CN117621724A - Control method of towing system - Google Patents
Control method of towing system Download PDFInfo
- Publication number
- CN117621724A CN117621724A CN202311523939.1A CN202311523939A CN117621724A CN 117621724 A CN117621724 A CN 117621724A CN 202311523939 A CN202311523939 A CN 202311523939A CN 117621724 A CN117621724 A CN 117621724A
- Authority
- CN
- China
- Prior art keywords
- winch
- current
- hydraulic proportional
- proportional valve
- rope
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000011217 control strategy Methods 0.000 claims abstract description 16
- 230000001276 controlling effect Effects 0.000 claims description 17
- 238000004804 winding Methods 0.000 claims description 14
- 230000001105 regulatory effect Effects 0.000 claims description 12
- 230000007423 decrease Effects 0.000 claims description 5
- 230000003247 decreasing effect Effects 0.000 claims description 5
- 229910000831 Steel Inorganic materials 0.000 description 7
- 239000010959 steel Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 239000004576 sand Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Abstract
The invention discloses a control method of a towing system, which comprises the following steps that S1, a towing system is established, and the towing system comprises a plurality of winches, a hydraulic system, a control system and a towing rope connected to the winches; wherein the control system comprises a controller and an in-vehicle panel system; the hydraulic system comprises a pump, a pipeline, a hydraulic proportional valve and a pressure sensor; the controller controls the opening degree of the hydraulic proportional valve, drives the winch to rotate and drives the traction rope to retract. S2, a one-key rope collecting instruction is set, so that the hydraulic proportional valve group drives a plurality of winches to rotate simultaneously. And setting a debugging instruction to enable the controller to control the current at the output end according to a certain control strategy according to the pressure value at the hydraulic valve group, and changing the opening degree of the hydraulic proportional valve so as to change the rotating speed of the winch. The control method of the towing system has the characteristics of convenience in operation and good running state.
Description
Technical Field
The invention relates to the field of machinery, in particular to a control method of a towing system.
Background
Today, most utility vehicles have a rescue function. The drag is to use winch to retract rope to rescue the vehicle with the protection of siltation, sand subsidence, falling ditch, capsizing, etc. to get rid of danger. When the multifunctional vehicle falls into a steep slope and can not run out of the vehicle, the winch and the steel wire rope of the multifunctional vehicle are provided with power by the chassis, the winch steel wire rope is reliably connected with a vehicle to be saved or a self-rescue fixed point through auxiliary tools, and the dragging mechanism is operated, so that the winch steel wire rope is retracted to rescue or self-rescue. The towing system generally comprises a winch, a hydraulic valve group and a control system. The winch is a winch with a vertically installed winch drum, can wind up but not store a traction rope under the driving of power, and also refers to a winch with a rotation axis perpendicular to a deck, and is a self-protection and traction device for vehicles and ships. The self-rescue and rescue device can assist the protected vehicle to carry out self-rescue and rescue in severe environments such as snowfield, swamps, deserts, sand beach, muddy mountain roads and the like.
Generally, there are four conditions for towing: the drag and rescue in the right rear, the right side Fang Tuojiu, the drag and rescue in the steep slope and the self-rescue in the steep slope. When the rescue system is used for rescuing right behind, the traction ropes are bound with the vehicle to be rescued, and in order to achieve the maximum rescue force right behind, the two winches rotate simultaneously to drive the traction ropes to retract.
When two winches are arranged in the towing system, the prior art is that a winch I and a winch II are independently controlled, and the rope releasing function and the rope collecting function of the winch are independently realized. When the winch I and the winch II are required to act simultaneously, the respective control switches of the winch I and the winch II are manually controlled simultaneously, so that the two winches rotate simultaneously to retract the traction rope. The prior art has no feedback of other objective indexes, and the tension states of the steel wire ropes of the two winches need to be adjusted by an operator through experience, so that the operation is inconvenient.
Due to subjective judgment of people, the situation that the tension of two winch steel wires is inconsistent possibly occurs, even if one winch steel wire rope has the maximum tension, the other winch steel wire rope is in an actual state without tension, and the situation of load fixation easily occurs. Especially in extreme conditions, if the two winches do not reach the maximum tension state, the load is not moved, and the equipment capacity is mistakenly considered to be insufficient. When the winch is operated, the operation state is poor.
