CN114772493A - Control method and system of winch system and operation machine - Google Patents
Control method and system of winch system and operation machine Download PDFInfo
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- CN114772493A CN114772493A CN202210253765.0A CN202210253765A CN114772493A CN 114772493 A CN114772493 A CN 114772493A CN 202210253765 A CN202210253765 A CN 202210253765A CN 114772493 A CN114772493 A CN 114772493A
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- rotating speed
- hoisting
- electric energy
- hoisting system
- motor
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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
- B66D1/42—Control devices non-automatic
- B66D1/46—Control devices non-automatic electric
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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
- B66D1/02—Driving gear
- B66D1/12—Driving gear incorporating electric motors
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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
- B66D1/54—Safety gear
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- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention provides an energy management and control method, an energy management and control system and operating machinery, and relates to the technical field of operating machinery, wherein the method comprises the following steps: inputting a requested rotational speed to a hoist motor controller in a hoist system of the working machine; acquiring the actual rotating speed of a hoisting motor in a hoisting system; judging whether the winch system breaks down or not based on the request rotating speed and the actual rotating speed; and when the winch system is judged to be in fault, controlling a brake of the winch system to be opened, and braking the winch system. The method is used for solving the defect that the safety factor of the operation machine is not high due to the fact that the load can be stopped falling only by manually pressing a brake button when a winch system of the operation machine breaks down in the prior art, and realizing automatic judgment and processing of faults of the operation machine, effectively preventing the load from directly falling to the ground and improving the use safety of the operation machine.
Description
Technical Field
The invention relates to the technical field of operating machinery, in particular to a control method and a control system of a winch system and operating machinery.
Background
The working machine provided with the hoisting system can lift or lower a load to a specified position according to requirements. In the process of lifting the load by the operating machine, an engine of the operating machine can drive a hydraulic system to drive a hoisting system to lift the load, and in the process of lowering the load by the operating machine, a balance valve of the operating machine plays a role in limiting the speed of the descending, falling and contracting of the load, so that the accelerated falling of the load is avoided, and the hoisting accident is caused.
At present, when a hoisting system of a working machine breaks down, a common processing mode is to stop dropping of a load by using a balance valve, however, when the hoisting system of the working machine breaks down, the dropping speed of the load cannot be controlled due to the action of load quality, at this time, the load can be controlled to drop only by manually pressing a brake button by a worker, the processing mode completely depends on the reaction speed of the worker, and the use safety of the working machine provided with the hoisting system is not high.
Disclosure of Invention
The invention provides a control method and a control system of a winch system and an operating machine, which are used for solving the defect that in the prior art, when the winch system of the operating machine breaks down, the load can be stopped falling only by manually pressing a brake button, so that the safety factor of the operating machine in use is not high, the automatic judgment and treatment of the faults of the operating machine are realized, the load is effectively prevented from directly falling to the ground, and the use safety of the operating machine is improved.
The invention provides a control method of a hoisting system, which comprises the following steps:
inputting a request rotational speed to a hoist motor controller in a hoist system of a working machine;
acquiring the actual rotating speed of a hoisting motor in the hoisting system;
judging whether the winch system breaks down or not based on the request rotating speed and the actual rotating speed;
and when the winch system is judged to be in fault, controlling a brake of the winch system to be started, and braking the winch system.
According to the control method of the hoisting system, whether the hoisting system fails or not is judged based on the requested rotating speed and the actual rotating speed, and the method comprises the following steps:
and judging whether the winch system breaks down or not based on whether the rotating speed difference between the request rotating speed and the actual rotating speed is smaller than a preset rotating speed difference value or not.
The control method of the hoisting system further comprises the following steps:
when the winch system is judged not to have a fault, the brake of the winch system is controlled to be closed after delaying for a preset time;
and acquiring the actual rotating speed in real time, and controlling the brake to be opened when the actual rotating speed is less than a preset calibration rotating speed and the requested rotating speed reaches a preset lower rotating speed limit.
According to the control method of the hoisting system, when it is determined that the hoisting system is not in fault, after delaying for a preset time and controlling the brake of the hoisting system to be closed, the control method further comprises the following steps:
and utilizing the electric energy generated by the hoisting motor.
According to the control method of the hoisting system, the utilization of the electric energy generated by the hoisting motor comprises the following steps:
charging energy storage equipment of the working machine by using the electric energy;
energizing a brake resistor of the work machine with a first surplus electrical energy; the first remaining electric energy is remaining electric energy after the energy storage device reaches full charge based on the electric energy.
