CN115504392B - Hook sliding pre-judging protection method based on super acceleration algorithm - Google Patents
Hook sliding pre-judging protection method based on super acceleration algorithm Download PDFInfo
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- CN115504392B CN115504392B CN202211155747.5A CN202211155747A CN115504392B CN 115504392 B CN115504392 B CN 115504392B CN 202211155747 A CN202211155747 A CN 202211155747A CN 115504392 B CN115504392 B CN 115504392B
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Classifications
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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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- 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
- B66D5/24—Operating devices
- B66D5/30—Operating devices electrical
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/18—Complex mathematical operations for evaluating statistical data, e.g. average values, frequency distributions, probability functions, regression analysis
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- Control And Safety Of Cranes (AREA)
Abstract
The invention relates to the technical field of port loading and unloading equipment control, in particular to a hook sliding pre-judging protection method based on an ultra-acceleration algorithm, which comprises the following steps of: step a1: PLC control module is arranged and based onThe mathematical model establishes an ultra-acceleration algorithm program, and a speed encoder is arranged for measuring real-time rotation pulse data information of a lifting motor of a lifting mechanism of the loading and unloading equipment and transmitting the rotation pulse data information to the ultra-acceleration algorithm program; step a2: the invention can greatly avoid the damage to the whole machine vibration and mechanical structure caused by triggering of the lifting mechanism of the loading and unloading equipment in a high-speed running state, can pre-judge the sliding hook trend of the lifting mechanism of the crane in advance, is used as pre-judging protection for the front-arranged overspeed out-of-control lifting mechanism, and can greatly reduce the out-of-control of the lifting mechanism of the large loading and unloading equipment in a port and dock due to the overspeed sliding hook.
Description
Technical Field
The invention relates to the technical field of port loading and unloading equipment control, in particular to a hook sliding pre-judging protection method based on an ultra-acceleration algorithm.
Background
The most important actuating mechanism of the large loading and unloading equipment such as a port container, bulk goods and a piece of goods is lifting, the lifting mechanism of the traditional large loading and unloading equipment is overspeed or sliding hook protection, overspeed switches (mechanical eccentric type or electronic type) arranged on the lifting motor side or speed feedback through a motor side speed encoder are adopted, the two detection modes are both based on the fact that the speed exceeds a preset value so as to trigger protection actions, the premise of triggering overspeed protection actions is that the lifting motor is overspeed or is in a sliding hook state, at the moment, a brake is immediately band-type brake after the brake is powered off, overspeed protection triggering moment, the band-type brake is instant, the whole equipment generates extremely large vibration, mechanical structure twisting damage is caused, overspeed most occurs under the condition of heavy load or overload, and the out-of-control risk of sliding hook or lifting appliance and hanging object smashing on the cargo ship is extremely easy to occur, so that we propose a hook pre-judging protection method based on an ultra acceleration algorithm.
Disclosure of Invention
The invention aims to provide a hook sliding pre-judging protection method based on an ultra-acceleration algorithm, so as to solve the technical problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions:
A hook sliding pre-judging protection method based on an ultra-acceleration algorithm comprises the following steps:
step a1: PLC control module is arranged and based on The mathematical model establishes an ultra-acceleration algorithm program, and a speed encoder is arranged for measuring real-time rotation pulse data information of a lifting motor of a lifting mechanism of the loading and unloading equipment and transmitting the rotation pulse data information to the ultra-acceleration algorithm program;
Step a2: calculating the rated linear speed V S of the reel steel wire rope when lifting the weight by using the super acceleration algorithm program, and calculating the rated acceleration a s according to the conversion of the rated linear speed V S;
Step a3: calculating an instantaneous motor rotating speed n sca by using the super acceleration algorithm program, calculating an instantaneous linear speed V sca according to the conversion of the motor rotating speed n sca, calculating an instantaneous acceleration a c according to the conversion of the instantaneous linear speed V sca, and calculating an acceleration average value a v according to the conversion of the instantaneous acceleration a c;
Step a4: comparing, analyzing and processing the acceleration average value a v and the rated acceleration a s by using the PLC control module, if the acceleration average value a v is larger than the rated acceleration a s, indicating that the suspended goods run at abnormal acceleration and are about to slip, and immediately sending out a band-type brake control signal by the PLC control module;
Step a5: an overspeed switch is arranged for measuring whether a lifting motor of a lifting mechanism of the loading and unloading equipment operates at overspeed;
Step a6: the lifting frequency converter is used for driving a lifting motor of a lifting mechanism of the loading and unloading equipment and detecting whether the lifting motor operates at overspeed according to the measurement information of the speed encoder;
Step a7: the lifting control device comprises a lifting controller and a lifting brake, wherein the lifting brake is used for braking a lifting mechanism of the loading and unloading equipment, and the lifting controller is used for controlling the operation of the lifting brake according to command signals of a PLC control module, an overspeed switch and a lifting frequency converter.
