end of the cable is wound on the traction fixed pulley, the other end of the cable is wound on the load fixed pulley, the traction pressure sensor and the load pressure sensor are used for collecting the pressure of the cable on the traction fixed pulley and the load fixed pulley respectively, and then the internal stress tension P2 of the cable on the traction side and the internal stress tension P1 of the cable on the load side are calculated.
3. The external rotor motor drive assist device according to claim 2, wherein the traction wheel rotation speed sensor acquires a rotation speed ω 1 of the traction fixed pulley, and the load wheel rotation speed sensor acquires a rotation speed ω 2 of the load fixed pulley; calculating a linear velocity V1= ω 1 × r1 of the traction fixed sheave and a linear velocity V2= ω 2 × r2 of the load fixed sheave, wherein r1 is a radius of the traction fixed sheave and r2 is a radius of the load fixed sheave; the linear velocity Va = (V1 + V2)/2 = (ω 1 × r1+ ω 2 × r 2)/2 of the rope.
4. The external rotor motor drive assist device of claim 2, wherein the controller is electrically connected to the traction pressure sensor, the load pressure sensor, the traction wheel speed sensor, and the load wheel speed sensor, and controls the rotation speed ω and the torque M of the external rotor motor through the tension of the cable in the traction end and the load end and the rotation speeds of the traction fixed pulley and the load fixed pulley.
5. The external rotor motor drive assist device of claim 4, further comprising a motor driver and an encoder, wherein the motor driver is electrically connected with the controller, and the controller obtains the rotation speed ω of the external rotor motor through the encoder.
6. The external rotor motor drive assist device of claim 2, further comprising a frame; one end of a wheel shaft of the traction fixed pulley is connected with the rack through a joint bearing, and the other end of the wheel shaft is installed on the rack through a rolling bearing; one end of a wheel shaft of the load fixed pulley is connected with the rack through a joint bearing, and the other end of the wheel shaft is installed on the rack through a rolling bearing; the outer rotor motor is provided with a motor shaft, and the outer rotor motor is fixed on the rack through the motor shaft and a bolt.
7. The external rotor motor drive assist device of claim 6, further comprising an anti-bouncing shaft, wherein both ends of the anti-bouncing shaft are fixed on the frame; the anti-jumping shafts are arranged outside the traction fixed pulley and the load fixed pulley to prevent the cable from jumping out of the traction fixed pulley and the load fixed pulley.
8. The external rotor motor driving assist device of claim 1, wherein the controller detects the tension P2 on the traction side and the tension P1 on the load side of the cable in real time, and adjusts the magnitude and direction of the driving force of the external rotor motor in real time.
9. The external rotor motor driving assist device according to claim 1, wherein the controller detects a speed difference between a linear speed Va of the cable and a linear speed Vb of the driving rope reel in real time to adjust the magnitude and direction of the driving force of the external rotor motor in real time.
10. The external rotor motor drive assist device according to claim 8 or 9, wherein the frequency detected by the controller in real time is not lower than 1kHz, and the frequency adjusted by the drive force of the external rotor motor in real time is not lower than 1 kHz.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111576590.9A CN114069961B (en) | 2021-12-22 | 2021-12-22 | Driving power assisting device of outer rotor motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111576590.9A CN114069961B (en) | 2021-12-22 | 2021-12-22 | Driving power assisting device of outer rotor motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114069961A CN114069961A (en) | 2022-02-18 |
| CN114069961B true CN114069961B (en) | 2022-04-12 |
Family
ID=80230298
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111576590.9A Active CN114069961B (en) | 2021-12-22 | 2021-12-22 | Driving power assisting device of outer rotor motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114069961B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3843094A (en) * | 1973-01-05 | 1974-10-22 | R Watts | Traction device |
| JPH09140020A (en) * | 1995-11-13 | 1997-05-27 | Kandenko Co Ltd | Tension giving device for inspecting cable laying conduit |
| JP2001347923A (en) * | 2000-04-21 | 2001-12-18 | Takata Corp | Motor-type seat belt retractor |
| DE102012013527A1 (en) * | 2012-07-04 | 2014-01-09 | Esw Gmbh | Rope drum for e.g. inner-board winch such as rescue hoist, of helicopter, has coupling link rotationally coupling cable guide drive to drum cylinder or to drum drive, where cable guide drive axially displaces direction-reversible guide unit |
| CN110040643A (en) * | 2019-05-17 | 2019-07-23 | 黄河科技学院 | Electric capstan component with force measuring function |
| CN111517258A (en) * | 2020-05-08 | 2020-08-11 | 芜湖市爱德运输机械有限公司 | Steel wire fixing device and steel wire adhesive tape hoister |
| CN112564449A (en) * | 2020-12-29 | 2021-03-26 | 知心健(南京)科技有限公司 | Power vehicle resistance regulation and control system for rehabilitation training |
| CN113541403A (en) * | 2021-07-15 | 2021-10-22 | 江苏晨朗电子集团有限公司 | Hub motor with built-in torque sensor |
| CN113735005A (en) * | 2021-11-05 | 2021-12-03 | 新乡玉镜智能科技有限公司 | Electric power-assisted traction device and control method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140248089A1 (en) * | 2013-03-04 | 2014-09-04 | Earth Tool Company Llc | Wire Rope Payout Upon Tensile Demand |
-
2021
- 2021-12-22 CN CN202111576590.9A patent/CN114069961B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3843094A (en) * | 1973-01-05 | 1974-10-22 | R Watts | Traction device |
| JPH09140020A (en) * | 1995-11-13 | 1997-05-27 | Kandenko Co Ltd | Tension giving device for inspecting cable laying conduit |
| JP2001347923A (en) * | 2000-04-21 | 2001-12-18 | Takata Corp | Motor-type seat belt retractor |
| DE102012013527A1 (en) * | 2012-07-04 | 2014-01-09 | Esw Gmbh | Rope drum for e.g. inner-board winch such as rescue hoist, of helicopter, has coupling link rotationally coupling cable guide drive to drum cylinder or to drum drive, where cable guide drive axially displaces direction-reversible guide unit |
| CN110040643A (en) * | 2019-05-17 | 2019-07-23 | 黄河科技学院 | Electric capstan component with force measuring function |
| CN111517258A (en) * | 2020-05-08 | 2020-08-11 | 芜湖市爱德运输机械有限公司 | Steel wire fixing device and steel wire adhesive tape hoister |
| CN112564449A (en) * | 2020-12-29 | 2021-03-26 | 知心健(南京)科技有限公司 | Power vehicle resistance regulation and control system for rehabilitation training |
| CN113541403A (en) * | 2021-07-15 | 2021-10-22 | 江苏晨朗电子集团有限公司 | Hub motor with built-in torque sensor |
| CN113735005A (en) * | 2021-11-05 | 2021-12-03 | 新乡玉镜智能科技有限公司 | Electric power-assisted traction device and control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114069961A (en) | 2022-02-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104150303B (en) | Multifunctional lift traction-driven friction testing arrangement and method of testing | |
| CN109621330B (en) | Strength training system and electric control method | |
| JP5027629B2 (en) | Vehicle fixing device and vehicle fixing method | |
| CN204952087U (en) | A subtract heavy system for rehabilitation training of low limbs patient | |
| JP4896973B2 (en) | Elevator door equipment | |
| WO2010050434A1 (en) | Elevator | |
| US11883708B2 (en) | Safety control system for motorized resistance equipment utilizing one-way clutches | |
| CA2606417A1 (en) | System and method for detecting the position of a lift cage | |
| CN105417014A (en) | Full-automatic tensioning control system and method used for rubber belt machine | |
| CN103033372B (en) | A kind of controllable wheel traction of slippage rate and adhesion property test device | |
| WO2006085156A3 (en) | Drive unit for x-ray system | |
| US7935029B2 (en) | Swimmer training apparatus having force control | |
| CN105169627A (en) | Weight losing system for lower limb patient rehabilitation training | |
| CN110450135B (en) | Dynamic suspension type weight support system | |
| JP4607988B2 (en) | Passenger conveyor handrail driving force monitoring device | |
| CN103762521A (en) | Slip detection device and slip control method of high-voltage line patrol robot | |
| CN114069961B (en) | Driving power assisting device of outer rotor motor | |
| JP2023056967A5 (en) | ||
| CN107864744A (en) | Independent doffing mechanism drive system for cotton harvester row unit | |
| CN109132904A (en) | Winch gear and unmanned boat | |
| CN110494384A (en) | The method of hoisting apparatus and the hoisting gear for starting the hoisting apparatus | |
| CN113735005B (en) | Electric power-assisted traction device and control method | |
| JPWO2021046596A5 (en) | ||
| CN106930185B (en) | A kind of robot creeped for Character of Cable Force of Cable stayed Bridge | |
| JPH08217366A (en) | Elevator driving gear |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240923 Address after: 518000 workshop 201 and 301, No. 1, Chengguang Industrial Park, No. 1, Kukeng community, Guanlan street, Longhua District, Shenzhen, Guangdong Patentee after: SHENZHEN CENTRIC ELECTRONICS Co.,Ltd. Country or region after: China Address before: 453000 building 6, Zhongdian Xinxiang innovation Valley, No. 99, nanwaihuan, Xinxiang City, Henan Province 0053 Patentee before: Xinxiang Yujing Intelligent Technology Co.,Ltd. Country or region before: China Patentee before: Nanchang Jiayan Technology Co.,Ltd. |