According to the control method of the hoisting system of the present invention, after the brake resistor of the working machine is energized by using the first surplus electric energy, the control method further includes:
acquiring the temperature of the energy storage equipment;
and when the temperature is lower than the preset temperature lower limit, heating the energy storage device based on the heat generated by electrifying the brake resistor.
According to the control method of the hoisting system, after the energy storage device is heated based on the heat generated by the brake resistor, the control method further comprises the following steps:
and determining whether the heated energy storage equipment is in a full-power state or not, and when the energy storage equipment is not in the full-power state, continuously charging the energy storage equipment by using the first residual electric energy.
According to the control method of the hoisting system, after the energy storage device is continuously charged by using the first residual electric energy, the control method further comprises the following steps:
acquiring a target rotating speed of an oil pump motor of the working machine and a target opening degree of a proportional overflow valve based on the second residual electric energy; the second residual electric energy is the residual electric energy after the heated energy storage equipment is fully charged based on the first residual electric energy;
and supplying power to the oil pump motor and the proportional overflow valve by using the second residual electric energy, so that the actual rotating speed of the oil pump motor reaches the target rotating speed, and the actual opening of the proportional overflow valve reaches the target opening.
According to the control method of the hoisting system, the electric energy generated by the hoisting motor comprises the following steps:
acquiring the mass of the load borne by the hoisting motor and the actual rotating speed or torque;
and obtaining the electric energy generated by the winding motor based on the mass and the actual rotating speed or the mass and the torque.
The invention also provides a control system of the hoisting system, which comprises:
a rotational speed input module for inputting a requested rotational speed to a hoist motor controller in a hoist system of the working machine;
the rotating speed acquisition module is used for acquiring the actual rotating speed of a hoisting motor in the hoisting system;
the fault judging module is used for judging whether the winch system has a fault or not based on the request rotating speed and the actual rotating speed;
and the energy management and control module is used for controlling a brake of the hoisting system to be opened when the hoisting system is judged to be in fault, and braking the hoisting system.
The invention also provides a working machine comprising the control system of the winch system.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program which is stored on the memory and can be run on the processor, wherein when the processor executes the program, the control method of the hoisting system is realized.
The present invention also provides a non-transitory computer readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements any one of the above methods for managing and controlling a hoisting system.
According to the control method and system of the winding system and the operating machine, whether the winding system of the operating machine fails or not is automatically judged by comparing the acquired actual rotating speed of the winding motor of the winding system of the operating machine with the requested rotating speed of the winding motor, the failure of the winding system is automatically processed, and a set of complete automatic judgment and processing mechanism is provided for energy control of the operating machine.
When the winch system is judged to be in fault, the brake is controlled to be started, namely, the work is stopped, so that the problem that due to the fault of the winch system, manual treatment of operators is needed easily to cause untimely treatment is effectively avoided, the load is dropped in an accelerated manner, and the use safety of the operation machine is improved.
Drawings
In order to more clearly illustrate the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of 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 other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic flow chart of a control method of a hoisting system according to the present invention;
fig. 2 is a second schematic flow chart of a control method of a hoisting system according to the present invention;
FIG. 3 is a schematic diagram of the present invention providing power consumption by the oil pump motor;
fig. 4 is a third schematic flow chart of a control method of a hoisting system according to the present invention;
fig. 5 is a schematic structural diagram of a management and control system of a hoisting system provided by the invention;
fig. 6 is a schematic diagram of a system architecture of a pure electric crawler crane applying the management and control system of the hoisting system provided by the invention;
FIG. 7 is a schematic structural diagram of an electronic device provided by the present invention;
reference numerals are as follows:
1: a management and control system; 2: a power battery; 3: a motor controller; 4: a brake resistor; 5: a hoisting motor; 6: an oil pump motor; 7: a speed reducer; 8: a winding drum; 9: an electromagnetic brake; 10: a load; 11: an oil pump; 12: a functional component; 13: an air conditioner.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is 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.
At present, when the hoisting system of the working machine is in failure, the load is stopped falling by using the balance valve, however, when the balance valve of the working machine is in failure, the falling speed of the load cannot be controlled due to the action of the stress on the load, and at this time, the falling of the load can be controlled only by manually pressing the brake button by a worker, and the processing mode completely depends on the reaction speed of the worker, so that the working machine provided with the hoisting system is not high in use safety.
