CN115594057A - Speed control method, device and system of lifting system - Google Patents

Speed control method, device and system of lifting system Download PDF

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Publication number
CN115594057A
CN115594057A CN202211214173.4A CN202211214173A CN115594057A CN 115594057 A CN115594057 A CN 115594057A CN 202211214173 A CN202211214173 A CN 202211214173A CN 115594057 A CN115594057 A CN 115594057A
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China
Prior art keywords
speed
compensation value
historical
determining
speed error
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CN202211214173.4A
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Chinese (zh)
Inventor
周仉新
蒋加川
吴朋
揭育韶
罗富寿
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 CN202211214173.4A priority Critical patent/CN115594057A/en
Publication of CN115594057A publication Critical patent/CN115594057A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B19/00—Mining-hoist operation
    • 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
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

The embodiment of the application is suitable for the technical field of hoists, and provides a speed control method, a device and a system of a hoisting system, wherein the method comprises the following steps: acquiring a first moving speed of a traction rope in a lifting system at the current moment; determining a first speed error of the traction rope at the current moment and a first compensation value of the first speed error according to the first moving speed and the target speed; obtaining each historical speed error of the traction rope at each historical moment, and determining a second compensation value according to each historical speed error; calculating the speed error change rate of the traction rope and a third compensation value of the speed error change rate according to the first speed error and the historical speed error at the last historical moment; determining a target braking torque to be output by a disc brake in the lifting system according to the first compensation value, the second compensation value and the third compensation value; and controlling the disc brake to output a target braking torque to the traction rope. The method can stably control the lifting container to move at the target speed.