Preferably, the calculation formula of the rated linear velocity V S when the reel steel wire rope lifts the heavy object is
Wherein Ns is the rated rotation speed of the lifting motor, r is the radius of the steel wire rope reel, and J is the reduction ratio of a reduction gearbox connected with the lifting motor and the reel.
Preferably, the calculation formula of the rated acceleration a s is as follows
Wherein V S is the rated linear speed of the reel wire rope when lifting the weight, and T S is the measurement period constant.
Preferably, the calculation formula of the instantaneous motor rotation speed n sca is as follows
Where f sca is the frequency value acquired and P s is the number of single pulses of the speed encoder.
Preferably, the calculation formula of the instantaneous linear velocity V sca is as follows
Wherein r is the radius of the steel wire rope winding drum, n sca is the rotating speed of the instantaneous motor, and J is the reduction ratio of a reduction gearbox connected with the lifting motor and the winding drum.
Preferably, the calculation formula of the instantaneous acceleration a c is that
Where v is the instantaneous linear velocity variation in the time period, and t is the variation in the time period.
Preferably, the calculation formula of the acceleration average value a v is
Wherein a c is the instantaneous acceleration.
Preferably, the PLC control module comprises a counting unit, an analysis unit and a control signal unit.
Preferably, the specific operation of the PLC control module includes the following procedures:
step b1: the counting unit is used for counting and processing the measurement period constant and transmitting the measurement period constant to an ultra-acceleration algorithm program;
Step b2: comparing the average acceleration a v with the rated acceleration a s by using the analysis unit;
step b3: and if the analysis unit analyzes and confirms that the average acceleration value a v is larger than the rated acceleration a s, the control signal unit generates a band-type brake control signal.
Preferably, the PLC control module further comprises a signal transmission unit, wherein the signal transmission unit is used for transmitting band-type brake control signals in the control signal unit to the lifting controller so as to control the operation of the lifting brake.
Compared with the prior art, the invention has the beneficial effects that:
The invention detects the speed change rate of the lifting motor, namely whether the acceleration has abnormal mutation or not by reading the real-time feedback speed and the measuring period of the speed encoder of the lifting motor of the lifting mechanism of the loading and unloading equipment, thereby pre-judging whether the lifting mechanism of the loading and unloading equipment has a hook sliding trend or not, so that the whole machine vibration and the mechanical structure damage caused by triggering the lifting mechanism of the loading and unloading equipment in a high-speed running state are avoided to a great extent under the condition of lower kinetic energy, and the lifting controller controls the lifting brake to be closed, thereby timely and effectively contracting brake, pre-judging the hook sliding trend of the lifting mechanism of the crane in advance, and pre-judging protection for the pre-controlling of the overspeed of the lifting mechanism of the crane, thereby greatly reducing the out-of-control of the lifting mechanism of the large loading and unloading equipment in a port and wharf due to the overspeed hook sliding.
Drawings
FIG. 1 is a schematic block diagram of a hook sliding pre-judging protection method based on an ultra-acceleration algorithm;
FIG. 2 is a schematic diagram of steps of a hook sliding pre-judging protection method based on an ultra-acceleration algorithm;
FIG. 3 is a block diagram of a PLC control module in a hook sliding pre-judging protection method based on an ultra-acceleration algorithm;
fig. 4 is a schematic flow chart of the operation of the PLC control module in the hook sliding pre-judging protection method based on the super acceleration algorithm.