Based on this, the embodiment of the invention provides a control method of a hoisting system, which automatically executes a corresponding processing mechanism according to the condition met by the fault when judging that the hoisting system of the working machine has the fault, so as to avoid accelerated drop of the load when the hoisting system has the fault, and improve the use safety of the working machine.
The following describes a control method of a hoisting system according to the present invention with reference to fig. 1 to 4, which is implemented by an energy control module of a working machine or a combination of software and/or hardware therein, as shown in fig. 1, and the method includes the following steps:
101. inputting a requested rotational speed to a hoist motor controller in a hoist system of the working machine;
102. acquiring the actual rotating speed of a hoisting motor in the hoisting system;
specifically, the requested rotation speed is the rotation speed of the hoisting motor which is obtained by calculating by an energy management and control module of the working machine according to the mass of the load borne by the hoisting motor and is suitable for the corresponding load;
more specifically, the energy management and control module sends the calculated requested rotating speed to the winding motor controller, so that the winding motor controller controls the rotating speed of the winding motor according to the requested rotating speed, and then the actual rotating speed of the winding motor is obtained.
103. Judging whether the winch system breaks down or not based on the request rotating speed and the actual rotating speed; if not, go to step 104; if yes, go to step 105;
it can be understood that, when there is no fault in the hoisting system, the actual rotation speed of the hoisting motor should be close to or equal to the requested rotation speed, so that the automatic determination of whether the hoisting system is faulty or not can be realized by comparing the requested rotation speed and the actual rotation speed of the hoisting motor.
104. Controlling a brake of the hoisting system to be closed;
105. and controlling the brake to be started to brake the hoisting system.
Specifically, when it is determined that the hoisting system has no fault, the brake of the hoisting system is controlled to be closed, so that the hoisting motor and the like of the hoisting system can normally operate, and the hoisting system can drive the load to safely lift or fall. When the winch system is judged to have a fault, the winch system stops acting and the movement of the load stops by controlling the brake of the winch system to be opened, so that the out-of-control falling of the load is effectively avoided, namely, the occurrence of a hoisting accident is avoided.
According to the control method of the hoisting system, in the working process of the hoisting system of the operating machine, the automatic detection of the fault and the automatic processing when the fault occurs are realized, the problem that due to the fault of the hoisting system, the processing is not timely and easily caused by the manual processing of an operator is effectively avoided, the load is dropped in an accelerated manner, and the use safety of the operating machine is improved.
As an embodiment of the present invention, the determining whether the hoisting system has a fault based on the requested rotation speed and the actual rotation speed includes:
and judging whether the winch system breaks down or not based on whether the rotating speed difference between the request rotating speed and the actual rotating speed is smaller than a preset rotating speed difference value or not.
Specifically, during the operation of the hoisting motor, the actual rotation speed of the hoisting motor is controlled by the hoisting motor controller to operate at the received request rotation speed, so that in the case of no failure of the hoisting system, the actual rotation speed of the hoisting motor should be equal to or close to the request rotation speed, and based on this, by reasonably setting the magnitude of the difference between the actual rotation speed and the request rotation speed, for example: 50 revolutions per minute, 60 revolutions per minute and the like, and the purpose of accurately judging whether the hoisting system has a fault or not can be achieved through the rotating speed difference between the actual rotating speed and the requested rotating speed of the hoisting motor.
As an embodiment of the present invention, the method for managing and controlling a hoisting system further includes:
when the winch system is judged not to have a fault, the brake of the winch system is controlled to be closed after delaying for a preset time;
and acquiring the actual rotating speed in real time, and controlling the brake to be started when the actual rotating speed is less than a preset calibration rotating speed and the requested rotating speed reaches a preset lower rotating speed limit.
Specifically, when it is determined that the winch system is not in fault, the winch system can normally work, so that the brake is guaranteed to be closed at this time, and the operation of the working machine can normally work is reasonable, however, whether the winch system is in fault or not is determined based on the requested rotating speed and the obtained actual rotating speed, influence of factors such as signal interference and the like needs to be considered in the process of obtaining the actual rotating speed, and the brake of the winch system is controlled to be closed after a preset delay time, so that a certain filtering effect can be achieved, signal interference and false triggering are effectively prevented, and the reliability of operation of the winch system is improved. The preset time period is set according to the actual use condition of the working machine, and is set to 0.5 second, 1 second and the like.
