JP2000308224A - Cable-pulling machine and control method for the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To relax the phenomenon where pulling states between pulling machines have adverse effects upon each other, i.e., the hunting phenomenon. SOLUTION: A cable-pulling machine has an intermediate pulling machine, which controls a pulling machine drive motor 13 so as to have a cable pulled with a predetermined pulling speed based on the output value of a tension sensor 20 which detects the tension applied to the pulled cable, a motor control unit 11c which decelerates the cable pulling speed to a prescribed speed and keeps the speed at that value, if the output value of the tension sensor 20 becomes not higher than a motor stop determining value and a timer 11d, which when the output value of the tension sensor 20 becomes not higher than a motor stop determining value, measures the lapse of time afterwards, and when the measured time reaches a motor stop determining time, outputs a motor stop command signal S6 to the motor control unit 11c.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cable traction machine and a control method therefor, and more particularly to a cable traction machine used when laying a cable such as an optical fiber cable in an underground pipe or the like via a manhole and its control. About the method.

[0002]

2. Description of the Related Art Conventionally, as shown in FIG.
In the manholes 100, 100,..., A cable traction machine (hereinafter, referred to as “tip traction machine”) 6 and a plurality of intermediate cable traction machines (hereinafter, referred to as “intermediate traction machine”). , And a tow rope (hereinafter referred to as a “rope”) 2 is laid beforehand in the underground pipelines 101, 101,... Where the cable 1 is to be laid. After connecting the rear end of the rope 2 and the front end of the cable 1 on the most upstream side of the installation route by the connecting portion 3, the rope 2 is pulled by the tip pulling machine 6, and , The cable 1 is pulled after the rope 2 is pulled by the intermediate pulling machines 30, 30,..., And the tension is dispersed so as not to exceed the allowable tension of the cable 1, and the cable 1 is connected to the underground pipeline 101, 101. The cable laying method to lay inside is practical. It is.

The tip traction machine 6 used in this cable laying method pulls the rope 2 at a constant traction speed.
The intermediate towing machine 30 pulls the rope 2 while controlling the towing speed so that the tension of the towed object becomes a predetermined tension,
The cable 1 is pulled while performing the same control. In addition,
6, reference numeral 4 denotes a cable drum in which the cable 1 is stored, and reference numeral 5 denotes a rope winding drum for winding the rope 2.

Next, the details of the conventional intermediate traction machine 30 will be described with reference to the configuration diagram of FIG. Intermediate traction machine 30
Is an endless belt 12 for sandwiching and sending the cable 1 and the rope 2, a traction machine drive motor 13 for driving the endless belt 12, a tension sensor 20 for detecting a tension applied to the cable 1 and the rope 2, and a tension sensor 20. And a control device 31 for controlling the towing speed of the towed object based on the output signal from the controller.

The tension sensor 20 is disposed downstream of the intermediate traction machine 30 and, for example, applies a vertical component (hereinafter referred to as “vertical component”) in the upward direction perpendicular to the traction direction of the cable 1 and the rope 2. ). The tension sensor 20 is connected to the pipe opening 1.
The vertical component force of the cable 1 and the rope 2 is transmitted to the tension sensor 20 via the guide roller 23.

The guide roller 23 is provided at the height of the cable 1 or the rope 2 between the endless belt 12 of the intermediate traction machine 30 and the underground conduit 101 in order to obtain the vertical upward component of the tension of the cable 1 and the rope 2. It is provided below the position, and when the tension of the cable 1 or the rope 2 increases, the vertical component force also increases, so that the pressing load applied to the tension sensor 20 via the guide roller 23 also increases.

[0007] The control device 31 starts to operate the tip traction machine 6 to start traction of the cable 1 via the rope 2, the tension of the cable 1 increases, and the output value of the signal output from the tension sensor 20 is increased. A control algorithm is provided for activating the intermediate traction machine 30 when the cable traction target value, which is the upper limit of the cable traction threshold, is exceeded. Such a control device 3
Regarding the first specific control algorithm, the tip traction machine 6
The following description will focus on an intermediate traction machine (hereinafter, referred to as a “first intermediate traction machine”) 30 located in the vicinity of the downstream side of the vehicle.