In the figure: 1. a PLC control module; 11. a counting unit; 12. an analysis unit; 13. a control signal unit; 14. a signal transmission unit; 2. a super acceleration algorithm program; 3. a speed encoder; 4. an overspeed switch; 5. lifting the frequency converter; 6. a lifting controller; 7. lifting the brake.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-4, the present invention provides a technical solution:
A hook sliding pre-judging protection method based on an ultra-acceleration algorithm comprises the following steps:
step a1: the PLC control module 1 is arranged and is based on The mathematical model establishes an ultra-acceleration algorithm program 2, and a speed encoder 3 is arranged for measuring real-time rotation pulse data information of a lifting motor of a lifting mechanism of the loading and unloading equipment and transmitting the rotation pulse data information to the ultra-acceleration algorithm program 2;
Step a2: calculating a rated linear speed V S of the reel steel wire rope when lifting a weight by using the ultra-acceleration algorithm program 2, and calculating rated acceleration a s according to the conversion of the rated linear speed V S;
Step a3: calculating an instantaneous motor rotation speed n sca by using the ultra-acceleration algorithm program 2, calculating an instantaneous linear speed V sca according to the conversion of the motor rotation speed n sca, calculating an instantaneous acceleration a c according to the conversion of the instantaneous linear speed V sca, and calculating an acceleration average value a v according to the conversion of the instantaneous acceleration a c;
Step a4: comparing, analyzing and processing the acceleration average value a v and the rated acceleration a s by using the PLC control module 1, if the acceleration average value a v is larger than the rated acceleration a s, indicating that the suspended goods run at abnormal acceleration and are about to slip, and immediately sending out a band-type brake control signal by the PLC control module 1;
step a5: an overspeed switch 4 is arranged for measuring whether a lifting motor of a lifting mechanism of the loading and unloading equipment operates at overspeed;
step a6: a lifting frequency converter 5 is arranged and is used for driving a lifting motor of a lifting mechanism of the loading and unloading equipment and detecting whether the lifting motor runs at overspeed according to the measurement information of the speed encoder 3;
Step a7: the lifting controller 6 and the lifting brake 7 are arranged, the lifting brake 7 is used for braking a lifting mechanism of the loading and unloading equipment, and the lifting controller 6 is used for controlling the operation of the lifting brake 7 according to command signals of the PLC control module 1, the overspeed switch 4 and the lifting frequency converter 5.
As a preferable implementation mode in the embodiment, the calculation formula of the rated linear velocity V S when the reel steel wire rope lifts the weight is as follows
Wherein Ns is the rated rotation speed of the lifting motor, r is the radius of the steel wire rope reel, and J is the reduction ratio of a reduction gearbox connected with the lifting motor and the reel.
As a preferred implementation manner in this embodiment, the calculation formula of the rated acceleration a s is as follows
Wherein V S is the rated linear speed of the reel wire rope when lifting the weight, and T S is the measurement period constant.
As a preferred implementation of the present embodiment, the calculation formula of the instantaneous motor rotation speed n sca is as follows
Where f sca is the frequency value acquired and P s is the number of single pulses of the speed encoder 3.
As a preferred implementation of the present embodiment, the calculation formula of the instantaneous linear velocity V sca is as follows
Wherein r is the radius of the steel wire rope winding drum, n sca is the rotating speed of the instantaneous motor, and J is the reduction ratio of a reduction gearbox connected with the lifting motor and the winding drum.
As a preferred implementation manner in this embodiment, the calculation formula of the instantaneous acceleration a c is as follows
Where v is the instantaneous linear velocity variation in the time period, and t is the variation in the time period.
As a preferred implementation manner in this embodiment, the calculation formula of the acceleration average value a v is as follows
Wherein a c is the instantaneous acceleration.
As a preferred implementation manner in this embodiment, the PLC control module 1 includes a counting unit 11, an analyzing unit 12, and a control signal unit 13.
As a preferred implementation manner in this embodiment, the specific operation of the PLC control module 1 includes the following procedures:
step b1: the counting unit 11 is used for counting and processing the measurement period constant and transmitting the measurement period constant to the ultra-acceleration algorithm program 2;
Step b2: comparing the average acceleration a v with the rated acceleration a s by using the analysis unit 12;
Step b3: if the analysis unit 12 analyzes and confirms that the average acceleration a v is larger than the rated acceleration a s, the control signal unit 13 generates a band-type brake control signal.
As a preferred implementation manner in this embodiment, the PLC control module 1 further includes a signal transmission unit 14, where the signal transmission unit 14 is configured to transmit the band-type brake control signal in the control signal unit 13 to the lifting controller 6 to control the operation of the lifting brake 7.
In summary, by reading the real-time feedback speed and the measurement period of the speed encoder 3 of the lifting motor of the lifting mechanism of the loading and unloading device, the speed change rate of the lifting motor, namely whether the acceleration is abnormal or not, is detected, so that whether the lifting mechanism of the loading and unloading device has a hook sliding trend is prejudged, and the whole machine vibration and the mechanical structure damage caused by triggering of the lifting mechanism of the loading and unloading device in a high-speed running state are avoided to a great extent under the condition of low kinetic energy, and the lifting controller 6 controls the lifting brake 7 to be closed, so that the band-type brake can be timely and effectively carried out, the hook sliding trend of the lifting mechanism of the crane can be prejudged in advance, and the hook sliding trend of the lifting mechanism of the crane is prejudged as the prejudging protection of the overspeed and out-of-control of the lifting mechanism of the large-scale loading and unloading device of a port terminal can be greatly reduced.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments, and that the above-described embodiments and descriptions are only preferred embodiments of the present invention, and are not intended to limit the invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A hook sliding pre-judging protection method based on an ultra-acceleration algorithm is characterized by comprising the following steps of: the method comprises the following steps:
Step a1: the PLC control module (1) is arranged and is based on The mathematical model establishes an ultra-acceleration algorithm program (2), and a speed encoder (3) is arranged for measuring real-time rotation pulse data information of a lifting motor of a lifting mechanism of the loading and unloading equipment and transmitting the rotation pulse data information to the ultra-acceleration algorithm program (2);
Step a2: calculating a rated linear speed V S of the reel steel wire rope when lifting a weight by using the super acceleration algorithm program (2), and calculating rated acceleration a s according to the conversion of the rated linear speed V S;
Step a3: calculating an instantaneous motor rotation speed n sca by utilizing the super acceleration algorithm program (2), calculating an instantaneous linear speed V sca according to the conversion of the motor rotation speed n sca, calculating an instantaneous acceleration a c according to the conversion of the instantaneous linear speed V sca, and calculating an acceleration average value a v according to the conversion of the instantaneous acceleration a c;
Step a4: comparing, analyzing and processing the acceleration average value a v and the rated acceleration a s by using the PLC control module (1), if the acceleration average value a v is larger than the rated acceleration a s, indicating that the suspended goods are running at abnormal acceleration and are at risk of slipping, and immediately sending out a band-type brake control signal by the PLC control module (1);
Step a5: an overspeed switch (4) is arranged for measuring whether a lifting motor of a lifting mechanism of the loading and unloading equipment operates at overspeed;
Step a6: a lifting frequency converter (5) is arranged and is used for driving a lifting motor of a lifting mechanism of the loading and unloading equipment and detecting whether the lifting motor operates at overspeed according to the measurement information of the speed encoder (3);
Step a7: the lifting control device comprises a lifting controller (6) and a lifting brake (7), wherein the lifting brake (7) is used for braking a lifting mechanism of the loading and unloading equipment, and the lifting controller (6) is used for controlling the operation of the lifting brake (7) according to command signals of the PLC control module (1), the overspeed switch (4) and the lifting frequency converter (5).
2. The method for prejudging and protecting the hook sliding based on the super acceleration algorithm according to claim 1, wherein the method is characterized by comprising the following steps of: the calculation formula of the rated linear velocity V S when the reel steel wire rope lifts the weight is
Wherein Ns is the rated rotation speed of the lifting motor, r is the radius of the steel wire rope reel, and J is the reduction ratio of a reduction gearbox connected with the lifting motor and the reel.
