CN115594056A - Speed control method, device and system for lifting container - Google Patents
Speed control method, device and system for lifting container Download PDFInfo
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- CN115594056A CN115594056A CN202211214172.XA CN202211214172A CN115594056A CN 115594056 A CN115594056 A CN 115594056A CN 202211214172 A CN202211214172 A CN 202211214172A CN 115594056 A CN115594056 A CN 115594056A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B19/00—Mining-hoist operation
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
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Abstract
The embodiment of the application is suitable for the technical field of elevators, and provides a speed control method, a device and a system for lifting a container, wherein the method is applied to a lifting system; the lifting system comprises a traction rope and a lifting container; the lifting container comprises a first lifting container and a second lifting container which are respectively connected with two ends of the traction rope; the method comprises the following steps: when detecting that the lifting container runs at a constant speed at a first speed, collecting factor values corresponding to a plurality of preset system factors respectively; generating a balance model according to the factor values respectively corresponding to the multiple system factors; the balance model is used for representing the stress of the first lifting container and the stress of the second lifting container; determining a target system factor from a plurality of system factors based on the first velocity and the balance model; the target system factor has a linear relationship with the first speed; the first speed is adjusted based on the factor value of the target system factor. The lifting speed of the lifting container can be stably controlled by adopting the method.
Description
Technical Field
The application belongs to the technical field of elevators, and particularly relates to a speed control method, device and system for lifting a container.
Background
The mine hoisting system is an important device in the production process of coal mines and nonferrous metal mines. The mine hoisting system generally includes a main hoist for transporting ore and waste rock and an auxiliary hoist for transporting personnel who go down the well.
The auxiliary hoist is usually a friction hoist, which can lift the container by means of friction between the traction rope and the guide pulley and a gravity difference between the lifting containers at both ends of the traction rope. Further, the worker may control the container lifting speed by controlling the braking force provided by the brake in the friction type hoist using the lever based on the container lifting speed displayed in the speedometer of the sub-hoist.
However, the friction force between the traction rope and the guide wheel is affected by the temperature and humidity of the field environment, and the gravity difference between the lifting containers at the two ends of the traction rope is not constant, so that when the friction type hoister operates, the control effect of the lifting speed of the lifting containers completely depends on workers operating the control rod, the lifting speed of the lifting containers is unstable, and the safety of the mine lifting system is reduced.
Disclosure of Invention
The embodiment of the application provides a speed control method, a device and a system for lifting a container, which can solve the technical problem that the lifting speed of the container cannot be stably controlled in the prior art.
In a first aspect, an embodiment of the present application provides a speed control method for lifting a container, which is applied to a lifting system; the lifting system comprises a traction rope and a lifting container; the lifting container comprises a first lifting container connected with a first end of the traction rope and a second lifting container connected with a second end of the traction rope; the method comprises the following steps:
when detecting that the lifting container runs at a constant speed at a first speed, collecting factor values corresponding to a plurality of preset system factors respectively;
generating a balance model according to the factor values respectively corresponding to the multiple system factors; the balance model is used for representing the stress of the first lifting container and the stress of the second lifting container;
determining a target system factor from a plurality of system factors based on the first velocity and the balance model; the target system factor has a linear relationship with the first speed;
the first speed is adjusted based on the factor value of the target system factor.
In a second aspect, the embodiment of the present application provides a speed control device for lifting a container, which is applied to a lifting system; the lifting system comprises a traction rope and a lifting container; the lifting container comprises a first lifting container connected with a first end of the traction rope and a second lifting container connected with a second end of the traction rope, and the device comprises:
the system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for acquiring factor values corresponding to a plurality of preset system factors when detecting that the lifting container runs at a first speed at a constant speed;
the generating module is used for generating a balance model according to the factor values respectively corresponding to the system factors; the balance model is used for representing the stress of the first lifting container and the stress of the second lifting container;
a determination module for determining a target system factor from a plurality of system factors based on the first velocity and the balance model; the target system factor has a linear relationship with the first speed;
and the adjusting module is used for adjusting the first speed according to the factor value of the target system factor.
In a third aspect, an embodiment of the present application provides a speed control apparatus for lifting a container, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to the first aspect when executing the computer program.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the method according to the first aspect.
In a fifth aspect, an embodiment of the present application provides a computer program product, which, when run on a terminal device, causes the terminal device to execute the method of the first aspect.
In a sixth aspect, the present application provides a lifting system comprising a lifting vessel and a speed control device for the lifting vessel of the second and third aspects, the lifting vessel being connected to the speed control device.
Compared with the prior art, the embodiment of the application has the advantages that: when detecting that the lifting container runs at a first speed at a constant speed, the lifting system can collect factor values corresponding to a plurality of preset system factors. Because the lifting containers run at a constant speed, the first lifting container and the second lifting container are in a stress balance state. Based on the method, the lifting system can establish a corresponding balance model according to the factor values respectively corresponding to the system factors, and determine the target system factor having a linear relation with the speed from the system factors according to the balance model. Based on this, the lifting system can be according to linear relation, when adjusting the target system factor, can be corresponding linear adjustment lifting container speed when moving, so, the lifting speed of lifting container can be controlled by accuracy to the stability of the lifting speed of lifting container has been improved, and then the security of mine lifting system has been improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a lifting system according to an embodiment of the present application;
FIG. 2 is a flow chart illustrating an implementation of a method for controlling a speed of lifting a container according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram illustrating one implementation of determining target system factors in a method for controlling a speed of lifting a container according to an embodiment of the present disclosure;
FIG. 4 is a schematic structural diagram of a speed control device for lifting a container according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a speed control device for lifting a container 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 structures, 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 will 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.
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
A secondary hoist in the mine hoist system is used to feed miners into the mine and to transport miners out of the mine. At present, a friction type hoist is generally used as a sub hoist, which can lift a container by means of a frictional force between a traction rope and a guide pulley and a gravity difference between lifting containers at both ends of the traction rope. In addition, the operator can control the container lifting speed by controlling the braking force provided by the brake in the friction type lifting machine by using the control lever based on the container lifting speed displayed in the speedometer of the auxiliary lifting machine.
However, the friction force between the traction rope and the guide wheel is affected by the temperature and humidity of the field environment, and the gravity difference between the lifting containers at the two ends of the traction rope is not constant, so that when the friction type hoister operates, the control effect of the lifting speed of the lifting container completely depends on workers operating the control rod, the operating speed of the lifting container is unstable, and the safety of the mine lifting system is reduced.
Based on this, in order to improve the stability of the speed when the container is lifted, the embodiment of the application provides a speed control method for lifting the container, and the method can be used in a lifting system.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a lifting system according to an embodiment of the present disclosure. Wherein the lifting system 100 comprises a lifting vessel 110 and a speed control device 120, wherein the lifting vessel 110 is connected to the speed control device 120 for performing the steps in the subsequent method embodiments.
In particular, the lifting system may further include a traction rope, a guide wheel, a disc brake, and the like. Wherein the lifting container comprises a first lifting container connected with a first end of the hauling rope and a second lifting container connected with a second end of the hauling rope. 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 haulage rope according to pressure to make the haulage rope move on the leading wheel, and then drive the first promotion container and the second promotion container lift at haulage rope both ends.
Referring to fig. 2, fig. 2 is a flowchart illustrating an implementation of a speed control method for lifting a container according to an embodiment of the present application, where the method includes the following steps:
s201, when the fact that the lifting container runs at a first speed at a constant speed is detected, factor values corresponding to a plurality of preset system factors are collected.
In practice, the above system factors are usually determined by the staff based on practical experience. Typically, the system factors include, but are not limited to: the disc brake may output braking force, friction between the traction rope and the guide pulley, and a weight difference between the first and second lift pockets when the first and second lift pockets are lifted and lowered.
In the application, the first speed may be any speed, and in this embodiment, the specific value of the first speed is not limited at all. Wherein, the first speed can be collected by a speed measurement sensor in the lifting system for the lifting speed of the lifting container.
It should be noted that when the lifting container is lifted, the control effect of the lifting speed may be completely dependent on the operator operating the control lever. Therefore, the elevating speed of the elevation vessel may be in constant speed running for only a short period of time. Based on this, speed sensor among the lift system can detect the lifting speed homogeneous phase of promotion container and be the same in continuous preset duration, confirms the lifting speed of promoting the container this moment as first speed.
The lifting system can collect factor values corresponding to a plurality of preset system factors respectively according to preset collection equipment. Illustratively, when the weight of the first lifting container is different from the weight of the second lifting container (typically, the lifting container with miners loaded thereon has a greater weight than the lifting container without miners loaded thereon). Also, the difference in weight caused by the different weights will also have an effect on the speed of operation of the first and second lifting vessels. Therefore, it is considered that the system factor further includes a tension difference of the traction rope by the first lifting container and the second lifting container with different weights. The differential tension can be described in terms of a first drive torque.
Specifically, the lifting system may obtain a first weight of the first lifting vessel and a second weight of the second lifting vessel, respectively; and then, determining a first torque value corresponding to the first driving torque according to the first weight, the second weight and the radius of the guide wheel. For example, the first moment value is calculated according to the following first preset moment calculation formula. The details are as follows:
M Q ＝|F m1 -F m2 |*R
wherein M is Q Representing a first moment value; f m1 Representing a first weight; f m2 Represents a second weight; r represents the radius of the guide wheel. Wherein the radius of the guide wheels can be measured in advance by a worker and stored in the hoisting system.
In another embodiment, the disc brake described above is used to push the brake shoe to generate pressure on the brake disc by adjusting the oil amount in the oil chamber; the brake disc is used for driving the traction rope according to the pressure. It is therefore considered that the above system factor further includes a second driving torque generated by the brake disc to the traction rope.
In this embodiment, the type of the system factor and the acquisition device for acquiring the factor value of each system factor are not limited at all.
The lifting system can input an electric signal to the disc brake to adjust the oil amount in the oil cavity, and then the brake shoe is pushed to generate pressure on the brake disc. For example, when the input electric signal command is a positive (or negative) signal, the oil inlet valve port in the disc brake can be controlled to be opened and the oil drain valve port in the disc brake can be controlled to be closed. Then, an accumulator in the lifting system can enable hydraulic oil to enter an oil cylinder in the disc brake through the oil inlet valve port so as to push the brake shoe to generate pressure on the brake disc. The oil inlet valve port can be a proportional electromagnet adjusting valve port, and can adjust oil pressure entering the oil cavity according to corresponding electric signals and the pressure value of the proportional electromagnet adjusting valve port. Further, the pressure of the brake shoe on the brake disc is adjusted to adjust the second driving torque.
The second driving torque can be obtained by firstly obtaining the spacing distance between the brake and the guide wheel; then, a second moment value corresponding to a second driving moment is calculated by adopting a second preset moment calculation formula; specifically, the second predetermined torque calculation formula is:
M Z ＝2nμF N R；
wherein M is Z Representing a second moment value; n represents a preset number of pairs of disc type brakes; mu represents the friction coefficient between the brake shoe and the brake disc; f N Represents pressure; r represents the separation distance. The friction coefficient between the brake shoe and the brake disc and the distance between the brake and the guide wheel may be set in advance. Alternatively, the distance may be acquired by a distance measuring sensor, which is not limited to this.
S202, generating a balance model according to the factor values respectively corresponding to the system factors; the balance model is used for representing the stress of the first lifting container and the stress of the second lifting container.
In application, the first lifting container and the second lifting container are in lifting linear motion, and when the first lifting container and the second lifting container are in uniform linear motion, the stress between the first lifting container and the second lifting container is in balance. Based on the method, the lifting system can generate a balance model according to the factor values of the system factors collected at the moment.
Specifically, when the balance model is generated, because the first lifting container and the second lifting container are connected to the end of the traction rope, the first lifting container, the traction rope and the second lifting container can be considered as a whole to be subjected to stress analysis. The pulling rope is then considered as a mass homogeneity body and the first moment value between the first lifting vessel and the second lifting vessel can be considered as being constant when the lifting vessels are lifted. In addition, the lift system also typically operates with an equivalent resistive torque of the system. On this basis, since the lifting container can be regarded as a container in an equilibrium state when the lifting container operates at a constant speed, the first driving torque, the second driving torque and the equivalent resisting torque acting between the lifting containers have the following relations:
wherein J is the preset equivalent moment of inertia of the lifting system, w is the angular velocity of the guide wheel, and t is the unit time when the lifting container moves at a constant speed; m f Is the preset equivalent moment of resistance of the lifting system. The product of the angular velocity of the guide wheel and the radius of the guide wheel is the velocity of the guide wheel. Further, since the pulling rope moves by the rolling of the guide pulley, the moving speed of the pulling rope (the first hoist container and the second hoist container) can be considered to be equivalent to the speed of the guide pulley.