More specifically, when the winch system is judged to have no fault, the winch motor is in an operating state, at the moment, the fault monitoring and control of the winch system can be further realized by further monitoring the rotating speed of the winch motor and comparing the rotating speed with the preset calibration rotating speed and the request rotating speed, namely when the actual rotating speed of the winch motor is smaller than the preset calibration rotating speed and the request rotating speed reaches the preset lower rotating speed limit, the brake is controlled to be started, and the winch motor stops working. The calibrated rotating speed and the lower limit of the rotating speed may be flexibly set according to the actual working environment and the working requirement of the working machine, for example, the calibrated rotating speed is preset to 5 rpm, the lower limit of the requested rotating speed is set to 0, and the like, which is not specifically limited herein.
Further, a specific flow of the control method of the hoisting system according to the embodiment of the present invention is shown in fig. 2, and the control method includes the following steps:
201. inputting a request rotational speed to a hoist motor controller in a hoist system of a working machine;
202. acquiring the actual rotating speed of a hoisting motor;
203. judging whether the winch system fails or not based on the request rotating speed and the actual rotating speed; if not, go to step 204; if yes, go to step 205;
204. controlling a brake to enter a stop state;
205. after delaying the preset time, controlling the brake to open and enter the running state;
206. judging whether the actual rotating speed is less than a preset calibration rotating speed or not, and if so, returning to the step 204; if not, go to step 207;
207. and keeping the running state of the hoisting motor.
As an embodiment of the present invention, after delaying a preset time period and controlling a brake of the hoisting system to be closed when it is determined that the hoisting system is not in fault, the method further includes:
and utilizing the electric energy generated by the hoisting motor.
As can be understood, in the process of lifting the load, an engine of the working machine can drive a hydraulic system to drive the hoisting system to lift the load, so as to convert energy generated by fuel combustion into potential energy of the load; and in the process of releasing the load, the potential energy of the load can be converted into electric energy through the hoisting system.
Specifically, if the electric energy generated by the working machine in the process of releasing the load is not utilized or consumed, the potential energy of the load is converted into the kinetic energy of the load, so that the load falls down in an accelerated manner, and a hoisting accident is caused.
As an embodiment of the present invention, the utilizing of the electric energy generated by the hoisting motor includes:
charging energy storage equipment of the working machine by using the electric energy;
energizing a brake resistor of the work machine with a first remaining electrical energy; the first remaining electric energy is remaining electric energy after the energy storage device reaches full charge based on the electric energy.
Specifically, the purely electric working machine is equipped with an energy storage device such as a battery, and the energy storage device supplies power to the working machine when the working machine is not supplied with an external power source, so when the hoisting motor generates electric energy, the energy storage device is charged by using the part of the electric energy, which not only reduces the energy consumption of the working machine, but also improves the cruising ability of the energy storage device, however, when the hoisting motor is in a low-temperature environment or the energy storage device is in a full-power state, the energy storage device can only recycle a small part of or can not recycle the electric energy generated by the hoisting motor, at this time, the residual electric energy after charging the energy storage device can be used for electrifying a brake resistor of the working machine, and the brake resistor has a large resistance value, which can consume a large amount of electric energy, based on this, in the management and control method of the hoisting system according to the embodiments of the present invention, the energy storage device of the mechanical device is used for recycling a part of electric energy at first, and then, the brake resistor is used for recovering the residual electric energy so as to avoid the failure of a hoisting system and the abnormal operation of the operation machine caused by the failure of the recovery of the electric energy.
As an embodiment of the present invention, after the brake resistor of the working machine is energized by the first surplus electric energy, the method further includes:
acquiring the temperature of the energy storage equipment;
and when the temperature is lower than the preset temperature lower limit, heating the energy storage device based on the heat generated by electrifying the brake resistor.
Specifically, the brake resistor of the working machine is energized by using the first residual electric energy, so that only the consumption of the first residual electric energy by using the brake resistor is realized, the utilization of the electric energy cannot be realized, and the waste of the electric energy is also caused to a certain extent.
It can be understood that the electric quantity of the energy storage device of the working machine is greatly influenced by the temperature, that is, when the energy storage device is in a low-temperature environment, the energy storage device cannot or only can recover a small amount of electric energy due to the influence of the environmental temperature, and when the temperature of the energy storage device rises, the electric quantity of the energy storage device rises again. Taking a power battery that is normally installed in a work machine as an example, generally speaking, the power battery has different charge capacities at different temperatures, and the battery has a temperature range in order to reach the maximum charge capacity. The battery is charged in the temperature interval, so that the battery can store more electric quantity.