As shown in the operation time chart of FIG.
If the output value of the tension sensor 20 of the first intermediate traction machine 30 exceeds the cable traction target value, the control device 31 outputs a speed command to the traction machine drive motor 13 to start acceleration. The traction machine drive motor 13 starts accelerating, but at this time, a subsequent intermediate traction machine (hereinafter, referred to as “second intermediate traction machine”) 3.
Since 0 is stopped, the activated first intermediate tractor 30 is overloaded. In this state, if the traction machine drive motor 13 continues to rotate, the traction speed of the tip traction machine 6 is increased, so that the output value output from the tension sensor 20 falls within the cable traction threshold. Therefore, the control device 31 outputs a speed command for reducing the towing speed of the first intermediate towing machine 30 to the towing machine drive motor 13 so that the output value of the tension sensor 20 becomes the cable towing target value.

Then, when the second intermediate traction machine 30 is started, the second intermediate traction machine 30 has a speed.
Although the traction force between the intermediate traction machine 30 and the second intermediate traction machine 30 decreases, the output value of the tension sensor 20 at this time exceeds the cable traction target value. A speed command for starting acceleration is output to 13. As a result, the first intermediate traction machine 30 is accelerated again, so that the traction speed of the first intermediate traction machine 30 is increased from the traction speed of the tip traction machine 6. Therefore, since the output value output from the tension sensor 20 falls within the cable traction threshold, the control device 31 sets the first intermediate traction machine so that the output value of the tension sensor 20 becomes the cable traction target value. A speed command for lowering the towing speed of the motor 30 is output to the towing machine drive motor 13.

As described above, the control device 31 controls the tension sensor 2
Since the acceleration / deceleration command can be output to the traction machine drive motor 13 based on the output value of 0, the tip traction machine 6 and the plurality of intermediate traction machines 30, 30,... Can be automatically controlled.

[0011]

However, in such a conventional first intermediate traction machine 30, a tension sensor 20 is provided.
Is lower than the motor stop determination value, which is the lower limit of the cable traction threshold of the controller 31, the controller 31 outputs a stop command signal to the traction machine drive motor 13 to stop the traction machine drive motor 13. I was letting it. This allows
Since the leading tractor 6 is overloaded, the first intermediate tractor 30 will accelerate again. Therefore, the first intermediate towing machine 30 repeats the operation and the stop by repeating such a situation, so that a phase difference occurs in the towing control between the towing machines (FIG. 8).

Even if this phase difference occurs between the towing machines, if the towing object is a towing rope or a low-rigidity optical cable having a number of accommodated cores of 300 or less, it can be absorbed by expansion and contraction of these. In the case of a high-rigidity cable having 1,000 or more cores, since the expansion and contraction is small, a so-called hunting phenomenon may occur, in which the towing state between the towing machines adversely affects each other.

The hunting phenomenon may occur even if a control error occurs in the control device due to a drop in the power supply voltage. If the voltage drops extremely, the hunting phenomenon stops abnormally. The present invention has been made in order to solve such a conventional difficulty, and a cable traction machine and a control method thereof capable of mitigating a so-called hunting phenomenon in which traction states between traction machines adversely affect each other. The purpose is to provide.

[0014]

According to the present invention, there is provided a cable pulling machine for detecting a tension applied to a cable to be pulled by a sensor, and determining a pulling speed of the cable to be pulled based on an output value of the sensor. When the output value of the sensor is equal to or less than the motor stop determination value, the towing speed of the towed cable is set to a predetermined speed in the cable towing device that controls the towing device drive motor to a preset speed and pulls the towed cable. When the output value of the motor control unit and the sensor is reduced to the motor stop judgment value or less, the elapsed time after that is measured, and when the measured time elapses the motor stop judgment time, the motor control unit stops the motor. And a timer for outputting a command signal.

Further, in the control method of the cable pulling machine according to the present invention, the tension applied to the cable to be pulled is detected by a sensor, and the pulling speed of the cable to be pulled becomes a preset speed based on the output value of the sensor. When the output value of the sensor falls below the motor stop judgment value, the towing speed of the towed cable is reduced to a predetermined speed and held. At the same time, the elapsed time after the motor stop determination value or less is measured, and the towing machine drive motor is stopped when the measured time exceeds the motor stop determination time.