According to the formula, the speed expression when the lifting system performs one lifting operation on the lifting container can be obtained as follows:
v＝Rt(M Q -2nμRF N -M f )/J；
where v is a speed at which the lifting container is lifted, i.e., the first speed; other letter definitions have been explained above and will not be explained.
S203, determining a target system factor from a plurality of system factors according to the first speed and the balance model; there is a linear relationship between the target system factor and the velocity.
In application, as can be seen from the explanation of S202, the relationship between the first speed and each system factor is as described in S202. Accordingly, the lift system may determine a target system factor having a linear relationship with the first speed from among the plurality of system factors according to the above formula.
It should be noted that, by selecting the target system factors having a linear relationship, the lifting speed of the lifting system can be linearly adjusted when the lifting speed of the lifting container needs to be controlled, so as to achieve stable adjustment of the lifting speed of the lifting container.
It should be noted that if there are a plurality of system factors having a linear relationship, the target system factor should also be selected through S301 to S303 shown in fig. 3. The details are as follows:
s301, if a plurality of candidate system factors having a linear relation with the speed exist in the plurality of system factors, respectively collecting factor values corresponding to the plurality of candidate system factors when the lifting container runs at a constant speed at different target speeds.
S302, regression processing is carried out on factor values corresponding to the candidate system factors under the target speeds, and the significance of the candidate system factors on the speed influence is determined.
And S303, determining the candidate system factor with the minimum significance degree on the speed as the target system factor.
In application, the target speed may be set in advance according to actual conditions, and in this embodiment, the target speeds are different respectively. The regression processing is to obtain a mathematical expression reflecting a regression relationship of one variable (lifting speed) to another variable or a group of variables (each candidate system factor) through regression analysis according to sample data (factor values corresponding to a plurality of candidate system factors respectively).
The lifting system can establish the speed expressions according to the factor values corresponding to the candidate system factors respectively at each target speed, and then perform regression analysis according to the plurality of speed expressions to obtain the corresponding regression equations.
Wherein, the regression equation may be: y = A + B a 1 -C*a 2 +D*a 3 . Wherein, a 1 、a 2 And a 3 And A, B, C and D are coefficients obtained after solving for the candidate system factors.
And then, performing significance verification according to a regression equation, and calculating the significance of the influence of each candidate system factor on the lifting speed of the lifting container. Wherein, the significance checking method includes but is not limited to: the method is not limited to the Mannhutty test, the multi-sample non-parametric test, and the Chi-Square test.
It should be noted that the significance may check whether the linear relationship between the dependent variable (the lifting speed of the lifting container) and each independent variable (each candidate system factor) is significant, and the smaller the linear relationship, the more the current data can be analyzed by the linear model. Therefore, the hoist system may determine the candidate system factor having the smallest significance on the elevating speed as the target system factor.
In addition, it is to be added that, if there is no system factor having a linear relationship with the speed among the plurality of system factors, the most manageable system factor is determined as the target system factor based on the controlled difficulty degree corresponding to each system factor.
The controlled difficulty degree corresponding to each system factor should be stored in the lifting system in advance so as to determine the most controllable target system factor.
Specifically, according to the balance model of S202, the lifting speed of the lifting container and each system factor are in a non-linear relationship. However, among the various system factors that affect the lifting speed of the lifting vessel, only the pressure (second driving torque) generated by the brake shoe of the disc brake on the brake disc is easy to control by the hydraulic device in the lifting system. Therefore, if the stability of the lifting speed of the lifting container in the lifting system is to be realized, the oil quantity in the oil cavity in the disc brake can be adjusted in real time, so that the oil quantity is conveniently adjusted to push the brake shoe to generate pressure on the brake disc, the corresponding second driving force is adjusted, and the lifting speed of the lifting container is adjusted according to the adjusted second driving force.
And S304, adjusting the first speed according to the factor value of the target system factor.
In application, the first speed is adjusted according to factors of target system factors with linear relation, so that the lifting system can linearly adjust the first speed to realize stable adjustment of the lifting speed of the lifting container.
In this embodiment, when detecting that the lifting container is operated at a constant speed at a first speed, the lifting system may collect factor values corresponding to a plurality of preset system factors. Because the lifting container runs at a constant speed, the first lifting container and the second lifting container are in a stress balance state. Based on the method, the lifting system can establish a corresponding balance model according to the factor values respectively corresponding to the system factors, and determine the target system factor having a linear relation with the speed from the system factors according to the balance model. Based on this, the lifting system can be according to linear relation, when adjusting the target system factor, can be corresponding linear adjustment lifting container speed when moving, so, the lifting speed of lifting container can be controlled by accuracy to the stability of the lifting speed of lifting container has been improved, and then the security of mine lifting system has been improved.
Referring to fig. 4, fig. 4 is a block diagram of a speed control device for lifting a container according to an embodiment of the present disclosure. The speed control device for lifting the container in this embodiment comprises modules for performing the steps in the embodiments corresponding to fig. 2 to 3. Please refer to fig. 2 to 3 and fig. 2 to 3 for the corresponding embodiments. For convenience of explanation, only the portions related to the present embodiment are shown. Wherein, the speed control device for prompting the container is applied to the lifting system; the lifting system comprises a traction rope and a lifting container; the hoist container includes a first hoist container coupled to a first end of the pull line and a second hoist container coupled to a second end of the pull line. Referring to fig. 4, the speed control apparatus 400 for lifting a container may include: an acquisition module 410, a generation module 420, a determination module 430, and an adjustment module 440, wherein:
the collecting module 410 is configured to collect factor values corresponding to a plurality of preset system factors when it is detected that the lifting container operates at a constant speed at a first speed.
A generating module 420, configured to generate a balance model according to factor values corresponding to the multiple system factors, respectively; the balance model is used for representing the stress of the first lifting container and the stress of the second lifting container.
A determining module 430 for determining a target system factor from the plurality of system factors based on the first velocity and the balance model; the target system factor has a linear relationship with the first speed.
An adjustment module 440 adjusts the first speed based on the factor value of the target system factor.
In one embodiment, the lifting system further comprises a guide wheel and a disc type brake for driving the traction rope to move, wherein the disc type brake comprises a brake disc, an oil cavity and a brake shoe; 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 the pressure; the system factor comprises a first driving torque and a second driving torque; the first drive torque is generated on the basis of a tension difference between the first lifting container and the second lifting container, and the second drive torque is used for describing a drive torque generated by the brake disc on the traction rope.
In an embodiment, the acquisition module 410 is further configured to:
obtaining a first weight of the first lifting vessel and a second weight of the second lifting vessel; and determining a first torque value corresponding to the first driving torque according to the first weight, the second weight and the radius of the guide wheel.
In an embodiment, the acquisition module 410 is further configured to:
calculating a first moment value by adopting a first preset moment calculation formula based on the first weight, the second weight and the radius of the guide wheel; the first predetermined torque calculation formula is:
M Q ＝|F m1 -F m2 |*R
wherein M is Q Representing a first moment value; f m1 Representing a first weight; f m2 Represents a second weight; r represents a radius.
In an embodiment, the acquisition module 410 is further configured to:
acquiring the spacing distance between a brake and a guide wheel; calculating a second moment value corresponding to the second driving moment by adopting a second preset moment calculation formula; the second predetermined torque calculation formula is:
M Z ＝2nμF N R；
wherein, M Z Representing a second moment value; n represents a preset number of pairs of disc type brakes; mu represents the friction coefficient between the brake shoe and the brake disc; f N Represents a pressure; r represents a separation distance.
In an embodiment, the determining module 430 is further configured to:
if a plurality of candidate system factors which have a linear relation with the speed exist in the plurality of system factors, respectively acquiring factor values corresponding to the plurality of candidate system factors when the lifting container runs at a constant speed at different target speeds; regression processing is carried out on factor values corresponding to the candidate system factors under each target speed, and the significance of the influence of each candidate system factor on the lifting speed of the lifting container is determined; and determining the candidate system factor with the least significance degree on the lifting speed as the target system factor.
In an embodiment, the determining module 430 is further configured to:
if the system factors having a linear relation with the speed do not exist in the plurality of system factors, the most controllable system factor is determined as the target system factor based on the controlled difficulty degree corresponding to each system factor.
It should be understood that, in the structural block diagram of the speed control device for lifting a container shown in fig. 4, each module is used to execute each step in the embodiment corresponding to fig. 2 to 3, and each step in the embodiment corresponding to fig. 2 to 3 has been explained in detail in the above embodiment, and specific reference is made to the relevant description in the embodiment corresponding to fig. 2 to 3 and fig. 2 to 3, which is not repeated herein.
Fig. 5 is a block diagram of a speed control device for lifting a container according to another embodiment of the present disclosure. As shown in fig. 5, the speed control device 500 for lifting a container of this embodiment further includes: a processor 510, a memory 520 and a computer program 530, such as a program for a speed control method for a lifting container, stored in the memory 520 and executable on the processor 510. The processor 510, when executing the computer program 530, implements the steps in the various embodiments of the method for controlling the speed of a lifting container described above, such as S201 to S204 shown in fig. 2. Alternatively, when the processor 510 executes the computer program 530, the functions of the modules in the embodiment corresponding to fig. 4, for example, the functions of the modules 410 to 440 shown in fig. 4, are implemented, and refer to the related description in the embodiment corresponding to fig. 4 specifically.
Illustratively, the computer program 530 may be divided into one or more modules, and the one or more modules are stored in the memory 520 and executed by the processor 510 to implement the speed control method for lifting a container provided by the embodiments of the present application. One or more of the modules may be a series of computer program instruction segments capable of performing specific functions that describe the execution of the computer program 530 in the speed control device 500 for lifting a container. For example, the computer program 530 may implement the speed control method for lifting the container provided by the embodiment of the present application.
The speed control device 500 for lifting the container may include, but is not limited to, a processor 510 and a memory 520. It will be appreciated by those skilled in the art that fig. 5 is merely an example of the speed control apparatus 500 for lifting a container, and does not constitute a limitation on the speed control apparatus 500 for lifting a container, and may include more or less components than those shown, or some components may be combined, or different components, for example, the terminal device may further include an input-output device, a network access device, a bus, etc.
The processor 510 may be a central processing unit, and may 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, 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 520 may be an internal storage unit of the speed control device 500 for lifting containers, such as a hard disk or a memory of the speed control device 500 for lifting containers. The memory 520 may also be an external storage device of the speed control apparatus 500 for lifting the container, such as a plug-in hard disk, a smart memory card, a flash memory card, etc. provided on the speed control apparatus 500 for lifting the container. Further, the memory 520 may also include both an internal storage unit of the speed control apparatus 500 for lifting the container and an external storage device.
The embodiments of the present application provide a computer-readable storage medium, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the speed control method for lifting a container as described in the above embodiments.
The embodiment of the present application provides a computer program product, when the computer program product runs on a terminal device, the terminal device is enabled to execute the speed control method for lifting a container in the above embodiments.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; 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 solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A speed control method for lifting a container is characterized by being applied to a lifting system; the lifting system comprises a traction rope and a lifting container; the lifting container comprises a first lifting container connected with a first end of the traction rope and a second lifting container connected with a second end of the traction rope; the method comprises the following steps:
when detecting that the lifting container runs at a constant speed at a first speed, collecting factor values corresponding to a plurality of preset system factors respectively;
generating a balance model according to the factor values respectively corresponding to the system factors; the balance model is used for representing the stress of the first lifting container and the stress of the second lifting container;
determining a target system factor from the plurality of system factors based on the first speed and the balance model; the target system factor has a linear relationship with the first speed;
adjusting the first speed based on the factor value of the target system factor.