Disclosure of Invention
The invention aims to: the invention aims to provide a control method of a towing system, which is good in running state and simple and convenient to operate.
The technical scheme is as follows: the invention relates to a control method of a towing system, which comprises the following steps:
s1, establishing a towing system, wherein the towing system comprises a plurality of winches, a hydraulic system, a control system and a towing rope connected to the winches;
the hydraulic system comprises hydraulic proportional valves, a plurality of hydraulic proportional valves form a hydraulic proportional valve group, and after the hydraulic proportional valves are opened, the winch is driven to rotate to drive the traction rope to retract;
s2, setting a one-key rope collecting instruction to enable the hydraulic proportional valve group to drive a plurality of winches to rotate simultaneously;
s3, setting a pressure sensor in the hydraulic system, wherein the pressure sensor detects a pressure value at a hydraulic proportional valve; a controller is arranged in the control system, the pressure value is received at the input end of the controller, the current is output at the output end, and the opening of the hydraulic proportional valve is controlled through the current;
and S4, setting a debugging instruction, so that the controller controls the magnitude of current at an output end according to a certain control strategy according to the pressure value, and changes the magnitude of the opening of the hydraulic proportional valve, thereby changing the rotating speed of the winch.
Further, in the step S4, the opening degree of the hydraulic proportional valve increases with an increase in current, and decreases with a decrease in current.
Further, the control system comprises a vehicle inner panel system, the vehicle inner panel system is communicated with the controller, and a one-key rope receiving instruction and a debugging instruction are arranged in the vehicle inner panel system.
Further, the control system comprises a remote control system, the remote control system is in CAN communication with the controller, and a one-key rope receiving instruction and a debugging instruction are arranged in the remote control system.
Further, the remote control system is a remote controller, and the one-key rope receiving instruction set by the remote controller comprises a one-key rope receiving switch and a one-key rope receiving indicator lamp; the debug instruction includes a debug handle.
Further, after the one-key rope-winding switch is turned on, the one-key rope-winding indicator lamp is turned on; after the one-key rope-winding switch is closed, the one-key rope-winding indicator light is turned off; when the debugging handle is operated, the magnitude of the current is changed according to the control strategy.
Further, two winches are respectively a winch I and a winch II; the two hydraulic proportional valves are used for driving the winch I to rotate, the hydraulic proportional valve used for driving the winch II to rotate is a winch I hydraulic proportional valve, and the hydraulic proportional valve used for driving the winch II to rotate is a winch II hydraulic proportional valve; the two debugging handles are used for controlling the current of the winch I, and the two debugging handles are used for controlling the current of the winch I; the adjusting handle for controlling the current of the winch II is the winch II adjusting handle.
Further, when only the winch I debug handle is operated, the control strategy is: dividing the current passing through the winch I hydraulic proportional valve into two stages from low to high, namely a first stage and a second stage; in the first phase, the current controlling winch II is half the current of winch I; in the second stage, the current corresponding to the winch with the low pressure value is regulated and increased for multiple times, and if the current corresponding to the winch with the low pressure value reaches the maximum value, the current corresponding to the winch with the high pressure value is regulated and decreased for multiple times until the difference value of the pressure values of the winch II and the winch I is smaller than 2MPa.
Further, when only the winch II debug handle is operated, the control strategy is: dividing the current passing through the winch II hydraulic proportional valve into two stages from low to high, namely a first stage and a second stage; in the first phase, the current controlling winch I is half the current of winch II; in the second stage, the current corresponding to the winch with the low pressure value is regulated and increased for multiple times, and if the current corresponding to the winch with the low pressure value reaches the maximum value, the current corresponding to the winch with the high pressure value is regulated and decreased for multiple times until the difference value of the pressure values of the winch II and the winch I is smaller than 2MPa.
Furthermore, the drag system is suitable for a multifunctional vehicle and an obstacle clearance vehicle.