3. The method for prejudging and protecting the hook sliding based on the super acceleration algorithm according to claim 1, wherein the method is characterized by comprising the following steps of: the calculation formula of the rated acceleration a s is that
Wherein V S is the rated linear speed of the reel wire rope when lifting the weight, and T S is the measurement period constant.
4. The method for prejudging and protecting the hook sliding based on the super acceleration algorithm according to claim 1, wherein the method is characterized by comprising the following steps of: the calculation formula of the instantaneous motor rotating speed n sca is as follows
Where f sca is the frequency value acquired and P s is the number of single pulses of the speed encoder (3).
5. The method for prejudging and protecting the hook sliding based on the super acceleration algorithm according to claim 1, wherein the method is characterized by comprising the following steps of: the calculation formula of the instantaneous linear velocity V sca is that
Wherein r is the radius of the steel wire rope winding drum, n sca is the rotating speed of the instantaneous motor, and J is the reduction ratio of a reduction gearbox connected with the lifting motor and the winding drum.
6. The method for prejudging and protecting the hook sliding based on the super acceleration algorithm according to claim 1, wherein the method is characterized by comprising the following steps of: the calculation formula of the instantaneous acceleration a c is that
Where v is the instantaneous linear velocity variation in the time period, and t is the variation in the time period.
7. The method for prejudging and protecting the hook sliding based on the super acceleration algorithm according to claim 1, wherein the method is characterized by comprising the following steps of: the calculation formula of the acceleration average value a v is
Wherein a c is the instantaneous acceleration.
8. The method for prejudging and protecting the hook sliding based on the super acceleration algorithm according to claim 1, wherein the method is characterized by comprising the following steps of: the PLC control module (1) comprises a counting unit (11), an analysis unit (12) and a control signal unit (13).
9. The method for prejudging and protecting the hook sliding based on the super acceleration algorithm, which is characterized in that: the specific operation of the PLC control module (1) comprises the following steps:
Step b1: the counting unit (11) is used for counting and processing the measurement period constant and transmitting the measurement period constant to the ultra-acceleration algorithm program (2);
Step b2: comparing the average acceleration value a v with the rated acceleration value a s by using the analysis unit (12);
Step b3: and if the analysis unit (12) analyzes and confirms that the average acceleration value a v is larger than the rated acceleration a s, the control signal unit (13) generates a band-type brake control signal.
10. The method for prejudging and protecting the hook sliding based on the super acceleration algorithm, which is characterized in that: the PLC control module (1) further comprises a signal transmission unit (14), wherein the signal transmission unit (14) is used for transmitting band-type brake control signals in the control signal unit (13) to the lifting controller (6) so as to control the operation of the lifting brake (7).
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| CN202211155747.5A CN115504392B (en) | 2022-09-22 | 2022-09-22 | Hook sliding pre-judging protection method based on super acceleration algorithm |
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| CN202211155747.5A CN115504392B (en) | 2022-09-22 | 2022-09-22 | Hook sliding pre-judging protection method based on super acceleration algorithm |
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Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4434971A (en) * | 1981-02-11 | 1984-03-06 | Armco Inc. | Drilling rig drawworks hook load overspeed preventing system |
| US11319193B2 (en) * | 2017-07-28 | 2022-05-03 | Brandt Industries Canada Ltd. | Monitoring system and method |
| CN108373122A (en) * | 2018-05-05 | 2018-08-07 | 烟台中恒机电科技有限公司 | A kind of automatically adjustable lock control system |
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2022
- 2022-09-22 CN CN202211155747.5A patent/CN115504392B/en active Active
Non-Patent Citations (2)
| Title |
|---|
| 基于变频技术的起重机控制系统研究;白勇等;《齐齐哈尔大学学报》;20090315;第25卷(第2期);第82-84页 * |
| 李怀福.起重机及卷扬系统可靠性分析.《 建设机械技术与管理》.2016,第56-59页. * |
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