According to such a cable pulling machine and its control method, even if the output value corresponding to the tension applied to the towed cable detected by the sensor becomes equal to or less than the motor stop determination value, the motor stop determination time elapses. Until the cable is pulled, the pulling speed of the cable can be maintained at the predetermined deceleration speed, so that repeated running and stopping can be prevented. Therefore, a phase difference does not occur in the traction control between the respective towing machines, so that the hunting phenomenon can be reduced.

Further, the cable traction machine of the present invention has a control function for resetting the timer when the output value of the sensor exceeds the motor stop determination value before the measurement time elapses the motor stop determination time. Is also good. Further, in the cable traction machine control method of the present invention, if the output value of the sensor exceeds the motor stop determination value before the measurement time elapses the motor stop determination time, the measurement time is newly measured. You may.

By providing such a control function for resetting the timer, before the measurement time elapses the motor stop determination time, the measurement time may be increased even if the sensor output value exceeds the motor stop determination value. It is possible to prevent the towing machine drive motor from being stopped based on the above.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a cable traction machine and a control method thereof according to the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing an embodiment of an electric configuration of a cable traction machine according to the present invention, FIG. 2 is an operation time chart of the traction machine, and FIG. 3 is a flowchart for explaining a control operation of the traction machine. FIG. Since the cable traction machine of the present invention has the same configuration as the conventional cable traction machine, the description thereof will be omitted with reference to FIG. However, the signs of the cable traction machine and the control device are different from those of the conventional one.

As shown in FIG. 1, the electrical configuration of the control device 11 provided in the intermediate traction machine 10, which is the cable traction machine of the present invention, will be described. The control device 11 includes a cable traction threshold output unit 11a, a comparison unit 11b, and a motor control unit 1.
1c and a timer 11d. The input side of the comparison unit 11b is connected to the cable traction threshold output unit 11a and the tension sensor 20, and the output side of the comparison unit 11b is connected to the motor control unit 11c and the timer 11d. A timer 11d is connected to an input side of the motor control unit 11c, and a traction machine drive motor 13 is connected to an output side of the motor control unit 11c.

The cable traction threshold output section 11a outputs output signals S1 and S2 of a preset cable traction target value and a motor stop judgment value to the comparison section 11b. The comparison unit 11b includes a cable traction threshold output unit 11a
Output signals S1 and S2 output from the
A difference from an output signal S3, which is an output value corresponding to the tension applied to the cable 1 detected at 0, is calculated, and a speed command signal S4 is output to the motor control unit 11c based on the difference. Specifically, as shown in the operation time chart of FIG. 2, when the intermediate traction machine 10 is activated, the output signal S3 output from the tension sensor 20 and the output signals S1 output from the cable traction threshold output unit 11a, If the output value of the output signal S3 exceeds the target value of the cable traction of the output signal S1, a speed command signal S4 for starting acceleration is output to the motor control unit 11c. Further, when the output value of the output signal S3 output from the tension sensor 20 falls below the cable traction target value of the output signal S1 by a predetermined value or more, a speed command signal S4 for starting deceleration is output to the motor control unit 11c. Such cable traction control is repeatedly performed if the output value of the output signal S3 output from the tension sensor 20 fluctuates within the cable traction threshold. Further, the output value of the output signal S3 output from the tension sensor 20 is the output signal S3.
If the motor stop determination value falls below 2, the motor controller 11c outputs a speed command signal S4 for reducing the towing speed of the cable 1 by the towing machine drive motor 13 to a predetermined speed.

The motor control unit 11c controls the power supplied to the towing machine drive motor 13 based on the speed command signal S4 output from the comparison unit 11b. In addition, when the speed command signal S4 for reducing the towing speed of the cable 1 by the towing machine drive motor 13 to a predetermined speed is input from the comparing unit 11b, it has a function of maintaining the reduced speed.