Description

Speed control method, device and system of lifting system
Technical Field
The application belongs to the technical field of elevators, and particularly relates to a speed control method, device and system of a lifting system.
Background
The mine hoisting system is an important device in the production process of coal mines and nonferrous metal mines. The mine hoist system generally includes a main hoist for transporting ore and waste rock and an auxiliary hoist for transporting personnel going into 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. In addition, the worker can control the lifting speed of the lifting container by controlling the braking force provided by the brake of the friction type lifting machine by using the control lever based on the lifting speed of the lifting container displayed in the speedometer of the auxiliary lifting machine.
However, the friction coefficient between the traction rope and the friction roller is easily affected by the temperature and humidity of the on-site environment, and the gravity difference between the lifting containers at both ends of the traction rope is not constant. Therefore, when the friction type hoister operates, the control effect of the lifting speed of the hoisting container completely depends on workers operating the control rod, so that the lifting speed of the hoisting container is unstable, and the safety of a mine hoisting system is reduced.
Disclosure of Invention
The embodiment of the application provides a speed control method, a speed control device and a speed control system of a lifting system, and can solve the problem that the lifting speed of a lifting 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 a hoisting system, where the method is applied to the hoisting system, and the method includes:
acquiring a first moving speed of a traction rope in a lifting system at the current moment;
determining a first speed error of the traction rope at the current moment according to the first moving speed and the target speed, and determining a first compensation value of the first speed error according to the first speed error;
obtaining each historical speed error of the traction rope at each historical moment, and determining a second compensation value of each historical speed error according to each historical speed error;
calculating the speed error change rate of the traction rope at the current moment according to the first speed error and the historical speed error at the previous historical moment of the current moment, and determining a third compensation value of the speed error change rate according to the speed error change rate;
determining a target braking torque to be output by a disc brake in the lifting system according to the first compensation value, the second compensation value and the third compensation value;
controlling a disc brake to output a target braking torque to a traction rope; at the target braking torque, the second speed of the traction rope at the next moment approaches the target speed.
In a second aspect, an embodiment of the present application provides a speed control device, which is applied to a lifting system, and includes:
the first acquisition module is used for acquiring a first moving speed of a traction rope in the lifting system at the current moment;
the first determining module is used for determining a first speed error of the traction rope at the current moment according to the first moving speed and the target speed, and determining a first compensation value of the first speed error according to the first speed error;
the second determining module is used for acquiring each historical speed error of the traction rope at each historical moment and determining a second compensation value of each historical speed error according to each historical speed error;
the third determining module is used for calculating the speed error change rate of the traction rope at the current moment according to the first speed error and the historical speed error at the last historical moment at the current moment, and determining a third compensation value of the speed error change rate according to the speed error change rate;
the fourth determining module is used for determining a target braking torque to be output by the disc brake in the lifting system according to the first compensation value, the second compensation value and the third compensation value;
the control module is used for controlling the disc brake to output a target braking torque to the traction rope; at the target braking torque, the second speed of the traction rope at the next moment approaches the target speed.
In a third aspect, an embodiment of the present application provides another speed control apparatus for a hoisting system, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where 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 of the first aspect.
In a fifth aspect, embodiments of the present application provide a computer program product, which, when run on a speed control apparatus, causes the speed control apparatus to perform the method of the first aspect.
In a sixth aspect, embodiments of the present application provide a lifting system comprising a lifting vessel and a speed control device of the lifting system as described in the second or third aspect above, the lifting vessel being connected to the speed control device.
Compared with the prior art, the embodiment of the application has the beneficial effects that: the method comprises the steps of obtaining a first moving speed of a traction rope in a lifting system at the current moment, and calculating a first speed error between the first moving speed and a target speed. The boost system may then determine a first compensation value to compensate for the first speed error at the current time based on the first speed error. Meanwhile, historical speed errors corresponding to the historical moments are obtained, and second compensation values for compensating the historical speed errors are determined according to the historical speed errors. And determining the speed error change rate at the current moment according to the historical speed error corresponding to the first speed error and the previous historical moment, and determining a third compensation value for compensating the speed error change rate according to the speed error change rate. And finally, determining a target braking torque required to be output by the disc brake in the lifting system according to a first compensation value for compensating the current error, a second compensation value for compensating each historical speed error and a third compensation value for compensating the speed error change rate. Therefore, the second speed of the traction rope at the next moment can tend to the target speed, the running speed of the traction rope during lifting tends to be stable, and the running safety is improved.
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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 flowchart illustrating an implementation of a speed control method for a hoist system according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a speed control device according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a speed control device 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.