The beneficial effects are that: the invention has the following remarkable effects: 1. the operation is simple and convenient: the invention sets a one-key rope receiving instruction and a debugging instruction to realize automatic control of the winch. The adjustment command adjusts the winch speed according to the control strategy, the rotating speed of the winch is adjusted by automatically adjusting the current flowing through the hydraulic proportional valve, and the rotating speed of the two winches can be controlled by operating any one winch of the winches I and II, so that the operation is simple and convenient; 2. the running state is good: the invention sets the pressure sensor of the hydraulic proportional valve corresponding to the winch, detects the accurate pressure value of the hydraulic proportional valve, adjusts the current according to the control strategy, and ensures that the winch is in the optimal stress state.
Drawings
FIG. 1 is a schematic diagram of the electrical principle of the present invention;
FIG. 2 is a schematic diagram of a remote control panel;
FIG. 3 is a schematic diagram of two winch currents under control strategy;
fig. 4 is a schematic diagram of rescue immediately behind the rescue system.
In the figure, 1 is a winch, and 2 is a fixed pulley.
Detailed Description
The invention is further elucidated below in connection with the drawings and the detailed description.
Referring to fig. 1 to 4, the invention discloses a control method of a rescue system, which comprises the following steps:
s1, establishing a towing system, wherein the towing system comprises a plurality of winches 1, a hydraulic system, a control system and a towing rope connected to the winches 1. And the towing system is suitable for a multifunctional vehicle and an obstacle clearance vehicle.
The hydraulic system comprises a hydraulic proportional valve, a plurality of hydraulic proportional valves form a hydraulic proportional valve group, and after the hydraulic proportional valve is opened, the winch 1 is driven to rotate to drive the traction rope to retract.
S2, a one-key rope collecting instruction is set, so that the hydraulic proportional valve group drives the plurality of winches 1 to rotate simultaneously.
S3, setting a pressure sensor in the hydraulic system, wherein the pressure sensor detects a pressure value at a hydraulic proportional valve; and a controller is arranged in the control system, the pressure value is received at the input end of the controller, the current is output at the output end, and the opening of the hydraulic proportional valve is controlled through the current.
S4, setting a debugging instruction, so that the controller controls the magnitude of current at an output end according to a certain control strategy according to the pressure value, and changes the magnitude of the opening of the hydraulic proportional valve, thereby changing the rotating speed of the winch 1.
In the step S4, the opening degree of the hydraulic proportional valve increases with an increase in current, and decreases with a decrease in current.
The control system comprises a vehicle inner panel system, the vehicle inner panel system is communicated with the controller, and a one-key rope receiving instruction and a debugging instruction are arranged in the vehicle inner panel system.
In another embodiment, the control system comprises a remote control system, the remote control system is in CAN communication with the controller, and a one-key rope receiving instruction and a debugging instruction are arranged in the remote control system. The remote control system is a remote controller, and the one-key rope receiving instruction set by the remote controller comprises a one-key rope receiving switch and a one-key rope receiving indicator lamp. The debug instruction includes a debug handle. After the one-key rope-winding switch is turned on, the one-key rope-winding indicator lamp is turned on. After the one-key rope-winding switch is closed, the one-key rope-winding indicator light is turned off. When the one-key rope-winding indicating lamp is on, the debugging handle is operated, and the current is changed according to the control strategy.
In this embodiment, the one-key rope-winding switch may be a knob switch, a niu switch or a push-button switch. The adjusting handle can be a proportional handle. And may be disposed on a cab, a body operating box, or a remote controller.
In this embodiment, the number of winches 1 is two, namely winch I and winch II. The two hydraulic proportional valves are used for driving the winch I to rotate, the hydraulic proportional valve used for driving the winch II to rotate is a winch I hydraulic proportional valve, and the hydraulic proportional valve used for driving the winch II to rotate is a winch II hydraulic proportional valve. The number of the debugging handles is two, and the debugging handles for controlling the current of the winch I are winch I debugging handles. The adjusting handle for controlling the current of the winch II is the winch II adjusting handle. In the invention, any one of the winch II debugging handle and the winch I debugging handle is operated at will, so that synchronous control of the rotating speeds of the winch I and the winch II can be realized. When the winch I is operated to debug the handle, the current of the winch II changes along with the current of the winch I. When the winch II is operated to debug the handle, the current of the winch I changes along with the current of the winch II. The specific process is as follows:
referring to FIG. 3, Y102a corresponds to winch I current and Y101a corresponds to winch II current. When only the winch I debug handle is operated, the control strategy is: winch II current varies with winch I current, and the winch II current value is 30mA smaller than the winch I current value at the start of debugging. Dividing the current passing through the winch I hydraulic proportional valve into two stages from low to high, namely a first stage and a second stage; in the first phase, the current controlling winch II is half the current of winch I; in the second stage, the current corresponding to the winch 1 with the low pressure value is regulated up for a plurality of times, and if the current corresponding to the winch 1 with the low pressure value reaches the maximum value, the current corresponding to the winch 1 with the high pressure value is regulated down for a plurality of times until the difference value of the pressure values of the winch II and the winch I is smaller than 2MPa.
