JPS5926896A - Method of controlling auto-tension winch - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for controlling a continuous auto-tension winch using a DC motor.

Electric auto-tension winches are generally designed so that the torque-speed characteristics of the motor have a vertical characteristic, and the motor stops when the rope tension, or load torque, reaches a set value. . In other words, when the rope tension, that is, the load torque, is lower than the set value, the electric motor winds up the winding drum to increase the tension, and conversely, when the rope tension is lower than the set value, the motor winds up the winding drum to increase the tension.
When the tension is higher than 16, the motor is rotated in the opposite direction and the winding cylinder is rewound to lower the tension, and when the tension matches the set value, the motor stops, that is, it stops rotating while being energized. I will do it.

Auto-tension winch using a DC motor 1. There are various motor control methods that can be considered, but with recent advances in semiconductor technology, the Zyristor Leonard control method is becoming mainstream. Figure 1 shows the DC motor of an auto-tension winch. 1 is a diagram schematically illustrating a conventional example of a thyristor leonate control method for a winch.
DC power is supplied via 4. The current flowing into the thyristor 14 is detected by the current detector 16 and rectified by the diode 18 to determine the actual current of the rope.
That is, it is input to a comparator 22 as an electric signal 20 representing the actual value of the load torque of the electric motor 10. The comparator 22 also receives a drowsiness signal 26 representing the setpoint from the motor torque setting device 24, where it receives two electrical signals 20.2.
6 are compared and an electrical signal 28 representing the deviation between the two is output. The control device 30 responds to this signal 28 and controls the on/off of the thyristor 14 so that the deviation becomes zero when the motor 10 is stopped.

FIG. 2 schematically shows the torque-speed characteristics of the DC motor 10 controlled as described above.

For example, if we assume that the torque setting value set by the torque setting device 24 is LOT and the efficiency 9 of the winch gear is 09, then the load torque of the 1°C motor 10 is at point A in the diagram, that is, 10.
T
(When the load, that is, the tension of the rose, rotates the electric motor 10 in the opposite direction and rewinds the winding drum, and the load is between A-13 in the figure, that is, between 9T and 11゛P. Remain stationary.

When the DC motor 10 is in a stopped state, its plan is stationary on the commutator pieces, so a temperature rise inevitably occurs at the V point.In order to avoid this temperature rise, The motor had the disadvantage that it required consideration such as lowering the first current density of the commutator part, and the motor became large. It is said to be 25% lower than standard specifications.

The purpose of the present invention is to control a continuous auto-tension 7-yon winch using a DC motor so as to eliminate the stall state,
The purpose of the present invention is to reduce the volume of a DC motor, the capacity of the DC motor, and the size of the commutator section including the commutator pieces.

FIG. 3 is a block diagram schematically showing an embodiment of the present invention, in which the same reference numerals as in FIG. 1 indicate the same components.

In this embodiment, as can be seen from the figure, the load torque setting value of the electric motor is set to the rated value, for example 10 in Figure 2.
In addition to the first torque setting device 24 for setting the torque to T, a second torque setting device 32 for setting the torque setting value to a value slightly lower than the rated setting value is provided. and the second torque setting devices 24 and 32 can be switched by a switch 84. A speed detector 36 is connected to the motor 10 and detects the speed of the motor 10. This speed detector 36 may be any known tacho generator, pulse transmitter, filter, or back electromotive force detector.

38 is a control device for the switch 34 and a speed detector 36
The switch 34 is switched in response to the output.

That is, the first torque setting device 24 is connected to the comparator 22 to set the rated torque value and perform the winding operation, and the winch is balanced, that is, the load torque becomes 9T in FIG. 2, and the electric motor When 1o enters the stall condition, controller 88 switches the state of switch 34 in response to the output signal from speed detector 36 to connect second torque setter 32 to comparator 22. The setting value set by the second torque setting device 82 is slightly lower than the rated setting value, that is, g4'r
Since the torque value is selected to be slightly lower than the rated torque value 10 'l' in Figure 2, both points A and B in Figure 2 will decrease υ, and the motor will come out of the stopped state and reverse. It will be done. When the speed detector 36 detects that this reversal has been performed by a predetermined degree, for example, one rotation in the reverse direction, in response, the controller 38 returns the switch 34 to the original position, and the first torque setting device 24 is connected to the comparator 22 again. As a result, the electric motor [0] rotates in the forward direction and performs the winding operation. The above operations are continuously and repeatedly performed.

FIG. 4 shows a switch control device 88 of the embodiment shown in FIG.
FIG. 2 is a block diagram illustrating a specific configuration of the system.