Based on this, in the control method of the hoisting system according to the embodiment of the present invention, after the brake resistor of the working machine is powered on by using the first remaining electric energy, in order to enable the energy storage device to store more electric energy, the temperature of the energy storage device needs to be monitored in real time, and then when the detected temperature is lower than the preset lower temperature limit, the energy storage device is heated by using the heat generated by the generated electric resistance through the resistor, so that the energy storage device is continuously charged after the stored electric energy of the energy storage device is increased.
Meanwhile, when the temperature of the monitored energy storage device is too high, the energy storage device can be cooled by the existing cooling device, and the details are not repeated here.
Specifically, the manner of heating the energy storage device by using the brake resistor can be flexibly set as required, for example: the brake resistor is arranged on the periphery of the energy storage device, or the water is heated through the brake resistor, and then the energy storage device is heated through the heated water, and the like.
Through the temperature that acquires energy storage equipment to being less than preset temperature lower limit at the temperature of judging energy storage equipment, when the electric storage quantity received the temperature influence promptly, heating energy storage equipment through the heat that produces after the braking resistance circular telegram, thereby both avoided energy storage equipment to work the damage that receives easily at low temperature, improved the recovery ability of energy storage equipment to the electric energy again, still avoided the waste of electric energy simultaneously, realized the utilization of first residual energy.
More specifically, the heat generated after the brake resistor is electrified can heat the energy storage device through the radiator, so that the recovered electric quantity of the energy storage device can be rapidly increased.
As an embodiment of the present invention, after the energy storage device is heated based on heat generated by the brake resistor being powered on, the method further includes:
and determining whether the heated energy storage equipment is in a full-power state or not, and when the energy storage equipment is not in the full-power state, continuously charging the energy storage equipment by using the first residual electric energy.
Specifically, after heating energy storage equipment, can promote energy storage equipment's recovery electric quantity rapidly, at this moment, recycle first surplus electric energy and continue to charge for energy storage equipment, further improved the utilization ratio of electric energy.
As an embodiment of the present invention, after the continuously charging the energy storage device with the first remaining electric energy, the method further includes:
acquiring a target rotating speed of an oil pump motor of the working machine and a target opening degree of a proportional overflow valve based on the second residual electric energy; the second residual electric energy is residual electric energy obtained after the energy storage equipment after being heated is fully charged based on the first residual electric energy;
and supplying power to the oil pump motor and the proportional overflow valve by using the second residual electric energy, so that the actual rotating speed of the oil pump motor reaches the target rotating speed, and the actual opening of the proportional overflow valve reaches the target opening.
Specifically, when an oil pump motor in a hydraulic system of the working machine works normally, the rotating speed of the oil pump motor corresponds to the amount of oil pumped and the consumed electric energy, the rotating speed of the oil pump motor is different, the amount of oil pumped is different, and the consumed electric energy is different. Therefore, when the energy storage device is charged with the electric energy and the brake resistor is powered on and residual electric energy still remains, as shown in fig. 3, the rotating speed required by the oil pump motor to consume the residual electric energy, that is, the target rotating speed, can be obtained according to the amount of the residual electric energy and through the corresponding relationship between the rotating speed of the oil pump motor and the consumed electric energy; meanwhile, because the operation of the oil pump motor is used for consuming electric energy but not an actual working process, the oil pumping quantity formed by the rotating speed of the part of the oil pump motor does not need to do work but flows back through the proportional overflow valve, and similarly, based on the rotating speed required by the oil pump motor for consuming the residual electric energy, the relation between the rotating speed and the oil pumping quantity can be obtained, and the opening degree of the proportional overflow valve, namely the target opening degree, can be determined through the oil pumping quantity; and acquiring the target rotating speed of an oil pump motor of the working machine and the target opening degree of the proportional overflow valve based on the second residual electric energy.
Specifically, the second surplus electric energy is used for supplying power to the oil pump motor and the proportional overflow valve, so that the actual rotating speed of the oil pump motor reaches the target rotating speed, and the actual opening degree of the proportional overflow valve reaches the target opening degree, so that the energy power formed by the second surplus electric energy is equal to the overflow consumed power, that is, the electric energy is consumed by converting the electric energy into hydraulic energy.
Further, taking the energy storage device as a power battery as an example, in combination with the control method of the hoisting system according to the embodiment of the present invention, when the hoisting system is in a fault-free state, a specific process of implementing energy control by using the control method of the hoisting system is shown in fig. 4, and includes the following steps:
401. electrifying the working machine;
402. the winding motor generates electricity to generate electric energy;
403. charging the power battery by using electric energy;
404. judging whether the electric quantity which can be recovered by the power battery is larger than the total quantity of the electric energy or not; if yes, go to step 405; if not, go to step 406;
405. recovering the electrical energy using a power cell;
406. electrifying the brake resistor by utilizing the first residual electric energy recovered by the power battery;
407. judging whether the recovery capacity of the power battery heated by the heat generated by the braking resistor is improved or not; if yes, return to step 405; if not, go to step 408;
408. acquiring a target rotating speed of an oil pump motor of the working machine and a target opening degree of a proportional overflow valve based on the second residual electric energy which is used by a brake resistor and is left after the power battery is recycled;
409. and consuming the second surplus energy according to the target rotating speed and the target opening degree.
According to the control method of the hoisting system in the embodiment of the invention, the energy management strategies of automatic fault detection, automatic processing in fault and electric quantity recovery in no fault of the hoisting system of the working machine are adopted, so that the working reliability and safety of the working machine are effectively improved, and all-weather and all-working-condition construction requirements of the working machine can be realized.
As an embodiment of the present invention, the electric power generated by the winding motor includes:
acquiring the mass of the load borne by the hoisting motor and the actual rotating speed or torque;
and obtaining the electric energy generated by the winding motor based on the mass and the actual rotating speed or the mass and the torque.
Specifically, the hoisting motor corresponds to different torques and rotating speeds under different hoisting weights and different rotating speeds, so that the electric energy generated by the hoisting motor can be obtained based on the mass and the actual rotating speed or the mass and the torque by obtaining the mass of the load borne by the hoisting motor and the actual rotating speed or the torque.
The following describes a control system of a hoisting system according to the present invention, and the control system of the hoisting system described below and the control method of the hoisting system described above may be referred to in a corresponding manner.
As shown in fig. 5, a control system for a hoisting system provided in an embodiment of the present invention includes: a rotation speed input module 510, a rotation speed obtaining module 520, a fault judging module 530, and an energy management and control module 540; wherein the content of the first and second substances,
the rotational speed input module 510 is configured to input a requested rotational speed to a hoisting motor controller in a hoisting system of the work machine;
the rotating speed obtaining module 520 is configured to obtain an actual rotating speed of a hoisting motor in the hoisting system;
the fault determination module 530 is configured to determine whether the hoisting system has a fault based on the requested rotation speed and the actual rotation speed;
the energy management and control module 540 is configured to control a brake of the hoisting system to be turned on to brake the hoisting system when it is determined that the hoisting system is faulty.
According to the control system of the hoisting system, whether the hoisting system of the working machine fails or not is automatically judged by comparing the acquired actual rotating speed of the hoisting motor of the hoisting system of the working machine with the requested rotating speed of the hoisting motor, the failure of the hoisting system of the working machine is automatically processed, and a set of complete automatic judgment and processing mechanism is provided for energy control of the working machine. Meanwhile, when the winch system is judged to be in fault, the brake is controlled to be started, namely, the work is stopped, so that the problem that due to the fault of the winch system, the handling is not timely and is easy to cause by manual handling of an operator is effectively avoided, the load drops at an accelerated speed, and the use safety of the operation machine is improved.
Preferably, the fault determining module is specifically configured to determine whether the hoisting system has a fault based on whether a rotation speed difference between the requested rotation speed and the actual rotation speed is smaller than a preset rotation speed difference value.
Preferably, the energy management and control module is further configured to control a brake of the hoisting system to be closed after delaying a preset time when it is determined that the hoisting system is not in fault;
and acquiring the actual rotating speed in real time, and controlling the brake to be opened when the actual rotating speed is less than a preset calibration rotating speed and the requested rotating speed reaches a preset lower rotating speed limit.
Preferably, the energy management and control module is further configured to utilize electric energy generated by the hoisting motor.
Preferably, the energy management and control module is further configured to charge an energy storage device of the work machine with the electric energy; and energizing a brake resistor of the work machine with the first remaining electrical energy; the first remaining electric energy is remaining electric energy after the energy storage device reaches full charge based on the electric energy.
Preferably, the energy management and control module is further configured to obtain a temperature of the energy storage device; and when the temperature is lower than the preset lower temperature limit, heating the energy storage device based on the heat generated by electrifying the brake resistor.
Preferably, the energy management and control module is further configured to determine whether the heated energy storage device is in a full power state, and when the energy storage device is not in the full power state, continue to charge the energy storage device using the first remaining electric energy.
Preferably, the energy management and control module is further configured to obtain a target rotation speed of an oil pump motor of the working machine and a target opening degree of a proportional relief valve based on the second remaining electric energy; the second residual electric energy is residual electric energy obtained after the energy storage equipment after being heated is fully charged based on the first residual electric energy;
and supplying power to the oil pump motor and the proportional overflow valve by using the second residual electric energy, so that the actual rotating speed of the oil pump motor reaches the target rotating speed, and the actual opening of the proportional overflow valve reaches the target opening.
Preferably, the electric energy generated by the winding motor comprises: acquiring the mass of the load borne by the hoisting motor and the actual rotating speed or torque; and obtaining the electric energy generated by the hoisting motor based on the mass and the actual rotating speed or the mass and the torque.
The invention further provides the working machine comprising the management and control system of the winch system.
Specifically, the working machine including the management and control system of the winch system of the present invention has all advantages and technical effects of the management and control system of the winch system, and details are not repeated herein.
Taking a pure electric crawler crane as an example, when the management and control system of the hoisting system according to the above embodiment of the present invention is applied to the pure electric crawler crane, the system architecture of the pure electric crawler crane is shown in fig. 6, wherein the management and control system 1 is respectively connected to a power battery 2, a motor controller 3 (wherein the motor controller is a one-to-two motor controller, including a hoisting motor controller and an oil pump motor controller) and a brake resistor 4 of the pure electric crawler crane, and is used for controlling the electric energy to be utilized through the power battery 2 and the brake resistor 4 when the hoisting motor generates the electric energy, and simultaneously, the motor controller 3 is respectively connected to the power battery 2, the brake resistor 4, the hoisting motor 5, and the oil pump motor 6, so that the management and control system 1 controls the rotation speeds of the hoisting motor 5 and the oil pump motor 6 through the motor controller 3, and then, the hoisting motor 5, the speed reducer 7, the winding drum 8 and the electromagnetic brake 9 are sequentially connected to realize the lifting or falling of the load 10; the oil pump motor 6 and the oil pump 11 are connected in sequence, so that the oil pump motor 6 controls the oil pump 11, and further, the actions of functional components 12 such as amplitude variation, expansion, landing legs and assistance of the pure electric crawler crane are realized.
More specifically, still taking the pure electric crawler crane as an example, the management and control system 1 can also realize that the heat generated by the brake resistor 4 runs through the air conditioner 13 of the pure electric crawler crane through the connection with the air conditioner 13, so as to further realize the utilization of the electric energy.
Fig. 7 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 7: a processor (processor)710, a communication Interface (Communications Interface)720, a memory (memory)730, and a communication bus 740, wherein the processor 710, the communication Interface 720, and the memory 730 communicate with each other via the communication bus 740. The processor 710 may call logic instructions in the memory 730 to execute a method for managing a hoisting system, the method comprising: inputting a request rotational speed to a hoist motor controller in a hoist system of a working machine; acquiring the actual rotating speed of a hoisting motor in the hoisting system; judging whether the winch system breaks down or not based on the request rotating speed and the actual rotating speed; and when the winch system is judged to be in fault, controlling a brake of the winch system to be started to brake the winch system.
In addition, the logic instructions in the memory 730 can be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention or a part thereof which substantially contributes to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer readable storage medium, the computer program including program instructions, when the program instructions are executed by a computer, the computer being capable of executing a method for managing and controlling a hoisting system provided by the above methods, the method including: inputting a request rotational speed to a hoist motor controller in a hoist system of a working machine; acquiring the actual rotating speed of a hoisting motor in the hoisting system; judging whether the winch system breaks down or not based on the request rotating speed and the actual rotating speed; and when the winch system is judged to be in fault, controlling a brake of the winch system to be started to brake the winch system.
In another aspect, the present invention also provides a non-transitory computer readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, is capable of implementing a method for managing and controlling a hoisting system provided by the above methods, where the method includes: inputting a requested rotational speed to a hoist motor controller in a hoist system of the working machine; acquiring the actual rotating speed of a hoisting motor in the hoisting system; judging whether the hoisting system breaks down or not based on the request rotating speed and the actual rotating speed; and when the winch system is judged to be in fault, controlling a brake of the winch system to be started to brake the winch system.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on the understanding, the above technical solutions substantially or otherwise contributing to the prior art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the various embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (13)
1. A control method of a hoisting system is characterized by comprising the following steps:
inputting a request rotational speed to a hoist motor controller in a hoist system of a working machine;
acquiring the actual rotating speed of a hoisting motor in the hoisting system;
judging whether the hoisting system breaks down or not based on the request rotating speed and the actual rotating speed;
and when the winch system is judged to be in fault, controlling a brake of the winch system to be started, and braking the winch system.
2. The hoisting system control method according to claim 1, wherein the determining whether the hoisting system is in failure based on the requested rotation speed and the actual rotation speed comprises:
and judging whether the winch system breaks down or not based on whether the rotating speed difference between the request rotating speed and the actual rotating speed is smaller than a preset rotating speed difference value or not.
3. The control method of the hoisting system according to claim 1, further comprising:
when the winch system is judged not to have a fault, the brake of the winch system is controlled to be closed after delaying for a preset time;
and acquiring the actual rotating speed in real time, and controlling the brake to be started when the actual rotating speed is less than a preset calibration rotating speed and the requested rotating speed reaches a preset lower rotating speed limit.
4. The control method of the hoisting system according to claim 3, wherein after the brake of the hoisting system is controlled to be turned off after delaying for a preset time period when it is determined that the hoisting system is not in fault, the method further comprises:
and utilizing the electric energy generated by the hoisting motor.
5. The management and control method of the hoisting system according to claim 4, wherein the utilization of the electric energy generated by the hoisting motor comprises:
charging an energy storage device of the work machine with the electrical energy;
energizing a brake resistor of the work machine with a first remaining electrical energy; the first remaining electric energy is remaining electric energy after the energy storage device reaches full charge based on the electric energy.
6. The control method of the hoisting system according to claim 5, wherein after the brake resistor of the working machine is powered on by the first surplus electric energy, the control method further comprises:
acquiring the temperature of the energy storage equipment;
and when the temperature is lower than the lower limit of the preset temperature, heating the energy storage equipment based on the heat generated by electrifying the brake resistor.
7. The hoisting system control method according to claim 6, wherein after the energy storage device is heated based on heat generated by the brake resistor being energized, the method further comprises:
and determining whether the heated energy storage equipment is in a full-power state or not, and when the energy storage equipment is not in the full-power state, continuously charging the energy storage equipment by using the first residual electric energy.
8. The control method of the hoisting system according to claim 7, wherein after the energy storage device is continuously charged with the first remaining power, the control method further comprises:
acquiring a target rotating speed of an oil pump motor of the working machine and a target opening degree of a proportional overflow valve based on the second residual electric energy; the second residual electric energy is residual electric energy obtained after the energy storage equipment after being heated is fully charged based on the first residual electric energy;
and supplying power to the oil pump motor and the proportional overflow valve by using the second residual electric energy, so that the actual rotating speed of the oil pump motor reaches the target rotating speed, and the actual opening of the proportional overflow valve reaches the target opening.
9. The management and control method of the hoisting system according to any one of claims 1 to 8, wherein the method for obtaining the electric energy generated by the hoisting motor comprises the following steps:
acquiring the mass of the load borne by the hoisting motor and the actual rotating speed or torque;
and obtaining the electric energy generated by the hoisting motor based on the mass and the actual rotating speed or the mass and the torque.
10. The utility model provides a management and control system of management and control system hoist system which characterized in that includes:
a rotational speed input module for inputting a requested rotational speed to a hoist motor controller in a hoist system of the working machine;
the rotating speed acquisition module is used for acquiring the actual rotating speed of a hoisting motor in the hoisting system;
the fault judging module is used for judging whether the winch system has a fault or not based on the request rotating speed and the actual rotating speed;
and the energy management and control module is used for controlling a brake of the hoisting system to be opened when the hoisting system is judged to be in fault, and braking the hoisting system.
11. A work machine comprising the management system of the hoist system of claim 10.
12. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of controlling the hoisting system according to any one of claims 1 to 9 when executing the program.
13. A non-transitory computer-readable storage medium on which a computer program is stored, wherein the computer program, when executed by a processor, implements the method of managing and controlling a hoisting system according to any one of claims 1 to 9.
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| CN202210253765.0A CN114772493A (en) | 2022-03-15 | 2022-03-15 | Control method and system of winch system and operation machine |
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| CN202210253765.0A CN114772493A (en) | 2022-03-15 | 2022-03-15 | Control method and system of winch system and operation machine |
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