When a speed command signal S4 for reducing the towing speed of the cable 1 by the towing machine drive motor 13 to a predetermined speed is input to the motor control unit 11c, the timer 11d outputs a measurement start signal S5 from the comparison unit 11b. Then, measurement of the elapsed time is started. The measurement time is a motor stop determination time T for stopping the towing machine drive motor 13, and is set to a time for determining whether or not a trouble such as surging has occurred in the cable towing operation. When the motor stop determination time T has elapsed, the timer 11d outputs a motor stop command signal S6 to the motor control unit 11c.

Next, the first intermediate traction machine 1 located near the downstream side of the tip traction machine 6 based on the flowchart of FIG.
The traction operation of 0 will be described for the case where the number of the accommodated core wires is 1,000. First, the tip traction machine 6 is activated (step P101), the traction of the cable 1 is started via the rope 2, the tension of the cable 1 is increased, and the output value of the output signal S3 output from the tension sensor 20 is reduced. If the cable traction target value is exceeded (step P102), the control device 11 outputs a speed command for starting acceleration to the traction machine drive motor 13 to activate the first intermediate traction machine 10 (step P103). At this time, since the subsequent second intermediate traction machine 10 is stopped, the activated first intermediate traction machine 10 is overloaded. In this state, if the traction machine drive motor 13 continues to rotate, the traction speed of the tip traction machine 6 is increased, so that the output value output from the tension sensor 20 falls within the cable traction threshold. Therefore, the control device 11 controls the first intermediate traction machine 10 so that the output value of the tension sensor 20 becomes the cable traction target value.
A speed command for lowering the towing speed is output to the towing machine drive motor 13.

As described above, the controller 11 controls the tension sensor 2
Since the acceleration / deceleration command can be output to the towing machine drive motor 13 based on the output value of 0, the leading towing machine 6 and the plurality of intermediate towing machines 10, 10,... P104, P105). On the other hand, when the output value of the output signal S3 output from the tension sensor 20 falls below the motor stop determination value (Step P106), the control device 11 reduces the towing speed of the cable 1 by the towing machine drive motor 13 to a predetermined speed. (Step P10)
7). At the same time, the control device 11 measures the motor stop determination time T for stopping the towing machine drive motor 13 by the timer 11d (step P108), and when the measured value exceeds the motor stop determination time T (step P10).
9) Stop the traction machine drive motor 13 (step P
110).

If the output value of the output signal S3 output from the tension sensor 20 falls within the cable traction target value within the motor stop determination time T, the control device 11 executes the first intermediate traction by ordinary automatic control. The machine 10 is operated (Step P111). As a drive system, an AC drive having better rectification performance and faster response than a DC servo system is used.
It is preferable to employ a servo system. If this AC servo system is adopted, as shown in the operation time chart of FIG. 4, it is possible to improve the followability of the speed command signal output to the motor control unit of the control device with respect to the output value of the tension sensor. However, due to the high response, AC
Since the servo system needs to output high power instantaneously, the power supply voltage decreases. Therefore,
As shown in FIG. 1, the motor control unit 11c of the control device 11
When the power supply voltage becomes equal to or lower than the predetermined voltage value, the power supply voltage control unit 14 that outputs the speed command signal S7 according to the reduced voltage value is connected to the input side of the power supply voltage control unit 14. Thus, when the power supply voltage falls below the predetermined voltage value, the traction machine drive motor 13 can be controlled so that the traction speed of the cable 1 according to the reduced voltage value can be controlled. 10 can be prevented from abnormally stopping.

When the AC servo system is employed, the output value of the tension sensor is reduced by reducing the S-curvature value in the control of the servo system in the control parameters of the control device, which is an index of the response performance. In addition to improving the followability of the speed command signal output to the motor control unit of the control device, the abrupt change in the tension is not given. Therefore, the control system is stabilized.

By combining such a control system as described above, traction control as shown in the operation time chart of FIG. 5 can be performed. The control function for resetting the timer 11d is, for example, the comparing unit 1
1b. Specifically, when the output value of the tension sensor 20 exceeds the motor stop determination value before the measurement time elapses the motor stop determination time T, the timer 11d is reset. As a result, a new measurement of the measurement time is started, and before the measurement time elapses the motor stop determination time T, even though the output value of the sensor exceeds the motor stop determination value, the measurement time is not changed. Based on this, it is possible to prevent the towing machine drive motor 13 from stopping.