At present, for the auxiliary hoist for transportation of personnel in charge of well descending, a worker usually controls the lifting speed of the lifting container by controlling the braking force provided by a disc brake in the auxiliary hoist by using a control lever according to the lifting speed of the lifting container displayed in a speedometer of the auxiliary hoist. However, the friction coefficient between the traction rope and the guide pulley is easily affected by the temperature and humidity of the on-site environment, and the gravity difference between the hoist containers at both ends of the traction rope is not constant. Therefore, when the auxiliary hoisting machine is operated, the control effect of the lifting speed of the hoisting container is completely determined by a worker operating the control lever.
However, the worker usually 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, the lifting speed of the lifting container is unstable, and the safety of the mine lifting system is reduced.
Based on this, in order to reasonably provide a braking force according to the actual operation condition of the lifting container and improve the stability of the speed when the lifting container is lifted, the embodiment of the application provides a speed control method of the lifting system, and the method can be used in 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 disclosure. 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.
Specifically, the lifting system further comprises a traction rope, a guide wheel, a disc brake and the like. Wherein, the both ends of haulage rope are connected first promotion container and second promotion 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 haulage rope according to pressure to make the haulage rope move on the leading wheel, and then drive the first promotion container and the lift of second promotion container at haulage rope both ends.
Referring to fig. 2, fig. 2 is a flowchart illustrating an implementation of a speed control method for a hoisting system according to an embodiment of the present application, where the method includes the following steps:
s201, obtaining a first moving speed of a traction rope in the lifting system at the current moment.
In an embodiment, since the two ends of the pulling rope are usually connected to the lifting container respectively, the first moving speed may be collected by a speed sensor disposed in the lifting container, and then obtained from the test sensor. In another embodiment the speed of movement of the traction rope is also related to the rotational speed of the guide pulley, and thus the first speed of movement can also be determined by monitoring the rotational speed of the guide pulley. In this embodiment, the manner of acquiring the first moving speed of the traction rope is not limited.
The lifting system may obtain the first moving speed in real time or at intervals of a first preset interval, which is not limited herein. The first preset interval duration can be set according to actual conditions.
S202, determining a first speed error of the traction rope at the current moment according to the first moving speed and the target speed, and determining a first compensation value of the first speed error according to the first speed error.
In an embodiment, the target speed may be set in advance according to actual conditions, and is not limited thereto. The first speed error is an absolute value of a difference between the first moving speed and the target speed at the current moment. The lifting system can be stored with various speed error intervals in advance and compensation values corresponding to each speed error interval respectively. And then, determining a speed error interval in which the first speed error at the current moment is positioned, and further determining a first compensation value of the first speed error at the current moment.
In another embodiment, the lifting system may determine a product of the first speed error and a first preset weight as the first compensation value. The first preset weight may be set according to an actual situation, which is not limited herein. The first compensation value is used to compensate for the first speed error at the current time.
Specifically, if the first speed error and the historical speed errors of a preset number of consecutive historical moments before the current moment are preset values, the lifting system may determine that the first moving speed is the target speed; at the moment, the lifting system can drive the traction rope by the braking torque output by the disc brake at the current moment until the lifting system finishes one-time lifting.
The preset value may be set according to actual conditions, and for example, the preset value may be 0. At this time, the first moving speed is the target speed. Therefore, the lifting system can maintain the brake torque output by the disc brake at the current moment.
Additionally, since the humidity and temperature of the lift system may vary from one lift system to another, the target braking torque output by the disc brake to the pull-cord may typically vary from one brake disc to another as needed to control the pull-cord to travel at the target speed.
S203, obtaining each historical speed error of the traction rope at each historical moment, and determining a second compensation value of each historical speed error according to each historical speed error.
In an embodiment, the historical speed error is a difference between a first moving speed of the traction rope at the historical time and a target speed. The historical speed errors may be the same or different, and are not limited.
Wherein the second compensation value is used to compensate for all historical speed errors. Specifically, the lifting system can perform summation operation on all historical speed errors to obtain the accumulated error of the traction rope; then, integral processing is carried out on the accumulated error to obtain an integral value of the accumulated error; and finally, determining the product of the integral value and the second preset weight as a second compensation value.
The integration process of the accumulated error is specifically an integration process of the accumulated error with time. In an ideal state, the time difference between the current time and the previous or next historical time is generally equal, and therefore, the time difference can be regarded as one unit time. Based on this, the lifting system may directly determine an accumulated error obtained by summing all historical speed errors as an integral value. And then, calculating the product of the integral value and a second preset weight to obtain a second compensation value.
In other embodiments, if the time difference is not regarded as a unit time, the lifting system may further perform integration processing on each historical speed error through the following formula to obtain a second compensation value:
Figure BDA0003876162620000071
wherein I is an integral value, ki is a second preset weight, t is the current time, and τ is an integral variable (from the initial time 0 to the current time t); e (τ) is the historical speed error at time τ.
