CN201464878U - Constant tension fuzzy control system of of heavy-duty anchoring winch - Google Patents

Abstract

The utility model relates to a constant tension fuzzy control system of a heavy-duty anchoring winch, which comprises a PLC controller, a fuzzy controller a pressure sensor, a transducer, a display module, revolution speed sensors and a variable frequency motor. The fuzzy control system is characterized in that the output end of the PLC controller is connected with the transducer; the input end and the output end of the PLC controller are respectively connected with the display module and the fuzzy controller; the input end of the PLC controller is respectively connected with the pressure sensor and the revolution speed sensors; the output end of the transducer is connected with the variable frequency motor; and the two revolution speed sensors are respectively connected with a drum shaft and the variable frequency motor. The utility model has high control speed and small overshoot or oscillation, wherein the overshoot and the oscillation are mainly generated by the wind and wave excitation of steel wire ropes in a marine environment; the utility model can avoid the generation of huge overshoot or oscillation when the deviation E changes greatly, ensures that the heavy-duty anchoring winch adapts to the working condition of marine hoisting operation better, and guarantees the stability and the safety of the floating crane ship when hoisting.

Description

The permanent tension force Fuzzy control system of heavy type anchor winch

Technical field

The utility model relates to the anchor winch gear on a kind of crane barge ship, is specifically related to a kind of permanent tension force Fuzzy control system of heavy type anchor winch.

Background technology

In general control systems, PID control is one of control strategy that grows up the earliest, and for the deterministic control system that can set up mathematical models, PID is extraordinary selection undoubtedly.Tension Control for the intelligent large-tonnage anchor of 7500T crane barge winch, owing to be difficult to obtain precise math model between anchor chain tension force and the variable-frequency motor rotating speed, in addition because open ocean, the stormy waves excitation, tension force the time frequency conversion characteristic non-linear, the control of using conventional PID often can not reach ideal control effect; And fuzzy control does not need precise math model, and this paper analyzes crane barge anchor winch operating mode, and on this basis, the method for utilization fuzzy control is to the real-time control of anchor chain tension force.

Summary of the invention

The purpose of this utility model is to provide a kind of permanent tension force Fuzzy control system of heavy type anchor winch.

The permanent tension force Fuzzy control system of the heavy type anchor winch that the present invention proposes, form by PLC controller 1, fuzzy controller 2, pressure transducer 3, frequency converter 4, display module 5, speed probe 6 and variable-frequency motor 7, wherein, the input/output terminal that the output terminal of PLC controller 1 connects frequency converter 4, PLC controller 1 connects display module 5 and fuzzy controller 2 respectively, the input end of PLC controller 1 connects pressure transducer 3 and speed probe 6 respectively, and frequency converter 4 output terminals connect variable-frequency motor 7.Speed probe 6 is 2, connects spool shaft and variable-frequency motor 7 respectively.

In the utility model, described pressure transducer 3 adopts the pin type pressure transducer.

The utility model replaces pid algorithm in the conventional PID control system with fuzzy algorithm, by tension test, and the Fuzzy Controller Parameters adjustment, rotational speed regulation reaches the purpose of permanent Tension Control.

In the utility model, described tension test realizes that by pressure transducer 3 pressure transducer adopts the pin type pressure transducer, is installed on the dynamometry pulley blocks at ship mouth place, and is converted to the steel wire rope tension value by PLC controller 1.

In the utility model, described fuzzy parameter adjustment realizes by fuzzy controller 2.When the steel wire rope tension value that PLC controller 1 passes over, the comparison of 2 pairs of actual steel wire rope tension values of fuzzy controller and theoretical value adopts fuzzy algorithm that output parameter is regulated.

Specifically, permanent tension force Fuzzy control system of the present utility model takes to promote the fuzzy control method of operating personnel and expertise, the experience of operating personnel being operated at the scene the anchor winch is written as control algolithm, such as deviation is under the situation about bearing, when deviation E is negative big (NB), when deviation variation rate EC is negative or zero, should make controlled quentity controlled variable u increase sooner for eliminating deviation as early as possible, so the variation of controlled quentity controlled variable is got honest (PB); In case deviation variation rate is for just, deviation has the trend that reduces, and can obtain less controlled quentity controlled variable u, when deviation is changed to just little (PS) or center (PM), can not change controlled quentity controlled variable, still gets PB; And when deviation be reduced to negative in when (NM), controlled quentity controlled variable just becomes center (PM), the operating mode that may run into is written as fuzzy algorithm, deposit in the fuzzy controller, in operating at the scene, the anchor winch runs into similar operating condition, fuzzy controller is calculated corresponding regulated quantity and is imported the PLC controller, and the rotating speed that changes variable-frequency motor is to reach the purpose of adjustment of tonicity.

The utility model control rate is fast, overshoot or vibrate little, the hyperharmonic vibration is mainly produced by the stormy waves excitation that is in the wire rope in the marine environment, can make as deviation E and when bigger variation takes place, be unlikely to produce big overshoot or concussion, operating mode when making it more to adapt to marine lifting operation, the stability and the security of crane barge ship when having guaranteed lifting. it is applied on the anchor winch gear of large-scale floating crane ship, accurately tension force is controlled faster, operating mode when making it more to adapt to marine lifting operation, the stability and the security of crane barge ship when having guaranteed lifting.