Further, according to the embodiment of the present invention, the above-described control device 11 is used. However, the present invention is not limited to this, and the output value corresponding to the tension applied to the cable detected by the tension sensor is set in advance. When the motor stop determination value for stopping the towing machine drive motor is equal to or less than the set value, the towing speed of the cable by the towing machine drive motor is reduced to a predetermined speed, and the cable is towed. A control device having any configuration may be used as long as the traction machine drive motor can be stopped after the determined motor stop determination time has elapsed.

[0030]

As described above, according to the cable traction machine of the present invention and the control method therefor, even when a cable having a high rigidity is to be pulled, it does not interfere with the traction between the traction machines. The hunting phenomenon can be reduced.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of an electric configuration of a control device provided in a cable pulling machine of the present invention.

FIG. 2 is an operation time chart of a tension sensor, a control device, and a traction motor of the cable traction machine of FIG. 1;

FIG. 3 is a flowchart for explaining the operation of the cable traction machine in FIG. 1;

FIG. 4 is an operation time chart of a tension sensor, a control device, and a traction motor showing another embodiment of the cable traction machine of the present invention.

FIG. 5 is an operation time chart of a tension sensor, a control device, and a traction motor showing another embodiment of the cable traction machine of the present invention.

FIG. 6 is an overall configuration diagram showing a laid state by a plurality of cable pullers.

FIG. 7 is a configuration diagram showing a cable traction machine.

FIG. 8 is an operation time chart of a tension sensor, a control device, and a traction motor of a conventional cable traction machine.

[Explanation of symbols]

 1 ··· Cable (towed cable) 2 ··· Towing rope 13 ··· Towing machine drive motor 20 ··· Tension sensor 10 ···· Intermediate towing machine (cable towing) 11c ····· Motor control unit 11d ····· Timer S6 ····· Motor stop command signal T ···· Motor stop determination time

Continued on the front page (72) Inventor Tsutomu Enari 2-1-1, Oda Sakae, Kawasaki-ku, Kawasaki City, Kanagawa Prefecture Inside Showa Electric Wire & Cable Co., Ltd. (72) Kazuma Masaki 2-Ei Oda Ei, Kawasaki-ku, Kawasaki City, Kanagawa Prefecture No. 1-1 Inside Showa Electric Wire & Cable Co., Ltd. (72) Inventor Kazunari Sugi 2-1-1 Oda Sakae, Kawasaki-ku, Kawasaki City, Kanagawa Prefecture Inside Showa Electric Wire & Cable Co., Ltd. (72) Inventor Yoshiaki Hanazuka Oyama, Shinagawa-ku, Tokyo 6-25-25 Hanatsuka Denki Industry Co., Ltd.

Claims (4)

[Claims] A tension detecting device detects a tension applied to a towed cable with a sensor, and controls a towing machine drive motor based on an output value of the sensor so that the towed speed of the towed cable becomes a preset speed. In the cable pulling machine that pulls the towed cable, when an output value of the sensor is equal to or less than a motor stop determination value,
A motor control unit that reduces and holds the towing speed of the towed cable to a predetermined speed, and when an output value of the sensor becomes equal to or less than the motor stop determination value, measures an elapsed time thereafter, and this measurement time is used to stop the motor. And a timer for outputting a motor stop command signal to the motor control unit when a determination time has elapsed. 2. A traction machine driving motor is controlled by detecting a tension applied to a towed cable by a sensor and controlling a towing speed of the towed cable to a preset speed based on an output value of the sensor. In the control method of a cable tower that pulls the towed cable, when an output value of the sensor is equal to or less than a motor stop determination value,
The towed speed of the towed cable is reduced to a predetermined speed and held, and an elapsed time after the motor stop determination value or less is measured. A method for controlling a cable traction machine, comprising stopping a drive motor. 3. A control function for resetting the timer when an output value of the sensor exceeds the motor stop determination value before the measurement time elapses the motor stop determination time. The cable traction machine according to claim 1. 4. If the output value of the sensor exceeds the motor stop judgment value before the measurement time elapses the motor stop judgment time, the measurement time is newly measured. Item 3. A method for controlling a cable traction machine according to item 2.