When only the winch II debug handle is operated, the control strategy is: winch I current varies with winch II current, and the winch I current value is 30mA smaller than the winch II current value at the start of debugging. Dividing the current passing through the winch II hydraulic proportional valve into two stages from low to high, namely a first stage and a second stage; in the first phase, the current controlling winch I is half the current of winch II; in the second stage, the current corresponding to the winch 1 with the low pressure value is regulated up for a plurality of times, and if the current corresponding to the winch 1 with the low pressure value reaches the maximum value, the current corresponding to the winch 1 with the high pressure value is regulated down for a plurality of times until the difference value of the pressure values of the winch II and the winch I is smaller than 2MPa.
In this embodiment, the maximum value of the current is 600mA; the current of the winch I in the first stage is 200-220mA, and the current of the winch I in the second stage is 220-600mA; in the second phase, the amplitude of each current adjustment was 20mA. The numerical values changed in this embodiment merely represent examples, and are replaced by other approximate setting values, and are still the scope of the present invention.
Claims (10)
1. A method of controlling a rescue system, the method comprising the steps of:
s1, establishing a towing system, wherein the towing system comprises a plurality of winches, a hydraulic system, a control system and a towing rope connected to the winches;
the hydraulic system comprises hydraulic proportional valves, a plurality of hydraulic proportional valves form a hydraulic proportional valve group, and after the hydraulic proportional valves are opened, the winch is driven to rotate to drive the traction rope to retract;
s2, setting a one-key rope collecting instruction to enable the hydraulic proportional valve group to drive a plurality of winches to rotate simultaneously;
s3, setting a pressure sensor in the hydraulic system, wherein the pressure sensor detects a pressure value at a hydraulic proportional valve; a controller is arranged in the control system, the pressure value is received at the input end of the controller, the current is output at the output end, and the opening of the hydraulic proportional valve is controlled through the current;
and S4, setting a debugging instruction, so that the controller controls the magnitude of current at an output end according to a certain control strategy according to the pressure value, and changes the magnitude of the opening of the hydraulic proportional valve, thereby changing the rotating speed of the winch.
2. A rescue system control method as defined in claim 1, wherein in the step S4, the opening degree of the hydraulic proportional valve is increased with an increase in current and is decreased with a decrease in current.
3. A rescue system control method as defined in claim 1, wherein the control system includes a vehicle interior panel system in communication with the controller, a one-touch rope-receiving command, a debug command being provided in the vehicle interior panel system.
4. A rescue system control method as defined in claim 1, wherein the control system includes a remote control system, the remote control system is in CAN communication with the controller, and a one-touch rope-collecting instruction and a debugging instruction are set in the remote control system.
5. A rescue system control method as defined in claim 4, wherein the remote control system is a remote control, and the one-key rope-receiving instruction set by the remote control includes a one-key rope-receiving switch and a one-key rope-receiving indicator lamp; the debug instruction includes a debug handle.
6. A method of controlling a rescue system as defined in claim 5, wherein a one-key rope-winding indicator light is turned on after the one-key rope-winding switch is turned on; after the one-key rope-winding switch is closed, the one-key rope-winding indicator light is turned off; when the debugging handle is operated, the magnitude of the current is changed according to the control strategy.