Description of drawings

Fig. 1 is the utility model control structure synoptic diagram.

Fig. 2 is a fuzzy inference system output characteristics surface chart.

Number in the figure: 1 is the PLC controller, and 2 is fuzzy controller, and 3 is pressure transducer, and 4 is frequency converter, and 5 is display module, and 6 is speed probe, and 7 is variable-frequency motor.

Embodiment

Further specify the utility model in conjunction with the accompanying drawings below by embodiment.

Embodiment 1: as shown in Figure 1, this device mainly contains PLC controller 1, pressure transducer 3, speed probe 6, display module 5, fuzzy controller 2 etc.PLC controller 1 is the control core of whole constant tension system, receives the signal of each pressure transducer 3 and speed probe 6 by it, and the various steering orders of transmitting system provide control for realizing permanent tension force.On the dynamometry pulley blocks of Chuan Kouchu, the tension pick-up 3 of pin type is housed, and is converted to the steel wire rope tension value, a speed probe 6 is installed on spool shaft by PLC controller 1, through PLC controller 1 record and calculating drum speed 8 and the number of turns, the i.e. speed of folding and unfolding wire rope and length.A speed probe 6 is installed on variable-frequency motor, and through PLC controller 1 this variable-frequency motor rotating speed 7 of record, frequency converter 4 can offer variable-frequency motor 7 with the electric energy that the frequency electric energy converts frequency adjustable to of deciding of input, with the control of conversion rotating speed of motor.Show mould, the 5th, the bridge between operating personnel and the control system, various running parameters that can online detection constant tension system, duty etc.Fuzzy controller 2 is control anchor chain tension force in real time.

In native system, select to describe input (e, ec) and the word set of exporting (u) fuzzy variable be 7 fuzzy subset PB, PM, PS, ZE, NS, NM, NB represents respectively that the domain of input language variable e and ec is { 6 ,-5 ,-4,-3 ,-2 ,-1,0,1,2,3,4,5,6}, the domain of output language variable u is { 6 ,-5,-4 ,-3 ,-2 ,-1,0,1,2,3,4,5,6}.Membership function adopts the full crossover function of triangular symmetry.

Fuzzy controller adopts operating personnel and expertise to work out out FUZZY ALGORITHMS FOR CONTROL, and is as shown in the table:

According to each bar inference rule, can obtain corresponding fuzzy relation, from the fuzzy subset of output, obtain a controlled quentity controlled variable by fuzzy decision at last, adopt method of weighted mean to obtain controlled quentity controlled variable U in the utility model, computing formula is as follows:

$U=\frac{\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\mathrm{\μ}\left(u_i\right)\·u_i}{\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\mathrm{\μ}\left(u_i\right)}$

μ (u in the formula _i) represent corresponding to u _iThe degree of membership of subclass.In addition, the controlled quentity controlled variable U that each sampling provides through FUZZY ALGORITHMS FOR CONTROL (accurately amount), directly controlling object also must be transformed into it in the receptible basic domain of controlling object (actual range).

Fuzzy controller 2 draws the parameter that decision parameters need be imported by 1 acquisition of PLC controller, controls by 7 pairs of AC motor of variable-frequency motor, to reach the purpose of real-time control anchor chain tension force.

The course of work of permanent tension force Fuzzy control system of the present utility model is as follows: when the anchor chain tension value changes, the actual tension value is delivered to PLC controller 1 by pressure transducer 3 and converts electric signal to, and fuzzy controller 2 is with tension force setting value n _ReasonWith measured value n _RealCompare and obtain deviation e and deviation variation rate ec, then these two deviations are blured and turn to the fuzzy subset that fuzzy controller can be discerned, and compare with the FUZZY ALGORITHMS FOR CONTROL that has write, calculate decision content U, U becomes the frequency variation signal that can control variable-frequency motor 7 through the PLC controller, to reach the purpose of slowing down or quickening, realize the permanent Tension Control of anchor chain.

Fig. 2 is a fuzzy inference system output characteristics surface chart, draws algorithm according to site operation people and expertise.

Claims (2)

1. the permanent tension force Fuzzy control system of a heavy type anchor winch, by PLC controller (1), fuzzy controller (2), pressure transducer (3), frequency converter (4), display module (5), speed probe (6) and variable-frequency motor (7) are formed, the output terminal that it is characterized in that PLC controller (1) connects frequency converter (4), the input/output terminal of PLC controller (1) connects display module (5) and fuzzy controller (2) respectively, the input end of PLC controller (1) connects pressure transducer (3) and speed probe (6) respectively, and frequency converter (4) output terminal connects variable-frequency motor (7); Speed probe (6) is 2, connects spool shaft and variable-frequency motor (7) respectively.

2. the permanent tension force Fuzzy control system of heavy type anchor winch according to claim 1 is characterized in that described pressure transducer (3) adopts the pin type pressure transducer.

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