2. The method of claim 1, wherein the lift system further comprises a guide wheel and a disc brake for driving movement of the traction rope, the disc brake comprising a brake disc, an oil chamber, and a brake shoe; 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 the pressure;
the system factor includes a first drive torque and a second drive torque;
the first drive torque is generated on the basis of a tension difference between the first and second lifting containers, and the second drive torque is used to describe a drive torque generated by the brake disc on the traction rope.
3. The method according to claim 2, wherein the collecting the factor values corresponding to the plurality of system factors respectively comprises:
obtaining a first weight of the first lifting vessel and a second weight of the second lifting vessel;
and determining a first torque value corresponding to the first driving torque according to the first weight, the second weight and the radius of the guide wheel.
4. The method of claim 3, wherein determining a first torque value corresponding to the first driving torque based on the first weight, the second weight, and a radius of the guide wheel comprises:
calculating the first moment value by adopting a first preset moment calculation formula based on the first weight, the second weight and the radius of the guide wheel; the first preset moment calculation formula is as follows:
M Q ＝|F m1 -F m2 |*R
wherein, M Q Representing the first moment value; f m1 Representing the first weight; f m2 Representing the second weight; r represents the radius.
5. The method according to claim 2, wherein the collecting factor values corresponding to a plurality of preset system factors further comprises:
acquiring a spacing distance between the brake and the guide wheel;
calculating a second moment value corresponding to the second driving moment by adopting a second preset moment calculation formula; the second preset moment calculation formula is as follows:
M Z ＝2nμF N R；
wherein, M Z Representing the second moment value; n represents a preset number of pairs of disc type brakes; μ represents a coefficient of friction between the brake shoe and the brake disc; f N Representing the pressure; r represents the separation distance.
6. The method of any of claims 1-5, wherein determining a target system factor from the plurality of system factors based on the first speed and the balance model, further comprises:
if a plurality of candidate system factors which have a linear relation with the speed exist in the plurality of system factors, respectively collecting factor values respectively corresponding to the plurality of candidate system factors when the lifting container runs at a constant speed at different target speeds;
performing regression processing on factor values respectively corresponding to the candidate system factors at the target speeds, and determining the significance of the influence of the candidate system factors on the lifting speed of the lifting container;
determining the candidate system factor having the least significance on the lifting speed as the target system factor.
7. The method of claim 6, wherein determining a target system factor from the plurality of system factors based on the first speed and the balance model comprises:
and if the system factors which have a linear relation with the speed do not exist in the plurality of system factors, determining the most controllable system factor as the target system factor based on the controlled difficulty degree corresponding to each system factor.
8. A speed control device for lifting a container, characterized by being applied to a lifting system; the lifting system comprises a traction rope and a lifting container; the lifting receptacle comprises a first lifting receptacle connected to a first end of the pull cord and a second lifting receptacle connected to a second end of the pull cord, the apparatus comprising:
the acquisition module is used for acquiring factor values corresponding to a plurality of preset system factors when the lifting container is detected to run at a constant speed at a first speed;
the generating module is used for generating a balance model according to the factor values respectively corresponding to the system factors; the balance model is used for representing the stress of the first lifting container and the stress of the second lifting container;
a determination module to determine a target system factor from the plurality of system factors based on the first speed and the balance model; the target system factor has a linear relationship with the first speed;
an adjustment module to adjust the first speed based on a factor value of the target system factor.
9. A speed control apparatus for lifting a container, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements a method as claimed in any one of claims 1 to 7.
10. A lifting system comprising a lifting vessel and a speed control means for lifting the vessel as claimed in claim 8 or 9, the lifting vessel being connected to the speed control means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211214172.XA CN115594056A (en) | 2022-09-30 | 2022-09-30 | Speed control method, device and system for lifting container |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211214172.XA CN115594056A (en) | 2022-09-30 | 2022-09-30 | Speed control method, device and system for lifting container |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115594056A true CN115594056A (en) | 2023-01-13 |
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ID=84844536
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211214172.XA Pending CN115594056A (en) | 2022-09-30 | 2022-09-30 | Speed control method, device and system for lifting container |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115594056A (en) |
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2022
- 2022-09-30 CN CN202211214172.XA patent/CN115594056A/en active Pending
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