CN115432527B - Control method and device of lifting system and lifting system - Google Patents

Control method and device of lifting system and lifting system Download PDF

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Publication number
CN115432527B
CN115432527B CN202211215407.7A CN202211215407A CN115432527B CN 115432527 B CN115432527 B CN 115432527B CN 202211215407 A CN202211215407 A CN 202211215407A CN 115432527 B CN115432527 B CN 115432527B
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China
Prior art keywords
preset
speed error
interval
membership
error
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CN115432527A (en
Inventor
罗富寿
蒋加川
揭育韶
吴朋
周仉新
钟瑞明
刘锐鸿
邱景标
唐振标
杨鹏伟
邢增可
赖悦
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Fankou Lead Zinc Mine of Shenzhen Zhongjin Lingnan Nonfemet Co Ltd
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Fankou Lead Zinc Mine of Shenzhen Zhongjin Lingnan Nonfemet Co Ltd
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Priority to CN202211215407.7A priority Critical patent/CN115432527B/en
Publication of CN115432527A publication Critical patent/CN115432527A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/32—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on braking devices, e.g. acting on electrically controlled brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D5/00—Braking or detent devices characterised by application to lifting or hoisting gear, e.g. for controlling the lowering of loads
    • B66D5/02—Crane, lift hoist, or winch brakes operating on drums, barrels, or ropes
    • B66D5/12—Crane, lift hoist, or winch brakes operating on drums, barrels, or ropes with axial effect
    • B66D5/14—Crane, lift hoist, or winch brakes operating on drums, barrels, or ropes with axial effect embodying discs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B2201/00—Aspects of control systems of elevators
    • B66B2201/40—Details of the change of control mode
    • B66B2201/402—Details of the change of control mode by historical, statistical or predicted traffic data, e.g. by learning

Abstract

The embodiment of the application is suitable for the technical field of elevators and provides a control method and device of a lifting system and the lifting system, wherein the lifting system comprises a traction rope and a disc brake; the method comprises the following steps: acquiring a first speed error and a speed error change rate of a traction rope at the current moment and each historical speed error of the traction rope at each historical moment; determining a first adjusting parameter of the current running speed of the traction rope at the current moment according to the first speed error, the speed error change rate and each historical speed error; determining a second adjustment parameter of the current running speed according to the first speed error and the speed error change rate; determining a target braking moment according to the first adjusting parameter and the second adjusting parameter, and controlling the disc brake to output the target braking moment; at the target braking torque, the second speed error of the running speed of the traction rope at the next moment is smaller than the first speed error. By adopting the method, the running speed of the hauling rope can be stably controlled.

Description

Control method and device of lifting system and lifting system
Technical Field
The application belongs to the technical field of elevators, and particularly relates to a control method and device of a lifting system and the lifting system.
Background
Mine hoisting systems are important equipment in the production of coal mines, nonferrous metal mines, and generally include a main hoist and a secondary hoist. The main hoisting machine is used for transporting ores and waste stones; the auxiliary hoisting machine is used for being responsible for transportation of the personnel in the well.
The auxiliary hoist generally employs a friction hoist that can hoist the container by means of friction between the traction rope and the guide wheel and a gravity difference between the hoisting containers at both ends of the traction rope. In addition, the worker can control the lifting speed of the lifting container by controlling the braking force provided by the brake in the friction elevator using the control lever based on the lifting speed of the lifting container displayed in the speed meter of the auxiliary elevator.
However, the coefficient of friction between the traction rope and the friction roller is easily affected by the temperature and humidity of the field environment, and the gravity difference between the lifting containers at both ends of the traction rope is not constant. Therefore, when the friction type elevator is in operation, the control effect of the lifting speed of the lifting container is completely dependent on a worker who controls the control rod, so that the lifting speed of the lifting container is unstable, and the safety of a mine lifting system is reduced.
Disclosure of Invention
The embodiment of the application provides a control method, a control device and a storage medium of a lifting system, which can solve the problem that the lifting speed of a lifting container cannot be stably controlled in the prior art.
In a first aspect, embodiments of the present application provide a method of controlling a lifting system comprising a traction rope and a disc brake; the method comprises the following steps:
acquiring a first speed error and a speed error change rate of a traction rope at the current moment and each historical speed error of the traction rope at each historical moment;
determining a first adjusting parameter of the current running speed of the traction rope at the current moment according to the first speed error, the speed error change rate and each historical speed error;
determining a second adjustment parameter of the current running speed according to the first speed error and the speed error change rate;
determining a target braking moment according to the first adjusting parameter and the second adjusting parameter, and controlling the disc brake to output the target braking moment; at the target braking torque, the second speed error of the running speed of the traction rope at the next moment is smaller than the first speed error.