7. A rescue system control method as defined in claim 6, wherein the number of winches is two, winch I and winch II respectively; the two hydraulic proportional valves are used for driving the winch I to rotate, the hydraulic proportional valve used for driving the winch II to rotate is a winch I hydraulic proportional valve, and the hydraulic proportional valve used for driving the winch II to rotate is a winch II hydraulic proportional valve; the two debugging handles are used for controlling the current of the winch I, and the two debugging handles are used for controlling the current of the winch I; the adjusting handle for controlling the current of the winch II is the winch II adjusting handle.
8. The method of claim 7, wherein the control strategy is when only the winch I tuning handle is operated: dividing the current passing through the winch I hydraulic proportional valve into two stages from low to high, namely a first stage and a second stage; in the first phase, the current controlling winch II is half the current of winch I; in the second stage, the current corresponding to the winch with the low pressure value is regulated and increased for multiple times, and if the current corresponding to the winch with the low pressure value reaches the maximum value, the current corresponding to the winch with the high pressure value is regulated and decreased for multiple times until the difference value of the pressure values of the winch II and the winch I is smaller than 2MPa.
9. The method of claim 7, wherein the control strategy is when only the winch II debug handle is operated: dividing the current passing through the winch II hydraulic proportional valve into two stages from low to high, namely a first stage and a second stage; in the first phase, the current controlling winch I is half the current of winch II; in the second stage, the current corresponding to the winch with the low pressure value is regulated and increased for multiple times, and if the current corresponding to the winch with the low pressure value reaches the maximum value, the current corresponding to the winch with the high pressure value is regulated and decreased for multiple times until the difference value of the pressure values of the winch II and the winch I is smaller than 2MPa.
10. A method of controlling a rescue system as defined in claim 1, wherein the rescue system is adapted for use with a utility vehicle or an obstacle-removing vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311523939.1A CN117621724A (en) | 2023-11-15 | 2023-11-15 | Control method of towing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311523939.1A CN117621724A (en) | 2023-11-15 | 2023-11-15 | Control method of towing system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117621724A true CN117621724A (en) | 2024-03-01 |
Family
ID=90031358
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311523939.1A Pending CN117621724A (en) | 2023-11-15 | 2023-11-15 | Control method of towing system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117621724A (en) |
-
2023
- 2023-11-15 CN CN202311523939.1A patent/CN117621724A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2119942B1 (en) | Clutch control device for hydraulically driven vehicle | |
| WO2010110086A1 (en) | Fuel saving control device for working machine and fuel saving control method for working machine | |
| CN107161898B (en) | A kind of hydraulic control system and its method of tension windlass | |
| CN103274300A (en) | Intelligent remote control lorry-mounted crane | |
| US7410067B2 (en) | Drum carriage for logging operations | |
| CN109208672B (en) | Automatic tensioning control system for winch steel wire rope and continuous wall grab bucket machine | |
| CN117621724A (en) | Control method of towing system | |
| JP5746594B2 (en) | Crane winch motion control device | |
| JP2015139391A (en) | Hydraulic material collecting apparatus | |
| CN211920640U (en) | Lifting hook with automatic unhooking function | |
| CN213569299U (en) | Large-tonnage synchronous traction hydraulic winch system | |
| CN102389911B (en) | Equipment for mounting steel wire rope and construction vehicle | |
| JP2019156620A (en) | Controller of hydraulic winch | |
| CN107285220A (en) | A kind of shaft coupling hoist engine of unmanned boat automatic deploying and retracting cable | |
| CN214359947U (en) | Multifunctional winch | |
| US11339038B2 (en) | System for controlling the operation of a hydraulic winch | |
| JP2000219490A (en) | Slope working vehicle control device | |
| CN203412527U (en) | Self-propelled small-tonnage guy-rope-free hydraulic disc-brake workover rig | |
| CN106276600A (en) | Wheel-mounted crane lifting operation goods stabilizing device | |
| CN101215958A (en) | Oilfield broad and constant power frequency-variable speed-regulating electric workover rig | |
| US20200189890A1 (en) | System for Controlling the Operation of an Electric Winch | |
| JPH10279289A (en) | Drifting article recovery device | |
| CN210944631U (en) | Intelligent electric grinder | |
| JP6593571B1 (en) | crane | |
| CN218434663U (en) | Power adjustable hoist engine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |