CN114314205A - Ship shore power cable lifting device and method based on PID - Google Patents
Ship shore power cable lifting device and method based on PID Download PDFInfo
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- CN114314205A CN114314205A CN202111579155.1A CN202111579155A CN114314205A CN 114314205 A CN114314205 A CN 114314205A CN 202111579155 A CN202111579155 A CN 202111579155A CN 114314205 A CN114314205 A CN 114314205A
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Abstract
The invention provides a ship shore power cable lifting device and method based on PID, which have better working condition adaptability, can be adaptive to cable connection work under various conditions, and mainly comprises a multi-stage telescopic hydraulic arm, a compiler, a resistance strain gauge, a guide wheel, a gyroscope, a cable drum, a luffing mechanism and a slewing mechanism. In the cooperative control of shore power cable transmission, an angular displacement signal of the measuring wheel in the cable lifting operation is acquired in a mode of combining a compiler and a pressure sensor, and then cable length data meeting the precision requirement is acquired in real time. The automatic adjustment of the cable length and the hydraulic arm telescopic length under the condition of different water levels can be realized, and the risk that the cable is torn off or separated from a shore power interface due to low water level is avoided. The system adopting the PID control algorithm has higher precision and flexibility, and improves the automation level of shore power connection, and the safety and the convenience of ship charging.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a ship shore power cable lifting device and method based on PID.
Background
When a ship is parked at a port for operation, the conventional power supply mode is to generate power by an oil auxiliary engine on the ship. However, the power supply method has many disadvantages, and if the ship still adopts the combustion auxiliary engine to supply power to the ship during the port period, a large amount of pollutants generated by fuel oil can cause serious pollution to port water areas and air. In order to control environmental pollution and noise pollution during the ship berthing period, the 'air pollution prevention and control action plan' is published in 2013 in China, and the plan clearly provides requirements for controlling the environmental pollution caused by the ship. In order to control environmental pollution caused during the time when ships stop at port, shore power technology is being vigorously pursued at port. The shore power technology is as follows: and during the ship port stopping period, stopping the power supply of the fuel oil auxiliary machine, and adopting a shore power station for power supply. The traditional power supply mode of the berthing ship can be changed through the shore power technology, so that pollutants generated by ship fuel oil power generation are reduced.
The ships that stop the operation at harbour are big or small highly differs, and receive the influence that the pier water level goes up and down, if the operation difficulty of direct cable to harbour electricity connection stake is met from the ship, the potential safety hazard is big.
Disclosure of Invention
The invention provides a ship shore power cable lifting device and method based on PID (proportion integration differentiation), which are used for solving the technical problem of low safety caused by the fact that a power pile needs to be connected from a ship-mounted cable to a port in the prior art.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a first aspect provides a vessel shore power cable hoisting device based on PID, comprising: the device comprises a multi-stage telescopic hydraulic arm, an encoder, a pressure sensor, a guide wheel, a measuring wheel, a gyroscope, a cable drum, a cable winch motor, a variable amplitude oil cylinder, a rotary platform and a remote control unit;
the multi-stage telescopic hydraulic arm is characterized in that five single-rod double-acting hydraulic cylinders are connected in series in a single-stage hydraulic system, the guide wheel is installed above the measuring wheel, a cable capable of sliding is arranged between the guide wheel and the measuring wheel, the pressure sensor is installed on the guide wheel, and the encoder is installed on an expansion shaft of the measuring wheel and used for acquiring an angular displacement signal of the measuring wheel in cable lifting operation;
the gyroscope is arranged on the multistage hydraulic arm and used for measuring three pose angles of the multistage telescopic hydraulic arm in operation and providing angle data outwards; the rotary platform is arranged between the cable drum and the multi-stage telescopic hydraulic wall and is in direct contact with the cable; the variable-amplitude oil cylinder is connected with the multi-stage telescopic hydraulic arm, and the cable winch motor is connected with the cable drum;
the remote control unit is electrically connected with the amplitude-variable oil cylinder, the cable drum, the rotary platform and the encoder and is used for controlling the cable drum to control the winding and unwinding of a cable, controlling the movement of the amplitude-variable oil cylinder to control the extension length of the multi-stage telescopic hydraulic arm, controlling the rotation of the rotary platform and converting an angular displacement signal acquired by the encoder into the angular displacement of the measuring wheel, the remote control unit comprises a PID algorithm module and is used for obtaining the output quantity of a PID algorithm by taking the difference value of the extension length of the cable and the extension length of the hydraulic arm as input quantity and converting the output quantity into a voltage signal required by a cable winch motor through processing, so that the cable drum is driven to complete the action of winding and unwinding the cable.
In one embodiment, the device further comprises a base, the multi-stage telescopic hydraulic arm is arranged on the base, and the base, the rotary platform, the multi-stage telescopic hydraulic arm and the cable winch motor are of an integrated structure.
In one embodiment, the device further comprises a bracket arranged on two sides of the measuring wheel.
In one embodiment, the device further comprises a cable protection mechanism.
In one embodiment, the cable winch motor is an ac asynchronous motor.
In one embodiment, the guide wheel has a strain gage mounted thereon.
In one embodiment, a displacement sensor is provided within the hydraulic cylinder.
Based on the same inventive concept, the second aspect of the present invention provides a cable lifting method based on the device of the first aspect, including:
the remote control unit controls the movement of the variable amplitude oil cylinder so as to control the extension length of the multi-stage telescopic hydraulic arm;
the remote control unit controls the cable drum to pay out the cable, the shore power cable passes through the guide wheel and the measuring wheel after being wound out of the cable drum, a pressure sensor on the guide wheel acquires a pressure signal of the guide wheel, and an encoder on the measuring wheel acquires an angular displacement signal of the measuring wheel in the cable lifting operation;
calculating the length of the cable in the initial state according to the pressure signal and the angular displacement signal, and calculating the length of the cable in the transmission process according to the extension length of the multi-stage telescopic hydraulic arm and the length of the cable in the initial state;
determining the expected length of the cable according to the preset cable allowance and the extension length of the multi-stage telescopic hydraulic arm;
the difference value between the length of the cable in the transmission process and the expected length of the cable is used as the input quantity of a PID algorithm module, the output quantity is obtained through PID algorithm control, the output quantity is converted into a voltage signal required by a cable winch motor through processing, and therefore the cable drum is driven to complete the action of winding and unwinding the cable.
In one embodiment, when the remote control unit controls the movement of the luffing cylinder so as to control the extending length of the multi-stage telescopic hydraulic arm, the control is performed by adopting a PID algorithm, and the method comprises the following steps:
the measured real-time signal is converted into the current extension length of the multi-stage telescopic hydraulic arm through a displacement sensor arranged in the hydraulic cylinder,
subtracting the current length of the multi-stage telescopic hydraulic arm from the expected length to obtain an offset value deltaXThe output quantity is used as the input quantity of a PID control algorithm to obtain the corresponding output quantity, and the output quantity is amplified to obtain a current signal which is transmitted to the proportional valve electromagnet, so that the hydraulic cylinder is driven.
One or more technical solutions in the embodiments of the present application have at least one or more of the following technical effects:
according to the ship shore power cable lifting device based on PID, provided by the invention, in the cooperative control of shore power cable transmission, an angular displacement signal of the measuring wheel in the cable lifting operation is obtained in a mode of combining the encoder and the pressure sensor, so that the cable length data meeting the precision requirement is obtained in real time. The automatic adjustment of the cable length and the hydraulic arm telescopic length under the condition of different water levels can be realized, and the risk that the cable is torn off or separated from a shore power interface due to low water level is avoided. And the cooperative control adopting the PID algorithm can cooperate with the shore power cable drum and the multistage hydraulic arm to work simultaneously, so that the operation is more accurate and stable, the time for delivering the cable is greatly shortened, and the working efficiency and the automation intelligent level of shore power butt joint are improved.
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 introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a ship shore power cable lifting device based on PID in an embodiment of the present invention;
FIG. 2 is a side view of the device of FIG. 1;
FIG. 3 is a top view of the apparatus of FIG. 1;
FIG. 4 is a front view of the device of FIG. 1;
FIG. 5 is a flow chart of the operation of the built-in displacement sensor in the implementation of the present invention;
FIG. 6 is a schematic diagram of a method for measuring the length of a shore power cable in the implementation of the present invention;
FIG. 7 is a schematic view of an encoder installation in accordance with an embodiment of the present invention;
FIG. 8 is a graph of the force analysis of the front measuring wheel of the hydraulic arm in the practice of the present invention;
FIG. 9 is a general schematic diagram of the measurement of the length of a shore power cable in the implementation of the invention;
FIG. 10 is a flow chart of cooperative control in the practice of the present invention;
fig. 11 is a flow chart of cable retraction in the practice of the present invention.
Detailed Description
The invention provides a ship shore power cable lifting device based on PID (proportion integration differentiation), which has better working condition adaptability and can be self-adapted to cable connection work under various conditions and mainly comprises a multi-stage telescopic hydraulic arm, an encoder, a pressure sensor (a resistance strain gauge), a guide wheel, a gyroscope, a cable drum, a luffing mechanism and a slewing mechanism. In the cooperative control of shore power cable transmission, an angular displacement signal of the measuring wheel in the cable lifting operation is acquired in a mode of combining an encoder and a pressure sensor, and then cable length data meeting the precision requirement is acquired in real time. The automatic adjustment of the cable length and the hydraulic arm telescopic length under the condition of different water levels can be realized, and the risk that the cable is torn off or separated from a shore power interface due to low water level is avoided. The system adopting the PID control algorithm has higher precision and flexibility, and improves the automation level of shore power connection and the charging safety of the ship.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 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.
Example one
The embodiment of the invention provides a ship shore power cable lifting device based on PID, which comprises: the device comprises a multi-stage telescopic hydraulic arm 1, an encoder 2, a pressure sensor, a guide wheel 3, a measuring wheel 4, a gyroscope 5, a cable drum 8, a cable winch motor, a variable amplitude oil cylinder 9, a rotary platform 6 and a remote control unit;
the multi-stage telescopic hydraulic arm is characterized in that five single-rod double-acting hydraulic cylinders are connected in series in a single-stage hydraulic system, the guide wheel is installed above the measuring wheel, a cable capable of sliding is arranged between the guide wheel and the measuring wheel, the pressure sensor is installed on the guide wheel, and the encoder is installed on an expansion shaft of the measuring wheel and used for acquiring an angular displacement signal of the measuring wheel in cable lifting operation;
the gyroscope is arranged on the multistage hydraulic arm and used for measuring three pose angles of the multistage telescopic hydraulic arm in operation and providing angle data outwards; the rotary platform is arranged between the cable drum and the multi-stage telescopic hydraulic wall and is in direct contact with the cable; the variable-amplitude oil cylinder is connected with the multi-stage telescopic hydraulic arm, and the cable winch motor is connected with the cable drum;
the remote control unit is electrically connected with the amplitude-variable oil cylinder, the cable drum, the rotary platform and the encoder and is used for controlling the cable drum to control the winding and unwinding of a cable, controlling the movement of the amplitude-variable oil cylinder to control the extension length of the multi-stage telescopic hydraulic arm, controlling the rotation of the rotary platform and converting an angular displacement signal acquired by the encoder into the angular displacement of the measuring wheel, the remote control unit comprises a PID algorithm module and is used for obtaining the output quantity of a PID algorithm by taking the difference value of the extension length of the cable and the extension length of the hydraulic arm as input quantity and converting the output quantity into a voltage signal required by a cable winch motor through processing, so that the cable drum is driven to complete the action of winding and unwinding the cable.
Please refer to fig. 1 to 4, which are structure diagrams of a ship shore power cable lifting device based on PID, wherein: 1 is a multi-stage telescopic hydraulic arm; 2 is an encoder; 3 is a guide wheel; 4 is a measuring wheel; 5 is a gyroscope; 6 is a rotary platform; 7 is a bracket; 8 is a cable drum; 9 is a variable amplitude oil cylinder; and 10 is a hydraulic cylinder. The remote control unit, pressure sensor and cable winch motor are not shown in the figure.
In the specific implementation process, the multi-stage telescopic hydraulic arm is connected with five single-rod double-acting hydraulic cylinders in series in a single-stage hydraulic system, and a magnetic ring is selected among the hydraulic cylinders to detect the displacement of a piston rod.
The compiler is arranged on an extension shaft of the measuring wheel, the shore power cable applies downward pressure to the measuring wheel, and the cable drives the measuring wheel to rotate in the winding and unwinding process. Downward pressure is applied to the cable by the guide wheel to ensure rolling friction of the cable.
The pressure sensor is arranged on a guide wheel at the tail end of the cable, and a resistance strain gauge is arranged on the pressure sensor and combined with a strain gauge of the guide wheel.
The guide wheel is arranged above the measuring wheel, a sliding cable is arranged between the guide wheel and the measuring wheel, and a strain gauge capable of measuring pressure data is arranged on the cable.
An encoder is installed on an extension shaft of the measuring wheel, the encoder can acquire an angular displacement signal of the measuring wheel in cable lifting operation, and the angular displacement of the measuring wheel can be obtained after the signal is processed. In the specific implementation process, the measuring wheel is a cable guide wheel arranged at the head end of the multistage hydraulic arm, and the cable extends out of the measuring wheel.
The gyroscope is arranged on the multistage hydraulic arm, can measure three pose angles of the hydraulic arm in operation and provides angle data outwards.
The remote control unit is a controller of the whole device and controls the cable drum to take up and pay off the cable. The variable amplitude oil cylinder is controlled by the control unit and is directly connected with the telescopic boom, and the telescopic boom can change within 90 degrees under the action of the variable amplitude oil tank.
The rotary platform is arranged between the cable drum and the multi-stage telescopic hydraulic wall, is in direct contact with the cable and can rotate within 360 degrees under the action of the control unit.
In one embodiment, the device further comprises a base, the multi-stage telescopic hydraulic arm is arranged on the base, and the base, the rotary platform, the multi-stage telescopic hydraulic arm and the cable winch motor are of an integrated structure.
Through the integrated structure design, the whole structure is compact, the occupied space is small, the installation is convenient, and the operation is flexible.
In one embodiment, the device further comprises a support 7, arranged on both sides of the measuring wheel.
The support is used for fixing the measuring wheel to improve the stability of the device.
In one embodiment, the device further comprises a cable protection mechanism.
The cable protection mechanism is used for protecting the cable so as to improve the overall safety.
In one embodiment, the cable winch motor is an ac asynchronous motor.
In the specific implementation process, the cable winch motor can adopt an alternating current asynchronous motor to drive the winding drum to wind and unwind the cable, and a synchronous six-pulse generator and a six-thyristor are adopted in the motor control model to control the rotating speed of the motor.
In one embodiment, the guide wheel has a strain gage mounted thereon.
In one embodiment, a displacement sensor is provided within the hydraulic cylinder.
In the specific implementation process, the cable lifting device firstly controls the cable drum and the multistage hydraulic telescopic arms in a coordinated mode, the multistage hydraulic telescopic arms are adjusted to the specified length, then unilateral control is carried out on the cable drum, and the shore power cable can stably lift the hydraulic arms of the conveying device along with the shore power cable to be collected and released.
The remote control unit is a PLC controller, the PLC is provided with 12 input interfaces and 11 output interfaces, six working modes such as synchronous retraction or independent retraction of the shore power cable and the hydraulic arm are realized, the rotation and amplitude variation motion of the shore power cable lifting device can be controlled, and output signals of the PLC are converted into current signals required by electromagnetism or voltage signals required by a motor through an amplifier to drive each action mechanism to operate.
The invention provides a shore power cable lifting device which has good working condition adaptability and can be adaptive to cable connection work under various conditions. In the cooperative control of shore power cable transmission, an angular displacement signal of the measuring wheel in the cable lifting operation is acquired in a mode of combining an encoder and a pressure sensor, and then cable length data meeting the precision requirement is acquired in real time. The automatic adjustment of the cable length and the hydraulic arm stretching length under the condition of different water levels can be realized, the risk that the cable is torn off or separated from a shore power interface due to low water level is avoided, and the safety is improved.
Example two
Based on the same inventive concept as the first embodiment, the present embodiment discloses a cable lifting method based on the first embodiment of the apparatus, including:
the remote control unit controls the movement of the variable amplitude oil cylinder so as to control the extension length of the multi-stage telescopic hydraulic arm;
the remote control unit controls the cable drum to pay out the cable, the shore power cable passes through the guide wheel and the measuring wheel after being wound out of the cable drum, a pressure sensor on the guide wheel acquires a pressure signal of the guide wheel, and an encoder on the measuring wheel acquires an angular displacement signal of the measuring wheel in the cable lifting operation;
calculating the length of the cable in the initial state according to the pressure signal and the angular displacement signal, and calculating the length of the cable in the transmission process according to the extension length of the multi-stage telescopic hydraulic arm and the length of the cable in the initial state;
determining the expected length of the cable according to the preset cable allowance and the extension length of the multi-stage telescopic hydraulic arm;
the difference value between the length of the cable in the transmission process and the expected length of the cable is used as the input quantity of a PID algorithm module, the output quantity is obtained through PID algorithm control, the output quantity is converted into a voltage signal required by a cable winch motor through processing, and therefore the cable drum is driven to complete the action of winding and unwinding the cable.
When the remote control unit controls the movement of the luffing cylinder so as to control the extension length of the multi-stage telescopic hydraulic arm, the PID algorithm is adopted for control, and the method comprises the following steps:
the measured real-time signal is converted into the current extension length of the multi-stage telescopic hydraulic arm through a displacement sensor arranged in the hydraulic cylinder,
subtracting the current length of the multi-stage telescopic hydraulic arm from the expected length to obtain an offset value deltaXThe output quantity is used as the input quantity of a PID control algorithm to obtain the corresponding output quantity, and the output quantity is amplified to obtain a current signal which is transmitted to the proportional valve electromagnet, so that the hydraulic cylinder is driven.
Specifically, the control principle and process related to the PID-based ship shore power cable hoisting method provided by the present embodiment are as follows.
Cooperative control of shore power cable and hydraulic arm
The accuracy of the cooperative control is closely related to the system feedback during the lifting and conveying process of the shore power cable. In the cooperative control of shore power cable transmission, the lengths of the multi-stage hydraulic telescopic boom and the cable need to be acquired in real time for system feedback of a PID control algorithm.
In order to obtain accurate displacement of the multistage hydraulic telescopic arm, displacement information is obtained by installing a built-in displacement sensor on the hydraulic oil cylinder.
Multi-stage hydraulic arm control
As shown in FIG. 5, the control process is a control process involving a displacement sensor built in a hydraulic oil cylinder, a measured real-time signal can be converted into a current extension length X of a hydraulic arm through the displacement sensor, and the current extension length X is subtracted from an expected extension length X' to obtain a deviation value deltaXThe current signal obtained after the output signal is amplified is transmitted to the electromagnet of the proportional valve, so that the hydraulic oil cylinder is drivenThe operation stability and the dynamic adaptability of the hydraulic system are improved.
In cooperative control, in order to synchronize the cable winding and unwinding speed with the hydraulic arm, the real-time length of the cable needs to be obtained. In cable length measurements, encoders are used to convert the angular displacement of the measuring wheel into a linear displacement of the cable. However, in the initial working state, the length of the cable in a static state cannot be measured directly through an encoder, in order to make up for the defect and obtain the accurate length of the cable, a pressure sensor is installed at the tail end guide wheel of the cable, a resistance strain gauge is adopted by the pressure sensor, a pressure signal of the guide wheel is obtained through a strain gauge installed on the guide wheel, and the extending quality and the extending length of the cable can be obtained through calculation and analysis. Through the measuring method of combining the encoder and the pressure sensor, the cable length data meeting the precision requirement can be obtained.
Shore power cable take-up and pay-off control
(1) Encoder design
As shown in fig. 6, the shore power cable is wound out from the reel and passes through the guide wheel and the measuring wheel. The encoder is arranged on the extension shaft of the measuring wheel, the encoder can acquire an angular displacement signal of the measuring wheel in the cable lifting operation, and the angular displacement of the measuring wheel can be obtained after the signal is processed
The diameter of the measuring wheel is known as d,
from this, the displacement of the cable can be calculated as x:
in order to increase the friction force between the cable and the measuring wheel and reduce the sliding displacement between the cable and the measuring wheel, a guide wheel is arranged on the measuring wheel, downward pressure is applied to the cable through the guide wheel so as to ensure the rolling friction force of the cable, and the measuring precision of the encoder is improved.
Fig. 7 is a schematic view of the installation of the encoder (with the addition of the guide wheel), from which it can be seen that the encoder is mounted on the extension shaft of the measuring wheel, and the cable presses against the measuring wheel, so that the measuring wheel can be driven to rotate during the cable unwinding and winding process.
(2) Pressure sensor
As shown in fig. 8, the measuring wheel is a cable guide wheel installed at the head end of the multi-stage hydraulic arm, and the cable is extended through the measuring wheel. Assuming that the tension on the cables at the two ends of the measuring wheel is equal in an ideal state, both the tensions are F, and the expression is as follows:
F＝Gd+Gt
wherein G isdIs the gravity of the cable with the right end hanging down, GtIs the connector gravity at the head end of the cable.
And (3) carrying out stress analysis on the measuring wheel:
T＝F+GL+F·cosθ
wherein T represents the tensile force to which the stent is subjected, GLIndicating the weight of the measuring wheel, G in the figureWheel. The included angle theta between the cable and the bracket can be measured by a gyroscope, as shown in the figure, the gyroscope is arranged on the multistage hydraulic arm and can measure three pose angles of the hydraulic arm in operation, the cable is in parallel relation with the hydraulic arm in a tensioning state, and the included angle theta is the included angle theta between the hydraulic arm and the head end bracket.
Analyzing and calculating the output T of the signal measured by the pressure sensor, wherein the expression is as follows:
T＝f(ε)
epsilon is the measured data of the pressure sensor.
The tensile force F of the cable can be derived:
from this, the gravity G of the cable extension can be determinedd:
Gd＝F-Gt
However, in the actual shore power connection operation of a port ship, the operation is affected by the torque of the measuring wheel and the tightness degree of the cable, the dynamic measuring effect of the pressure sensor is poor, and the extending length of the cable obtained by calculating the data measured by the pressure sensor is not always accurate. The effect of auxiliary measurement can be achieved only by matching with an encoder, the extension length l of the cable is statically measured when the cable is lifted, and the calculation expression is as follows:
however, in the actual shore power butt joint test of the port ship, the length of the cable reflected by the influence of various factors is often not accurate enough, so that the length of the extending part of the cable is only used for estimating the length of the extending part of the cable before the cable lifting device works, and multiple sets of data can be taken for empirical judgment. The general schematic diagram of the shore power cable length measurement is shown in fig. 9.
Since the pressure sensor data does not always give an accurate estimate of the cable length data, the length of cable run l is estimated only at the beginning of the cable run0Length l of0Can be given by empirical data.
From this, the length L of the cable in the initial state is known0：
L0＝X0+l0
Wherein, X0Is the initial length of the multi-stage hydraulic arm.
The length L of the cable in transit can be given by:
L＝L0+X
knowing that the length of the hydraulic arm is X, the multi-stage hydraulic telescopic arm is stretched according to a preset speed, and the displacement distance X is obtained by calculating the value returned by the displacement sensor.
Setting the expected length of the wound cable drum to be L':
L′＝X+l′
the expected allowance of the cable is set to be l', and the proper cable allowance can ensure that the cable can not collide with port facilities or ships due to too long extension length in the transmission process, and can not be damaged by collision of the cable from a guide wheel of a hydraulic arm due to too short extension length.
The error between the current cable extension length L and the expected length L' is delta
δ＝L′-L＝X+l′-X0-l0-x
And (3) adopting a PID control algorithm, and substituting the error delta obtained by feedback into the algorithm:
the above formula comprises a proportion regulation link, an integral regulation link and a differential regulation link. Wherein KPIs proportionally regulating parameters and integrating step
TIThe parameters are adjusted for integration, and the differential element is
KDTDIs a differential tuning parameter.
As shown in fig. 10, the PID control flow is a PID control flow in which the cable and the hydraulic arm are cooperatively controlled, the deviation between the expected value and the actual value obtained through the above calculation process is used as the input quantity of the PID control algorithm, and the output quantity is processed and converted into the voltage signal required by the motor, so as to drive the winding drum to complete the corresponding action.
PID cooperative control
Compared with the traditional control, the PID cooperative control process shown in the figure 10 has the advantages that the cooperative control adopting the PID algorithm can cooperate with the shore power cable drum and the multi-stage hydraulic arm to work simultaneously, so that the operation is more accurate and stable, the time for lifting and delivering the cable is greatly shortened, and the working efficiency and the automation intelligent level of shore power butt joint are improved.
Fig. 11 is a flowchart of cable retracting operation in the embodiment of the present invention.
Finally, it should be noted that the above-mentioned embodiments are only preferred embodiments of the present invention, and not intended to limit the present invention, and although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications and equivalents can be made in the technical solutions described in the foregoing embodiments, or some technical features thereof can be replaced. 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 ship shore power cable lifting device based on PID is characterized by comprising: the device comprises a multi-stage telescopic hydraulic arm, an encoder, a pressure sensor, a guide wheel, a measuring wheel, a gyroscope, a cable drum, a cable winch motor, a variable amplitude oil cylinder, a rotary platform and a remote control unit;
the multi-stage telescopic hydraulic arm is characterized in that five single-rod double-acting hydraulic cylinders are connected in series in a single-stage hydraulic system, the guide wheel is installed above the measuring wheel, a cable capable of sliding is arranged between the guide wheel and the measuring wheel, the pressure sensor is installed on the guide wheel, and the encoder is installed on an expansion shaft of the measuring wheel and used for acquiring an angular displacement signal of the measuring wheel in cable lifting operation;
the gyroscope is arranged on the multistage hydraulic arm and used for measuring three pose angles of the multistage telescopic hydraulic arm in operation and providing angle data outwards; the rotary platform is arranged between the cable drum and the multi-stage telescopic hydraulic wall and is in direct contact with the cable; the variable-amplitude oil cylinder is connected with the multi-stage telescopic hydraulic arm, and the cable winch motor is connected with the cable drum;
the remote control unit is electrically connected with the amplitude-variable oil cylinder, the cable drum, the rotary platform and the encoder and is used for controlling the cable drum to control the winding and unwinding of a cable, controlling the movement of the amplitude-variable oil cylinder to control the extension length of the multi-stage telescopic hydraulic arm, controlling the rotation of the rotary platform and converting an angular displacement signal acquired by the encoder into the angular displacement of the measuring wheel, the remote control unit comprises a PID algorithm module and is used for obtaining the output quantity of a PID algorithm by taking the difference value of the extension length of the cable and the extension length of the hydraulic arm as input quantity and converting the output quantity into a voltage signal required by a cable winch motor through processing, so that the cable drum is driven to complete the action of winding and unwinding the cable.
2. The PID-based marine shore power cable lifting apparatus according to claim 1, further comprising a base, wherein the multi-stage telescopic hydraulic arm is disposed on the base, and the base, the rotary platform, the multi-stage telescopic hydraulic arm and the cable winch motor are integrated.
3. The PID-based marine shore power cable hoist arrangement of claim 1, further comprising a bracket disposed on both sides of the measuring wheel.
4. The PID-based marine shore power cable hoist arrangement of claim 1, further comprising a cable protection mechanism.
5. The PID-based marine shore power cable hoist arrangement of claim 1, wherein said cable winch motor is an ac asynchronous motor.
6. The PID-based marine shore power cable hoist arrangement of claim 1, wherein a strain gauge is mounted on the guide wheel.
7. The PID-based marine shore power cable hoist arrangement of claim 1, wherein a displacement sensor is provided within said hydraulic cylinder.
8. A cable lifting method based on the device of any one of claims 1 to 7, comprising:
the remote control unit controls the movement of the variable amplitude oil cylinder so as to control the extension length of the multi-stage telescopic hydraulic arm;
the remote control unit controls the cable drum to pay out the cable, the shore power cable passes through the guide wheel and the measuring wheel after being wound out of the cable drum, a pressure sensor on the guide wheel acquires a pressure signal of the guide wheel, and an encoder on the measuring wheel acquires an angular displacement signal of the measuring wheel in the cable lifting operation;
calculating the length of the cable in the initial state according to the pressure signal and the angular displacement signal, and calculating the length of the cable in the transmission process according to the extension length of the multi-stage telescopic hydraulic arm and the length of the cable in the initial state;
determining the expected length of the cable according to the preset cable allowance and the extension length of the multi-stage telescopic hydraulic arm;
the difference value between the length of the cable in the transmission process and the expected length of the cable is used as the input quantity of a PID algorithm module, the output quantity is obtained through PID algorithm control, the output quantity is converted into a voltage signal required by a cable winch motor through processing, and therefore the cable drum is driven to complete the action of winding and unwinding the cable.
9. The cable lifting method according to claim 8, wherein when the remote control unit controls the movement of the luffing cylinder to control the extension length of the multi-stage telescopic hydraulic boom, a PID algorithm is used for control, and the method comprises the following steps:
the measured real-time signal is converted into the current extension length of the multi-stage telescopic hydraulic arm through a displacement sensor arranged in the hydraulic cylinder,
subtracting the current length of the multi-stage telescopic hydraulic arm from the expected length to obtain an offset value deltaXThe output quantity is used as the input quantity of a PID control algorithm to obtain the corresponding output quantity, and the output quantity is amplified to obtain a current signal which is transmitted to the proportional valve electromagnet, so that the hydraulic cylinder is driven.
Priority Applications (1)
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117416824A (en) * | 2023-12-19 | 2024-01-19 | 江阴市富仁高科股份有限公司 | Charging gun boosting mechanism |
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| CN117416824B (en) * | 2023-12-19 | 2024-03-22 | 江阴市富仁高科股份有限公司 | Charging gun boosting mechanism |
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