In a second aspect, embodiments of the present application provide a control device for a lifting system, the lifting system including a traction rope and a disc brake; the device comprises:
The first acquisition module is used for acquiring a first speed error and a speed error change rate of the traction rope at the current moment and each historical speed error of the traction rope at each historical moment;
the first determining module is used for determining a first adjusting parameter of the current running speed of the traction rope at the current moment according to the first speed error, the speed error change rate and each historical speed error;
the second determining module is used for determining a second adjusting parameter of the current running speed of the traction rope at the current moment according to the first speed error and the speed error change rate;
the third determining module is used for determining a target braking torque to be output by the disc brake according to the first adjusting parameter and the second adjusting parameter; at the target braking torque, the second speed error of the running speed of the traction rope at the next moment is smaller than the first speed error.
In a third aspect, embodiments of the present application provide a control device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing a method according to the first aspect as described above when executing the computer program.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which, when executed by a processor, implements a method as in the first aspect described above.
In a fifth aspect, embodiments of the present application provide a computer program product for causing a control apparatus to carry out the method of the first aspect described above when the computer program product is run on the control apparatus.
In a sixth aspect, embodiments of the present application provide a hoisting system comprising a traction rope, a disc brake for providing a braking torque to the traction rope, and a control device of the hoisting system according to the second or third aspect as described above, the disc brake being connected to the control device.
Compared with the prior art, the embodiment of the application has the beneficial effects that: determining a first adjusting parameter of the current running speed by processing the first speed error and the speed error change rate of the traction rope at the current moment and each historical speed error of the traction rope at each historical moment so as to compensate the first speed error and the speed error change rate and each historical speed error; then, the first speed error and the speed error change rate are processed, and a second adjusting parameter of the current running speed of the traction rope at the current moment is determined so as to compensate the first speed error and the speed error change rate again. Based on the above, when the target braking torque is determined according to the first adjustment parameter and the second adjustment parameter obtained by the processing, the second speed error of the running speed of the traction rope at the next moment is smaller than the first speed error at the last moment, so that the running speed of the traction rope when the traction rope is lifted tends to be stable, and the safety during running is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly introduce the drawings that are needed in the embodiments or the description of the prior art, it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a lifting system according to an embodiment of the present disclosure;
FIG. 2 is a flowchart illustrating an implementation of a control method of a lifting system according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of a control device of a lifting system according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a control device of a lifting system according to another embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
In addition, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
Currently, for a sub-hoist for taking charge of transportation of a person who is going to a well, a worker controls the lifting speed of a lifting container by controlling the braking force provided by a disc brake in the sub-hoist using a control lever according to the lifting speed of the lifting container displayed in a speedometer of the sub-hoist. However, the coefficient of friction between the haulage rope and the guiding wheel is easily affected by the temperature and humidity of the field environment, and the gravity difference between the lifting containers at both ends of the haulage rope is not constant. The effect of the control of the lifting speed of the hoisting vessel during operation of the auxiliary hoisting machine is thus completely dependent on the staff handling the control lever.
However, the operator typically determines the braking force required to be provided by the disc brake based on the working experience, so that the braking force generated by the disc brake is not reasonable, and thus the lifting speed of the lifting container is not stable, and the safety of the mine lifting system is reduced.
Based on this, in order to reasonably provide braking force according to the actual running condition of the lifting container, reduce the speed error when the lifting container lifts, so as to improve the stability of the speed when the lifting container lifts, the embodiment of the application provides a control method of the lifting system, which can be used in a control device of the lifting system.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a lifting system according to an embodiment of the present application. Wherein the lifting system 100 comprises a lifting container 110 and a control device 120, wherein the lifting container 110 is connected to the control device 120 for performing the steps of the subsequent method embodiments.
Specifically, the lifting system further comprises a traction rope, a guide wheel, a disc brake and other devices. Wherein, both ends of haulage rope are connected with the hoisting container respectively. The disc brake is used for driving the traction rope to move on the guide wheel. Specifically, the disc brake includes a brake disc, an oil chamber, and a brake shoe. Wherein, the oil cavity is connected with the brake shoe; the disc brake pushes the brake shoe to generate pressure on the brake disc by adjusting the oil quantity in the oil cavity; the brake disc is used for driving the traction rope according to pressure so that the traction rope moves on the guide wheel and further drives lifting containers at two ends of the traction rope to lift.
Referring to fig. 2, fig. 2 shows a flowchart of an implementation of a control method of a lifting system according to an embodiment of the present application, where the method includes the following steps:
s101, acquiring a first speed error and a speed error change rate of the traction rope at the current moment and each historical speed error of the traction rope at each historical moment.
In one embodiment, since the two ends of the traction rope are typically connected to the lifting container respectively, the current running speed may be collected by a speed sensor disposed in the lifting container and then obtained from the test sensor. In another embodiment, the current running speed of the traction rope is also related to the rotational speed of the guiding wheel, so that the current running speed can also be determined by monitoring the rotational speed of the guiding wheel. In this embodiment, the manner of acquiring the current running speed of the traction rope is not limited.