S204, calculating the speed error change rate of the traction rope at the current moment according to the first speed error and the historical speed error at the previous historical moment at the current moment, and determining a third compensation value of the speed error change rate according to the speed error change rate.
In an embodiment, the third compensation value is used for compensating the speed error change rate of the traction rope at the current moment. Wherein, the speed error change rate can be used for representing the error relation between the moving speed of the traction rope and the target speed at the next moment.
Specifically, the lifting system may calculate a target difference between the first speed error and a historical speed error at a previous historical time; then, determining the ratio of the target difference value to the preset interval duration as the speed error change rate; the preset interval duration is the interval duration between the current time and the last historical time. At this time, the speed error change rate is a ratio of a target difference between the first speed error and the historical speed error at the previous historical time to the interval duration.
The lift system may then determine a target interval duration between the next time and the current time, and then estimate the product of the target interval duration and the rate of change of speed error as the speed error between the moving speed and the target speed at the next time. Based on this, the hoisting system may consider that the speed error change rate can be used to characterize the error relationship between the moving speed of the traction rope and the target speed at the next moment.
Illustratively, if the interval durations are consistent, the historical speed error at the previous historical time is 0.5, and the first speed error at the current time is 0.4, the speed error change rate at 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.
In addition, after the speed error change rate is obtained, a product of the speed error change rate and a third preset weight may be determined as a third compensation value. The third preset weight may be set according to an actual situation, which is not limited herein.
S205, determining a target braking torque to be output by the disc brake in the lifting system according to the first compensation value, the second compensation value and the third compensation value.
S206, controlling a disc brake to output a target brake torque to the traction rope; at the target braking torque, the second speed of the traction rope at the next moment approaches the target speed.
In an embodiment, the target braking torque is a sum of the braking torque output by the lower disc brake at the current moment and the braking torque required to be adjusted.
Specifically, the lifting system may determine a sum of the first compensation value, the second compensation value and the third compensation value as a total compensation value of the traction rope; and then, determining the sum of the total compensation value and the braking torque output by the disk brake at the current moment as a target braking torque.
Wherein the first compensation value is for compensation of a first speed error at a current time; the second compensation value is used for compensating each historical speed error; the third compensation value is directed to a speed error rate of change which can be used to characterize an error relationship between the speed of the tractive line at the next instant and the first speed at the present instant. Thus, the third compensation value may also be considered to be a compensation for future speed errors. Therefore, the first speed at the current moment can be compensated from multiple aspects according to the total compensation value obtained by the first compensation value, the second compensation value and the third compensation value, so that the second speed of the traction rope at the next moment is enabled to approach the target speed.
In the embodiment, a first moving speed of a traction rope in the hoisting system at the current moment is obtained, and a first speed error between the first moving speed and a target speed is calculated. Then, the lifting system may determine a first compensation value for compensating the first speed error at the current time according to the first speed error. Meanwhile, historical speed errors corresponding to the historical moments are obtained, and second compensation values for compensating the historical speed errors are determined according to the historical speed errors. And determining the speed error change rate at the current moment according to the historical speed error corresponding to the first speed error and the previous historical moment, and determining a third compensation value for compensating the speed error change rate according to the speed error change rate. And finally, determining a target braking torque required to be output by the disc brake in the lifting system according to a first compensation value for compensating the current error, a second compensation value for compensating each historical speed error and a third compensation value for compensating the speed error change rate. Therefore, the second speed of the traction rope at the next moment can tend to the target speed, the running speed of the traction rope during lifting tends to be stable, and the running safety is improved.
In another embodiment the first displacement speed of the traction ropes is normally between 0 and 1m/s during normal operation of the hoisting system. Illustratively, to ensure stable operation of the traction ropes, the above target speed is typically 0.8m/s. However, if the first moving speed is greater than the target speed and the speed difference between the first moving speed and the target speed exceeds the first preset speed threshold, it indicates that the hoisting system may be in a fault state, such that the current first moving speed of the traction rope is too large. Therefore, the lift system should be taken out of service to prioritize the life safety of miners.
The first preset speed threshold may be set according to actual conditions, which is not limited herein.
Referring to fig. 3, fig. 3 is a block diagram of a speed control device according to an embodiment of the present disclosure. The speed control device in this embodiment includes modules for performing the steps in the embodiment corresponding to fig. 2. Please refer to fig. 2 and the related description of the embodiment corresponding to fig. 2. For convenience of explanation, only the portions related to the present embodiment are shown. In which the speed control apparatus of the hoisting system is applied to the hoisting system, referring to fig. 3, the speed control apparatus 300 may include: a first obtaining module 310, a first determining module 320, a second determining module 330, a third determining module 340, a fourth determining module 350, and a control module 360, wherein:
the first obtaining module 310 is configured to obtain a first moving speed of a traction rope in a hoist system at a current time.
The first determining module 320 is configured to determine a first speed error of the traction rope at the current time according to the first moving speed and the target speed, and determine a first compensation value of the first speed error according to the first speed error.
The second determining module 330 is configured to obtain each historical speed error of the traction rope at each historical time, and determine a second compensation value for each historical speed error according to each historical speed error.
The third determining module 340 is configured to calculate a speed error change rate of the traction rope at the current moment according to the first speed error and a historical speed error at a previous historical moment at the current moment, and determine a third compensation value of the speed error change rate according to the speed error change rate.
And a fourth determining module 350, configured to determine a target braking torque to be output by the disc brake in the lifting system according to the first compensation value, the second compensation value, and the third compensation value.
The control module 360 is used for controlling the disc brake to output a target braking torque to the traction rope; at the target braking torque, the second speed of the traction rope at the next moment approaches the target speed.
In an embodiment, the first determining module 320 is further configured to:
the product of the first velocity error and the first preset weight is determined as a first compensation value.
In an embodiment, the second determining module 330 is further configured to:
summing all historical speed errors to obtain an accumulated error of the traction rope; performing integral processing on the accumulated error to obtain an integral value of the accumulated error; and determining the product of the integral value and the second preset weight as a second compensation value.
In an embodiment, the third determining module 340 is further configured to:
calculating a target difference value of the first speed error and a historical speed error at a previous historical moment; determining the ratio of the target difference value to the preset interval duration as a speed error change rate; the preset interval duration is the interval duration between the current time and the last historical time; and determining a product of the speed error change rate and a third preset weight as a third compensation value.
In an embodiment, the fourth determination module 350 is further configured to:
determining the sum of the first compensation value, the second compensation value and the third compensation value as a total compensation value of the traction rope; 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 one embodiment, the speed control device 300 further comprises:
and if the first moving speed is greater than the target speed and the speed difference between the first moving speed and the target speed exceeds a first preset speed threshold, controlling the lifting system to stop working.
In one embodiment, the speed control device 300 further comprises:
the fifth determining module is used for determining that the first moving speed is the target speed if the first speed error and the historical speed errors of a continuous preset number of historical moments before the current moment are preset values;
and the driving module is used for driving the traction rope by using the braking torque output by the disc brake at the current moment until the lifting system finishes one-time lifting.
It should be understood that, in the structural block diagram of the speed control device shown in fig. 3, each module is used 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 above embodiment, and please refer to fig. 2 and the related description in the embodiment corresponding to fig. 2 specifically, which is not repeated herein.
Fig. 4 is a block diagram of a speed control device according to another embodiment of the present application. As shown in fig. 4, the speed control device 400 of this embodiment includes: a processor 410, a memory 420, and a computer program 430, such as a program for a speed control method of a hoist system, stored in the memory 420 and executable on the processor 410. The processor 410, when executing the computer program 430, implements the steps of the above-mentioned speed control methods of each lifting system, such as S201 to S206 shown in fig. 2. Alternatively, the processor 410 executes the computer program 430 to implement the functions of the modules in the embodiment corresponding to fig. 3, for example, the functions of the modules 310 to 360 shown in fig. 3, and refer to the related description in the embodiment corresponding to fig. 3.
Illustratively, the computer program 430 may be divided into one or more modules, and the one or more modules are stored in the memory 420 and executed by the processor 410 to implement the speed control method of the hoist system 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 are used to describe the execution of the computer program 430 in the speed control device 400. For example, the computer program 430 may implement the speed control method of the lifting system provided by the embodiment of the present application.
The speed control device 400 may include, but is not limited to, a processor 410, a memory 420. Those skilled in the art will appreciate that fig. 4 is merely an example of a speed control apparatus 400, and does not constitute a limitation on speed control apparatus 400, and may include more or fewer components than shown, or some of the components may be combined, or different components, e.g., the speed control apparatus may also include input-output devices, network access devices, buses, 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, 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 speed control apparatus 400, such as a hard disk or a memory of the speed control apparatus 400. The memory 420 may also be an external storage device of the speed control apparatus 400, such as a plug-in hard disk, a smart memory card, a flash memory card, etc. provided on the speed control apparatus 400. Further, the memory 420 may also include both an internal storage unit of the speed control apparatus 400 and an external storage device.
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 when the processor executes the computer program, the speed control method of the hoisting system in the above embodiments is implemented.
Embodiments of the present application provide a computer program product, which, when running on a speed control device, causes the speed control device to execute the speed control method of the lifting system in the above embodiments.
An embodiment of the present application provides a lifting system, including a lifting container and a speed control device of the lifting system as in the above embodiments, the lifting container being connected with the speed control device.
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 depart from the spirit and scope of the embodiments of the present application, and they should be construed as being included in the present application.

Claims (10)

1. A speed control method of a lifting system is characterized by being applied to the lifting system; the method comprises the following steps:
acquiring a first moving speed of a traction rope in the lifting system at the current moment;
determining a first speed error of the traction rope at the current moment according to the first moving speed and the target speed, and determining a first compensation value of the first speed error according to the first speed error;
acquiring each historical speed error of the traction rope at each historical moment, and determining a second compensation value of each historical speed error according to each historical speed error;
calculating the speed error change rate of the traction rope at the current moment according to the first speed error and the historical speed error at the previous historical moment of the current moment, and determining a third compensation value of the speed error change rate according to the speed error change rate;
determining a target braking torque to be output by a disc brake in the lifting system according to the first compensation value, the second compensation value and the third compensation value;
controlling the disc brake to output the target braking torque to the traction rope; at the target braking torque, a second speed of the traction rope at a next instant approaches the target speed.
2. The method of claim 1, wherein determining the first compensation value at the current time based on the first velocity error comprises:
determining a product of the first velocity error and a first preset weight as the first compensation value.
3. The method of claim 1, wherein said determining a second compensation value for each of said historical speed errors from each of said historical speed errors, respectively, comprises:
summing all the historical speed errors to obtain an accumulated error of the traction rope;
integrating the accumulated error to obtain an integral value of the accumulated error;
and determining the product of the integral value and a second preset weight as the second compensation value.
4. The method of claim 1, wherein the calculating a rate of change of the speed error of the traction rope at the current time based on the first speed error and the historical speed error at a previous historical time of the current time and determining a third compensation value for the rate of change of the speed error based on the rate of change of the speed error comprises:
calculating a target difference value of the first speed error and the historical speed error at the last historical moment;
determining the ratio of the target difference value to a preset interval duration as a speed error change rate; the preset interval duration is the interval duration between the current moment and the last historical moment;
determining a product of the speed error rate of change and a third preset weight as the third compensation value.
5. Method according to any of claims 1-4, wherein said determining a target braking torque to be output by a disc brake in the hoisting system based on the first compensation value, the second compensation value and the third compensation value comprises:
determining the sum of the first compensation value, the second compensation value and the third compensation value as a total compensation value of the traction rope;
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.
6. The method according to any of claims 1-4, further comprising, after said obtaining the first speed of movement of the traction rope in the hoisting system at the present moment:
and if the first moving speed is greater than the target speed and the speed difference between the first moving speed and the target speed exceeds a first preset speed threshold, controlling the lifting system to stop working.
7. The method of any of claims 1-4, further comprising, after said determining a first speed error of the lead at a current time based on the first travel speed and a target speed:
if the first speed error and the historical speed errors of the historical moments in the continuous preset number before the current moment are preset values, determining that the first moving speed is the target speed;
and driving the traction rope by using the braking torque output by the disc brake at the current moment until the lifting system finishes one-time lifting.
8. A speed control device of a lifting system is characterized in that the speed control device is applied to the lifting system; the device comprises:
the first acquisition module is used for acquiring a first moving speed of a traction rope in the lifting system at the current moment;
the first determining module is used for determining a first speed error of the traction rope at the current moment according to the first moving speed and the target speed, and determining a first compensation value of the first speed error according to the first speed error;
the second determining module is used for acquiring each historical speed error of the traction rope at each historical moment and determining a second compensation value of each historical speed error according to each historical speed error;
the third determining module is used for calculating the speed error change rate of the traction rope at the current moment according to the first speed error and the historical speed error at the previous historical moment of the current moment, and determining a third compensation value of the speed error change rate according to the speed error change rate;
a fourth determining module, configured to determine, according to the first compensation value, the second compensation value, and the third compensation value, a target braking torque to be output by a disc brake in the lifting system;
the control module is used for controlling the disc brake to output the target braking torque to the traction rope; at the target braking torque, the second speed of the traction rope at the next moment approaches the target speed.
9. A speed control device of a hoisting 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 7 when executing the computer program.
10. A lifting system comprising a lifting vessel and a speed control device of the lifting system of claim 8 or 9, the lifting vessel being connected to the speed control device.
CN202211214173.4A 2022-09-30 2022-09-30 Speed control method, device and system of lifting system Pending CN115594057A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211214173.4A CN115594057A (en) 2022-09-30 2022-09-30 Speed control method, device and system of lifting system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211214173.4A CN115594057A (en) 2022-09-30 2022-09-30 Speed control method, device and system of lifting system

Publications (1)

Publication Number Publication Date
CN115594057A true CN115594057A (en) 2023-01-13

Family

ID=84845497

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211214173.4A Pending CN115594057A (en) 2022-09-30 2022-09-30 Speed control method, device and system of lifting system

Country Status (1)

Country Link
CN (1) CN115594057A (en)

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