As seen in FIG. 4, the controller 88/recon rectifier 40. Zero speed detector 42. Delay device 44, integrator 4
6. It consists of a comparator 48 and a flip-flop 50. As mentioned above, the speed detector 36 may be a tacho generator, a pulse generator (Wffl), or a back electromotive force detector, but here we will use a tacho generator as an example. A silicon rectifying element 40 is provided for rectification. When using a pulse transmitter, a counter (not shown) may be used instead of the silicon rectifying element 400 to measure the number of pulses.
When using the back emitter 1f and a force detector (not shown), this silicon rectifying element 40 can be omitted.

Silicone treatment? The output of the lU element 40 is applied on the one hand to a zero speed detector 42 and on the other hand to an integrator 46.

The output of the zero speed detector 42 is led to the reset terminal 1t of the flip-flop 50 via the delay device 44, and the output of the integral quantity 46 is led to the flip-flop 50 via the comparator 48.
It is led to the set terminal S of 0. Flip flop 50 now
The output Q is given by the logical formula 1, the switch 34 operates the first torque setting device 24 to set the rated torque setting value, and the electric motor 10 rotates in the forward direction to prevent winding of the winding drum. Let's assume that it is being done. The tension of the cable gradually increases, and when the load torque of the motor exceeds point A in FIG. 2 and the motor becomes stopped, the output of the zero speed detector 42 becomes logical formula 1. The output of this logical formula 1 is applied to the reset terminal a of the flip-flop 5o after a certain period of time determined by the delay device ff:44 has elapsed, and the flip-flop 50 is inverted and its output becomes the logical formula o. Switch 84 responds to the reversal of flip 70 knob 5o! , lJ and connect the second torque setting device to the control device 3o. As a result, the set torque value of the electric motor 1o decreases, so that the TIT and the motive force 1o are rotated in the opposite direction by the cable tensioner and the winding barrel is wound once. Integrator 46 is flip-flop 5
Since it is set by the logic tk Q /I of the output of the clip-flop 50 and reset by the logic 1", the output of the clip-flop 50 becomes the logic V"or,
When the motor 10 starts rotating in the opposite direction, the output of the silicon rectifier 40 starts to be integrated. The comparator 48 compares this integral value with a certain reference value, and when the integral value reaches the reference value, the logic -1 output is sent to the set terminal S of the Noritsu flop 50.
give to That is, when the electric motor 10 rotates in the opposite direction by a predetermined amount corresponding to the reference value of the comparator 48, the clip frog 50 is set, and the switch 84 is switched to operate the first torque setting device 24 again.

The delay device 44 may be, for example, a delay relay or the like, and is used to prevent malfunctions due to the action of waves, for example, when this auto-tension winch is used to pin ships or the like.

Note that at the time of starting, it is necessary to forcibly operate the first torque setting device 24, so at the time of starting, the logic 11' signal is applied to the set terminal of the flip-flop 50 for a certain period of time via the timing relay 52. The K'J relay 2 and the power supply 54 may be provided separately from the comparator 48 so as to set the flip 70 knob 50.
Comparator 48 such that the output of 8 provides a logic -1# at startup.
All you need to do is configure the .

According to the present invention, when the electric motor enters the stopped state as described above, the set torque value of the electric motor is reduced to prevent the motor from rotating in the reverse direction to a predetermined extent, and then the set torque value is increased again. Since the winding operation is performed repeatedly and continuously as the initial setting value, the time the motor remains in a stopped state is extremely short, and the commutator section of the motor can be made smaller. It has the effect of

[Brief explanation of the drawing]

Fig. 1 is a schematic diagram showing a conventional continuous automatic winch control system, Fig. 2 is a torque-speed characteristic graph to explain the stopped state of the electric motor, and Fig. 3 is a continuous automatic winch control system according to the present invention. FIG. 4 is a block diagram showing an example of a specific configuration of the switch control device 38 shown in FIG. 3. Explanation of symbols 10--Electric motor, 12--Power source, 14--Zyristor, 16--111 flow detector, 24--First torque setting device, 30-- Thyrisk control II device , 32
...Second torque setting device, 84...Torque setting device changeover switch, 36...Speed detector, 88...Switch changeover control device/Agent Patent attorney Isao Fujimoto

Claims (1)

[Claims] (1) A control method for a continuous auto-tension winch using a DC motor, in which the motor rotates in the forward direction, its load torque increases, reaches a value related to the first torque setting value, and the motor stops. When the motor enters the operating state, the torque setting value is switched to a second torque setting value which is smaller than the first torque setting value by a predetermined amount, allowing the electric motor to rotate by a predetermined amount in the opposite direction, and then again. A control method for a continuous auto-tension winch in which the torque setting value is switched to a first torque setting value and the above operations are repeated and continuously performed. (2. In claim 1, the torque setting value is switched from the first torque setting value to the second torque setting value after detecting that the speed of the electric motor has become zero. The control method is characterized in that the control method is carried out when it is confirmed that the speed of the electric motor is still zero after a predetermined period of time has elapsed.