In an embodiment, the first speed error is a difference between a current running speed and a preset target speed. The first speed error change rate can be used for representing an error change relation between the current running speed of the traction rope at the current moment and the historical running speed of the traction rope at the last moment. The historical speed error is the difference between the running speed of the traction rope and the target speed at the historical moment. The historical speed errors may be the same or different, and are not limited thereto.
Specifically, the lifting system may calculate a target difference between the first speed error at the current time and the historical speed error at the previous time; then, determining the ratio of the target difference value to the preset interval duration as a first speed error change rate; the preset interval duration is the interval duration between the current time and the last time.
For example, if the interval durations are consistent, and the historical speed error of the last historical time is 0.5, and the first speed error of the current time is 0.4, the speed error change rate of the current time is 0.1 in the unit interval duration. Thus, the lift system may determine that the speed error at the next time may be 0.3.
If the first speed error change rate is a negative value, that is, the first speed error at the current moment is smaller than the historical speed error at the last moment, the current running speed is indicated to be closer to the target speed.
The control device can acquire the current running speed in real time, so as to obtain the first speed error and the speed error change rate.
S202, determining a first adjusting parameter of the current running speed of the traction rope at the current moment according to the first speed error, the speed error change rate and each historical speed error.
In one embodiment, the first adjustment parameters are parameters for error compensation of the first speed error, the speed error change rate and the historical speed errors, and are first compensation values K for compensating the first speed error P The method comprises the steps of carrying out a first treatment on the surface of the Second compensation value K for compensating each historical speed error I The method comprises the steps of carrying out a first treatment on the surface of the And a third compensation value K for compensating the speed error change rate D 。
Specifically, the lifting system may determine a product of the first speed error and a first preset weight as a first compensation value. The first preset weight may be set according to actual situations, which is not limited. The first compensation value is used to compensate the first speed error at the current time.
Specifically, the lifting system can perform summation operation on all the historical speed errors to obtain accumulated errors of the traction rope; and then, carrying out integration processing on the accumulated error, and determining the product of the accumulated error after the integration processing and a second preset weight as a second compensation value.
The integration processing of the integrated error is specifically to integrate the integrated error with time. In an ideal case, the time difference between the current time and the last history time or the next time is generally equal, and thus, the time difference can be regarded as one unit time. Based on this, the lift system may directly determine the integrated error obtained by the sum of all the historical speed errors as the integrated value. And then, calculating the product of the integral value and the second preset weight to obtain a second compensation value.
In other embodiments, if the time difference is not considered as a unit time, the lifting system may further integrate the historical speed errors to obtain the second compensation value according to the following formula:
wherein K is I For the second compensation value, ki is a second preset weight, t is the current time, τ is an integral variable (the value from the initial time 0 to the current time t); e (τ) is the historical speed error at τ.
And the control means may determine a product of the speed error change rate and a third preset weight as the third compensation value. The third preset weight may be set according to actual situations, which is not limited.
Then, the control device may determine the first compensation value, the second compensation value and the third compensation value as the first adjustment parameter.
S203, determining a second adjusting parameter of the current running speed according to the first speed error and the speed error change rate.
In application, the second adjustment parameter is determined only according to the first speed error and the speed error change rate, and the adjustment capability of the second adjustment parameter to the current running speed can be considered to be lower than that of the first adjustment parameter to adjust the current running speed. Wherein the second adjustment parameters also comprise the three parameters K p 、K I 、K D 。
Specifically, the control device may determine a target error membership range corresponding to the first speed error according to a first fuzzy relationship between the preset speed error and the preset error membership range; then, determining a target change rate membership range corresponding to the first speed error change rate according to a second fuzzy relation between the preset speed error change rate and the preset change rate membership range; and finally, determining a target error membership interval and a second adjustment parameter corresponding to the target change rate membership interval according to the association relation among the preset error membership interval, the preset change rate membership interval and the preset adjustment parameter.
The first fuzzy relation between the preset speed error and the preset error membership interval may be set in advance according to the actual situation, which is not limited. For example, the preset error membership interval and the preset change rate membership interval may be respectively divided into a positive membership interval, a 0-value membership interval, and a negative membership interval.
The reason why the first speed error is evaluated by using the first fuzzy relation is that: a very effective multi-factor decision method for comprehensively evaluating things (the running speed of a traction rope) influenced by various factors (factors such as the temperature, the humidity and the friction coefficient of a guide wheel and the traction rope). The characteristic is that the evaluation result is not absolutely positive or negative, but is represented by a fuzzy set. Therefore, when the running speed of the traction rope and the factors are not in a linear relation, or the running speed of the traction rope and the factors cannot establish an accurate mathematical model, the fuzzy relation can be used for expressing the relation between the running speed and the factors.
Specifically, for the three membership degrees, the first fuzzy relation between the three membership degrees and the preset speed error is as follows:
the first fuzzy relationship between the preset speed error and the positive value membership interval in the preset error membership interval is as follows:
PB is a positive membership range in the preset error membership range; e1 is a constant set in advance.
The first fuzzy relation between the preset speed error and the 0-value membership interval in the preset error membership interval is as follows:
wherein ZO is a 0-value membership interval in a preset error membership interval; e1 is a constant set in advance.
The first fuzzy relation between the preset speed error and the negative membership interval in the preset error membership interval is as follows:
wherein NB is a negative membership interval in a preset error membership interval; e1 is a constant set in advance.
In an embodiment, e1 may be set according to practical situations, which is not limited. Illustratively, the value calculated for each function in the end needs to be between 0 and 1. Therefore, e1 may be 0.5, and the calculation is performed.
It should be noted that, for the plurality of membership intervals, for each first speed error, the corresponding value of each preset error membership interval may be determined first according to the above formula, and finally the final target error membership interval may be determined.
Specifically, the lifting system determines a first interval value corresponding to the first speed error in the positive membership interval according to a first fuzzy relation between a preset speed error and the positive membership interval; determining a corresponding second interval value of the first speed error in the 0-value membership interval according to a first fuzzy relation between the preset speed error and the 0-value membership interval; and determining a third interval value corresponding to the first speed error in the negative membership interval according to a first fuzzy relation between the preset speed error and the negative membership interval; and determining the membership interval corresponding to the maximum value in the first interval value, the second interval value and the third interval value as a target error membership interval.
In an embodiment, the first interval value is a value obtained by inputting the first speed error into a function corresponding to a positive membership interval. The function corresponding to the positive membership interval needs to be determined according to the relation between the first speed error and a preset constant e 1. The calculation formulas corresponding to the second interval value and the third interval value are similar to the calculation formulas corresponding to the first interval value.
For example, when the first speed error change rate E is 1, it may be determined that E is greater than E1 and less than 3E1 for the fuzzy relationship between the preset speed error and the positive value membership interval among the error membership intervals. Therefore, when E1 and E are input to the calculation formula corresponding to the positive membership interval, the output value corresponding to PB should be 15/16.
Based on the above example, it can be determined that the output values respectively corresponding to the 0-value membership interval ZO should be 1/16. The corresponding output value in the negative membership interval NB should be 0. Then, for the three values, PB corresponding to 15/16 can be determined as the first error membership range. The above values are merely examples, and are not limited thereto.
In an embodiment, the second fuzzy relation between the preset speed error change rate and the preset change rate membership interval may be the same as: the first fuzzy relationship between the preset speed error and the preset error membership interval is similar, and will not be described in detail. That is, the preset change rate membership interval may be divided into a positive membership interval, a 0-value membership interval, and a negative membership interval.
It should be noted that, the difference between the preset change rate membership interval and the preset error membership interval is that the corresponding formulas are different, and the formulas corresponding to the preset change rate membership interval may be set according to the actual situation, which is not described in detail.
In one embodiment, the association between the preset error membership interval, the preset change rate membership interval, and the preset adjustment parameter may be as shown in table 1 below:
table 1:
as shown in table 1 above, the relationship between the preset error membership interval, the preset change rate membership interval and the preset adjustment parameter is respectively shown.
Wherein, in each cell corresponding to the second adjustment parameter, delta K is sequentially from left to right p 、ΔK I ΔK D The fuzzy control rules respectively correspond to the fuzzy control rules, namely 9 fuzzy control rules are provided.
For example: IF (Eis NB) AND (EC is NB), THEN (ΔK) p ＝PB)(ΔK I ＝NB)(ΔK D =pb); if the target error membership interval belongs to NB and the target change rate membership interval belongs to NB, delta K in the second adjustment parameter p PB, deltaK I Is NB and ΔK D Is PB. Wherein PB, NB and ZO are membership intervals. Therefore, specific adjustment parameters also need to be determined. For example, ΔK is determined according to a preset PB corresponding value p The method comprises the steps of carrying out a first treatment on the surface of the Determining delta K according to preset values corresponding to NB I The method comprises the steps of carrying out a first treatment on the surface of the Determining delta K according to the preset value corresponding to NB D 。
The values of each second adjustment parameter corresponding to each membership range (PB/ZO/NB) may be set in advance according to actual conditions, which is not limited.
Based on the above description, when determining the second adjustment parameter, blurring the first speed error and the first speed error change rate according to the first blurring relationship and the second blurring relationship; and then, performing deblurring processing according to the association relation among the preset error membership interval, the preset change rate membership interval and the preset adjusting parameters to obtain a specific second adjusting parameter. Based on the above, when the running speed of the traction rope and the above factors are not in a linear relationship, or the running speed of the traction rope and the above factors cannot establish an accurate mathematical model, the above method can be used to adjust the current running speed. Therefore, on the basis that the running speed error of the traction rope can be reduced, an accurate mathematical model is not required to be established.
S204, determining a target braking moment according to the first adjusting parameter and the second adjusting parameter, and controlling the disc brake to output the target braking moment; at the target braking torque, the second speed error of the running speed of the traction rope at the next moment is smaller than the first speed error.
In the application, the control device can adjust the braking moment output by the disc brake at the current moment according to the first adjusting parameter and the second adjusting parameter so that the braking moment output by the disc brake at the next moment is the target braking moment. Further, the running speed of the traction rope at the next moment can be adjusted.
Specifically, the control device may determine a total compensation value of the traction rope according to the first adjustment parameter and the second adjustment parameter; and then determining the sum of the total compensation value and the braking torque output by the disc brake at the current moment as a target braking torque.
When calculating the total compensation value, the product of the second adjusting parameter and the target preset weight can be calculated first; the sum of the product and the first adjustment parameter is then determined as the total compensation value.
It should be noted that, when the first adjustment parameter and the second adjustment parameter are both the above three parameters, for example, the first adjustment parameter includes K P 、K I K is as follows D The method comprises the steps of carrying out a first treatment on the surface of the The second adjusting parameter is delta K P 、ΔK I ΔK D . Thereafter, each second adjustment parameter (ΔK may be calculated separately P 、ΔK I ΔK D ) And the product of the target preset weight. Then, each product is combined with a corresponding first adjustment parameter (K P 、K I K is as follows D ) The sum is determined as the total compensation value.
For example, ΔK P Product of the target preset weight and K P Adding to obtain a P value in the total compensation value; will delta K I Product of target preset weight and K I Adding to obtain an I value in the total compensation value; will delta K D Product of target preset weight and K D And adding to obtain the D value in the total compensation value. A kind of electronic device And determining the total compensation value according to the P value, the I value and the D value. And then, adding the sum of the P value, the I value and the D value and the braking moment at the current moment to obtain the target braking moment.
In an embodiment, the value of the target preset weight may be 1. However, since the second adjustment parameter is a parameter obtained by blurring processing, the accuracy of the second adjustment parameter may be low. Therefore, when calculating the total compensation value, its target preset weight is typically lower than 1.
In one embodiment, a first adjustment parameter of the current running speed is determined by processing a first speed error, a speed error change rate and each historical speed error of the traction rope at the current moment of the traction rope, so as to compensate the first speed error, the speed error change rate and each historical speed error; then, the first speed error and the speed error change rate are processed, and a second adjusting parameter of the current running speed of the traction rope at the current moment is determined so as to compensate the first speed error and the speed error change rate again. Based on the above, when the target braking torque is determined according to the first adjustment parameter and the second adjustment parameter obtained by the processing, the second speed error of the running speed of the traction rope at the next moment is smaller than the first speed error at the last moment, so that the running speed of the traction rope when the traction rope is lifted tends to be stable, and the safety during running is improved.
In another embodiment, after the current running speed of the traction rope at the current moment is obtained, if the current running speed is detected to be greater than the preset critical speed, the lifting system is indicated to be possibly faulty, so that the control device can directly control the disc brake to stop outputting the braking torque, and the safety of personnel taking the lifting container is guaranteed preferentially.
Illustratively, the operating speed of the traction ropes is typically between 0 and 1m/s when the hoisting system is operating normally. However, in order to ensure stable operation of the traction rope, the above-mentioned preset critical speed may be set to 0.8m/s.
In another embodiment, if the lifting container connected to the traction rope in the lifting system has reached the target position, this indicates that the lifting system has completed one lift. The control device can thus control the disc brake to stop outputting the braking torque. Similarly, if the lifting container does not reach the target position, it indicates that the lifting system has not completed lifting once, and therefore, the control device also needs to control the disc brake to output the target braking torque until the lifting container reaches the target position.
Referring to fig. 3, fig. 3 is a block diagram of a control device of a lifting system according to an embodiment of the present application. The control device of the lifting system in this embodiment includes modules for executing the steps in the embodiment corresponding to fig. 2. Refer specifically to fig. 2 and the related description in the embodiment corresponding to fig. 2. For convenience of explanation, only the portions related to the present embodiment are shown. Wherein the lifting system comprises a traction rope and a disc brake, see fig. 3, the control device 300 of the lifting system may comprise: a first acquisition module 310, a first determination module 320, a second determination module 330, and a third determination module 340, wherein:
The first obtaining module 310 is configured to obtain a first speed error of the traction rope at the current time, a speed error change rate, and each historical speed error of the traction rope at each historical time.
The first determining module 320 is configured to determine a first adjustment parameter of the current running speed of the traction rope at the current moment according to the first speed error, the speed error change rate, and each historical speed error.
The second determining module 330 is configured to determine a second adjustment parameter of the current running speed at the current moment according to the first speed error and the speed error change rate.
A third determining module 340, configured to determine a target braking torque to be output by the disc brake according to the first adjustment parameter and the second adjustment parameter; at the target braking torque, the second speed error of the running speed of the traction rope at the next moment is smaller than the first speed error.
In an embodiment, the first determining module 320 is further configured to:
determining a product of the first speed error and a first preset weight as a first compensation value; calculating accumulated errors of all the historical speed errors, carrying out integral processing on the accumulated errors, and determining the product of the accumulated errors after integral processing and a second preset weight as a second compensation value; determining the product of the speed error change rate and a third preset weight as a third compensation value; the first compensation value, the second compensation value and the third compensation value are determined as the first adjustment parameter.
In an embodiment, the second determining module 330 is further configured to:
determining a target error membership range corresponding to the first speed error according to a first fuzzy relation between the preset speed error and a preset error membership range; determining a target change rate membership range corresponding to the first speed error change rate according to a second fuzzy relation between the preset speed error change rate and the preset change rate membership range; and determining a target error membership degree interval and a second adjustment parameter corresponding to the target change rate membership degree interval according to the association relation among the preset error membership degree interval, the preset change rate membership degree interval and the preset adjustment parameter.
In an embodiment, the third determining module 340 is further configured to:
determining a total compensation value of the traction rope according to the first adjusting parameter and the second adjusting parameter; and determining the sum of the total compensation value and the braking torque output by the disc brake at the current moment as a target braking torque.
In an embodiment, the third determining module 340 is further configured to:
calculating the product of the second adjusting parameter and the target preset weight; the sum of the product and the first adjustment parameter is determined as the total compensation value.
In one embodiment, the control device 300 further comprises:
And the first stopping module is used for controlling the disc brake to stop outputting the braking moment if the current running speed is greater than the preset critical speed.
In one embodiment, the control device 300 further comprises:
and the second stopping module is used for controlling the disc brake to stop outputting the braking moment if the lifting container connected with the traction rope in the lifting system reaches the target position.
In an embodiment, the third determining module 340 is further configured to: and if the lifting container does not reach the target position, controlling the disc brake to output the target braking moment.
It is to be understood that, in the block diagram of the control device of the lifting system shown in fig. 3, each module is configured to execute each step in the embodiment corresponding to fig. 2, and each step in the embodiment corresponding to fig. 2 has been explained in detail in the foregoing embodiment, and reference is specifically made to fig. 2 and related descriptions in the embodiment corresponding to fig. 2, which are not repeated herein.
Fig. 4 is a block diagram of a control device of a lifting system according to another embodiment of the present application. As shown in fig. 4, the control device 400 of this embodiment includes: a processor 410, a memory 420 and a computer program 430 stored in the memory 420 and executable on the processor 410, such as a program for a control method of a lifting system. The processor 410, when executing the computer program 430, implements the steps of the embodiments of the control method of the respective lifting systems described above, such as S201 to S204 shown in fig. 2. Alternatively, the processor 410 may implement the functions of the modules in the embodiment corresponding to fig. 3, for example, the functions of the modules 310 to 340 shown in fig. 3, when executing the computer program 430, and refer to the related description in the embodiment corresponding to fig. 3.
For example, the computer program 430 may be partitioned into one or more modules that are stored in the memory 420 and executed by the processor 410 to implement the control method of the lift system provided by embodiments of the present application. One or more of the modules may be a series of computer program instruction segments capable of performing particular functions for describing the execution of the computer program 430 in the control device 400. For example, the computer program 430 may implement the control method of the lifting system provided in the embodiments of the present application.
The control device 400 may include, but is not limited to, a processor 410, a memory 420. It will be appreciated by those skilled in the art that fig. 4 is merely an example of the control apparatus 400 and does not constitute a limitation of the control apparatus 400, and may include more or less components than illustrated, or may combine certain components, or different components, e.g., the control apparatus may further include an input-output device, a network access device, a bus, etc.
The processor 410 may be a central processing unit, but may also be other general purpose processors, digital signal processors, application specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 420 may be an internal storage unit of the control device 400, such as a hard disk or a memory of the control device 400. The memory 420 may also be an external storage device of the control apparatus 400, such as a plug-in hard disk, a smart memory card, a flash memory card, etc. provided on the control apparatus 400. Further, the memory 420 may also include both an internal storage unit and an external storage device of the control apparatus 400.
The embodiments of the present application provide a computer readable storage medium including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the control method of the lifting system in each of the embodiments described above when executing the computer program.
Embodiments of the present application provide a computer program product for causing a control device to execute the control method of the lifting system in the above embodiments when the computer program product is run on the control device.
The embodiment of the application provides a lifting system, which comprises a traction rope, a disc brake and a control device of the lifting system in the embodiment, wherein the disc brake is used for providing braking torque for the traction rope, and is connected with the control device.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the present application 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims (6)

1. A method of controlling a lifting system, characterized in that the lifting system comprises a traction rope and a disc brake; the method comprises the following steps:
acquiring a first speed error and a speed error change rate of the traction rope at the current moment and each historical speed error of the traction rope at each historical moment;
determining a first adjustment parameter of the current running speed of the traction rope at the current moment according to the first speed error, the speed error change rate and each historical speed error, wherein the first adjustment parameter comprises the following components:
determining the product of the first speed error and a first preset weight as a first compensation value;
Calculating the accumulated errors of all the historical speed errors, carrying out integral processing on the accumulated errors, and determining the product of the accumulated errors after integral processing and a second preset weight as a second compensation value;
determining the product of the speed error change rate and a third preset weight as a third compensation value;
determining the first compensation value, the second compensation value and the third compensation value as the first adjusting parameter; wherein the first adjustment parameter is a parameter for performing error compensation on the first speed error, the speed error change rate and each historical speed error, and is a first compensation value K for compensating the first speed error P The method comprises the steps of carrying out a first treatment on the surface of the Second compensation value K for compensating each historical speed error I The method comprises the steps of carrying out a first treatment on the surface of the And a third compensation value K for compensating the speed error change rate D ；
Determining a second adjustment parameter for the current operating speed based on the first speed error and the speed error rate of change, comprising:
determining a target error membership range corresponding to a first speed error according to a first fuzzy relation between the preset speed error and a preset error membership range;
Determining a target change rate membership range corresponding to the first speed error change rate according to a second fuzzy relation between the preset speed error change rate and a preset change rate membership range;
determining the target error membership interval and the second adjustment parameter corresponding to the target change rate membership interval according to the association relation among the preset error membership interval, the preset change rate membership interval and the preset adjustment parameter;
the first fuzzy relation between the preset speed error and the preset error membership interval is preset according to actual conditions, and the preset error membership interval and the preset change rate membership interval are respectively divided into a positive membership interval, a 0 membership interval and a negative membership interval; the lifting system determines a first interval value corresponding to the first speed error in the positive membership interval according to a first fuzzy relation between the preset speed error and the positive membership interval; determining a corresponding second interval value of the first speed error in the 0-value membership interval according to a first fuzzy relation between the preset speed error and the 0-value membership interval; and determining a third interval value corresponding to the first speed error in the negative membership interval according to a first fuzzy relation between the preset speed error and the negative membership interval; determining a membership interval corresponding to the maximum value of the first interval value, the second interval value and the third interval value as a target error membership interval; the first interval value is a numerical value obtained by inputting a first speed error into a function corresponding to a positive membership interval, and a calculation formula corresponding to the second interval value and the third interval value is similar to a calculation formula corresponding to the first interval value;
For the three membership degrees, the first fuzzy relation between the three membership degrees and the preset speed error is as follows:
the first fuzzy relationship between the preset speed error and the positive value membership interval in the preset error membership interval is as follows:
PB is a positive membership range in the preset error membership range; e1 is a preset constant;
the first fuzzy relation between the preset speed error and the 0-value membership interval in the preset error membership interval is as follows:
wherein ZO is a 0-value membership interval in a preset error membership interval; e1 is a preset constant;
the first fuzzy relation between the preset speed error and the negative membership interval in the preset error membership interval is as follows:
wherein NB is a negative membership interval in a preset error membership interval; e1 is a preset constant;
setting the e1 according to actual conditions;
the second adjusting parameter is only determined according to the first speed error and the speed error change rate, and the adjusting capability of the second adjusting parameter to the current running speed is lower than that of the first adjusting parameter to the current running speed; wherein the second adjustment parameters also comprise three parameters ΔK P 、ΔK I 、ΔK D ；
Determining a target braking torque according to the first adjusting parameter and the second adjusting parameter, and controlling the disc brake to output the target braking torque; at the target braking torque, a second speed error of the running speed of the traction rope at the next moment is smaller than the first speed error;
the determining the target braking torque according to the first adjusting parameter and the second adjusting parameter comprises the following steps:
determining a total compensation value for the traction rope according to the first adjustment parameter and the second adjustment parameter, comprising:
the first adjustment parameter comprises K P 、K I K is as follows D The method comprises the steps of carrying out a first treatment on the surface of the The second adjusting parameter is delta K P 、ΔK I ΔK D The method comprises the steps of carrying out a first treatment on the surface of the Respectively calculating each second adjusting parameter delta K P 、ΔK I ΔK D Multiplying the target preset weight by each product, and correspondingly adjusting the first parameter K P 、K I K is as follows D The sum is determined as the total compensation value;
and determining the sum of the total compensation value and the braking torque output by the disc brake at the current moment as the target braking torque.
2. The method according to claim 1, wherein the method further comprises:
and if the current running speed is greater than a preset critical speed, controlling the disc brake to stop outputting the braking torque.
3. The method according to claim 1, wherein the method further comprises:
if a lifting container connected with the traction rope in the lifting system reaches a target position, controlling the disc brake to stop outputting braking torque;
the controlling the disc brake to output the target braking torque includes:
and if the lifting container does not reach the target position, controlling the disc brake to output the target braking moment.
4. A control device of a lifting system, characterized in that the lifting system comprises a traction rope and a disc brake; the device comprises:
the first acquisition module is used for acquiring a first speed error and a speed error change rate of the traction rope at the current moment and each historical speed error of the traction rope at each historical moment;
a first determining module, configured to determine a first adjustment parameter of a current running speed of the traction rope at the current moment according to the first speed error, the speed error change rate, and each of the historical speed errors, where the first adjustment parameter includes:
determining the product of the first speed error and a first preset weight as a first compensation value;
Calculating the accumulated errors of all the historical speed errors, carrying out integral processing on the accumulated errors, and determining the product of the accumulated errors after integral processing and a second preset weight as a second compensation value;
determining the product of the speed error change rate and a third preset weight as a third compensation value;
determining the first compensation value, the second compensation value and the third compensation value as the first adjustment parameter; wherein the first adjustment parameter is a parameter for performing error compensation on the first speed error, the speed error change rate and each historical speed error, and is a first compensation value K for compensating the first speed error P The method comprises the steps of carrying out a first treatment on the surface of the Second compensation value K for compensating each historical speed error I The method comprises the steps of carrying out a first treatment on the surface of the And a third compensation value K for compensating the speed error change rate D ；
A second determining module, configured to determine, according to the first speed error and the speed error change rate, a second adjustment parameter of a current running speed of the traction rope at the current moment, including:
determining a target error membership range corresponding to a first speed error according to a first fuzzy relation between the preset speed error and a preset error membership range;
Determining a target change rate membership range corresponding to the first speed error change rate according to a second fuzzy relation between the preset speed error change rate and a preset change rate membership range;
determining the target error membership interval and the second adjustment parameter corresponding to the target change rate membership interval according to the association relation among the preset error membership interval, the preset change rate membership interval and the preset adjustment parameter;
the first fuzzy relation between the preset speed error and the preset error membership interval is preset according to actual conditions, and the preset error membership interval and the preset change rate membership interval are respectively divided into a positive membership interval, a 0 membership interval and a negative membership interval; the lifting system determines a first interval value corresponding to the first speed error in the positive membership interval according to a first fuzzy relation between the preset speed error and the positive membership interval; determining a corresponding second interval value of the first speed error in the 0-value membership interval according to a first fuzzy relation between the preset speed error and the 0-value membership interval; and determining a third interval value corresponding to the first speed error in the negative membership interval according to a first fuzzy relation between the preset speed error and the negative membership interval; determining a membership interval corresponding to the maximum value of the first interval value, the second interval value and the third interval value as a target error membership interval; the first interval value is a numerical value obtained by inputting a first speed error into a function corresponding to a positive membership interval, and a calculation formula corresponding to the second interval value and the third interval value is similar to a calculation formula corresponding to the first interval value;
For the three membership degrees, the first fuzzy relation between the three membership degrees and the preset speed error is as follows:
the first fuzzy relationship between the preset speed error and the positive value membership interval in the preset error membership interval is as follows:
PB is a positive membership range in the preset error membership range; e1 is a preset constant;
the first fuzzy relation between the preset speed error and the 0-value membership interval in the preset error membership interval is as follows:
wherein ZO is a 0-value membership interval in a preset error membership interval; e1 is a preset constant;
the first fuzzy relation between the preset speed error and the negative membership interval in the preset error membership interval is as follows:
wherein NB is a negative membership interval in a preset error membership interval; e1 is a preset constant;
setting the e1 according to actual conditions;
the second adjusting parameter is only determined according to the first speed error and the speed error change rate, and the adjusting capability of the second adjusting parameter to the current running speed is lower than that of the first adjusting parameter to the current running speed; wherein the second adjustment parameters also comprise three parameters ΔK P 、ΔK I 、ΔK D ；
The third determining module is used for determining a target braking torque to be output by the disc brake according to the first adjusting parameter and the second adjusting parameter; at the target braking torque, a second speed error of the running speed of the traction rope at the next moment is smaller than the first speed error;
the determining the target braking torque according to the first adjusting parameter and the second adjusting parameter comprises the following steps:
determining a total compensation value for the traction rope according to the first adjustment parameter and the second adjustment parameter, comprising:
the first adjustment parameters compriseK P 、K I K is as follows D The method comprises the steps of carrying out a first treatment on the surface of the The second adjusting parameter is delta K P 、ΔK I ΔK D The method comprises the steps of carrying out a first treatment on the surface of the Respectively calculating each second adjusting parameter delta K P 、ΔK I ΔK D Multiplying the target preset weight by each product, and correspondingly adjusting the first parameter K P 、K I K is as follows D The sum is determined as the total compensation value;
and determining the sum of the total compensation value and the braking torque output by the disc brake at the current moment as the target braking torque.
5. A control device of a lifting system, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any one of claims 1 to 3 when executing the computer program.
6. A hoisting system comprising a traction rope, a disc brake for providing a braking torque to the traction rope, and a control device of the hoisting system as claimed in claim 4 or 5, the disc brake being connected to the control device.
CN202211215407.7A 2022-09-30 2022-09-30 Control method and device of lifting system and lifting system Active CN115432527B (en)

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