KR100471418B1 - Balance Controller of Hoist - Google Patents

Abstract

PURPOSE: A balance control device for a winch is provided to maintain horizontality by connecting an object to both sides of the device and to generate an alarm when the object is inclined. CONSTITUTION: A balance control device for a winch comprises a moving length detecting unit(110) for a wire rope, a deviation detecting unit(120), motors(41,42), and a balance control unit(130). The moving length detecting unit detects a moving length of wire ropes connected to both sides of an object. The deviation detecting unit detects left and right deviations based on the moving length. The motors rotate drums in which the wire ropes are wound. The balance control unit maintains horizontality of the object by controlling the speed of the motors.

Description

Balance Controller of Hoist {Balance Controller of Hoist}

The present invention relates to a balance control device of a winch, and more particularly, to allow the object to be moved in a horizontal state in the process of winding up or down the wire rope connected to the upper left and right of the object through a motor and a drum. It relates to a balance control device of a winch for controlling a winch of a motor-two drum type.

Two Motor-Two Drum type hoist is a device that winds up or down a wire rope connected to the upper left and right sides of an object through two motors and a drum. Two Motor-Two Drum type hoist is a hydro gate hoist which controls the quantity of reservoir or waterway.

This water gate opening and closing winch is to control the opening and closing of the water gate by lifting or lowering the water gate connected through a wire rope, Figure 1 is a schematic installation configuration of such a conventional two-motor-two drum type winch, 2 shows an example of a control circuit of a conventional Two Motor-Two Drum type winches.

As illustrated in FIG. 1, a dike 1 constructed of a concrete structure for confining water to a reservoir or a water channel is provided with a guide frame 2 to which the water gate 10 is movable to move up and down. The upper ends of both sides of the water gate 10 installed in the guide frame 2 are directly or indirectly coupled to one end of each of the wire ropes 20 and 21 and 22, and the other end of the wire rope 20 is a hoisting machine. Is connected to.

The hoist is provided with two drums (30; 31, 32) to which the wire rope (20) is wound, and two motors (40; 41, 42) for rotating the drum (30), respectively. 40, the drive is controlled by the controller.

As shown in FIG. 2, the control device of the winch is provided with a breaker (NFB) 60 to prevent excessive supply of power from an external power supply unit 70, and is supplied from the power supply unit 70. A vertical operation unit 50 is provided to transfer power to the left motor 41 and the right motor 42 to open and close the water gate 10 up and down.

 The upper and lower operation unit 50 is provided with a left motor operation unit 51 for turning on / off the power supply of the left motor 41 and a right motor operation unit 52 for turning on / off the power supply of the right motor 42. The left motor operating unit 51 and the right motor operating unit 52 have a forward rotation switch (MC-F; Forward Magnetic Contactor) (51a) 52a and a reverse rotation switch for setting rotation directions of the left motor and the right motor, respectively. (MC-R; Reverse Magnetic Contactor) 51b, 52b is provided. The forward rotation switches 51a and 52a and the reverse rotation switches 51b and 52b of the left and right motor operation units 51 and 52 of the up and down operation unit 50 are interlocked in pairs to perform one operation. It can be turned on / off at the same time, and can be operated individually in some cases.

The two motor-two drum type winch control device having the above configuration controls the driving of the motor 40 to wind or unwind the wire rope 20 on the drum 30 so that the water gate 10 is lifted upwards. By controlling it to lower, the amount of reservoir or waterway is adjusted.

However, the control device of the hoisting machine does not wind or unwind the left and right wire ropes 21 and 22 to the same length in the process of winding or releasing the wire rope 20 connected to the upper left and right sides of the sluice 10. If it fails, the left and right balance is not balanced when the water gate 10 is moved up and down, the jam (Jam) phenomenon that the water gate 10 is caught in the guide frame (2) occurs.

That is, the impedance of the windings of the motors 41 and 42, which rotate the drums 31 and 32, respectively, to wind or unwind the wire ropes 21 and 22 on both sides, the frictional force of the bearing, and the up and down operation unit 50. (Magnet Contact) of the switch (Magnet Contactor) or the reaction time is different from each other, or the equilibrium state of the water gate 10 due to the difference in the brake slip generated when the operation is stopped, jamming is generated.

When a jam phenomenon occurs in which the sluice 10 is caught in the guide frame 2, one of the two motors 41 and 42 that controls the respective wire ropes 21 and 22 according to the jam generating position is used. The excessively operated balance of the sluice 10 is balanced, and at this time, an extreme change occurs in the tension of the wire rope connected to the drum of one motor that is excessively operated, resulting in an instantaneous jumping phenomenon in the sluice. Serious obstacles to safety and operation have occurred.

Accordingly, the present invention has been made to solve the above-described conventional problems, the object of the present invention is to place the upper left and right of the object in the two-motor-two drum type winch for moving the object up and down and the like Provides a balance control device for a winch that keeps the left and right movement lengths of the wire ropes connected to lift the object the same to maintain the left and right equilibrium when the object moves up and down to prevent jams and jumping. It is.

The balance control apparatus of the hoisting machine of the present invention for achieving the above object is a wire rope movement length detector for detecting the movement length of the wire rope connected to both sides of the upper end of the object in real time, and the wire detected through the wire rope movement length detector The driving speed of the motor for rotating the drum on which the wire rope is wound to remove the left and right deviations detected by the deviation detection unit by comparing the moving lengths of the ropes and detecting the left and right deviations of the object. In the two-motor-two drum type hoisting control device comprising a balance control unit for correcting the object in a horizontal state by adjusting the control unit, the moving length detecting unit and the pulse encoder for generating a pulse signal according to the moving length of the wire rope; To shape the waveform of the pulse signal output through the pulse encoder Including the encoder signal matching logic for determining the vertical movement direction of the wire rope according to the pulse signal waveform and the pulse integration logic for accumulating and accumulating the pulse signal output from the encoder signal matching logic, including the left and right movement length detection unit Is done.

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Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Figure 3 is a schematic installation configuration of the Two Motor-Two Drum type hoist according to an embodiment of the present invention, Figure 4 is an example of a control circuit of the Two Motor-Two Drum type hoist according to an embodiment of the present invention. In describing an embodiment of the present invention, an object applied to a two-motor-two drum type winch is described as an example.

As shown in FIG. 3, the winch of the Two Motor-Two Drum type according to the embodiment of the present invention winds up or descends a wire rope 20; 21, 22 connected to the upper left and right sides of the sluice 10. (10) to open and close up and down, the water gate 10 is coupled to a lifting device (LD; Lifting Device) through a hook (H; Hook) at the upper left and right, the lifting device (LD) One end is connected to the wire ropes (20; 21, 22) on the left and right sides, and the other ends of the wire ropes (20; 21, 22) are respectively wound on the drums (30; 31, 32) of the hoisting machine.

The motors 40; 41, 42, which rotate the drums 30; 31, 32, on which the wire ropes 20; 21, 22 are wound, are controlled by a control device, as shown in FIG. 4. In the control apparatus, the circuit breaker 60 for blocking an excessive supply of power transmitted from the power supply unit 60 and the power supply of the left and right motors 40; The moving distance between the up and down operation unit 50 and the left and right wire ropes 20 and 21 and 22 which are moved up and down by the operation of the left and right motors 40; The balance control device 100 is provided to control the water gate 10 to be moved in a horizontal state. The upper and lower operation units 50 are provided with a left motor operating unit 51 and a right motor operating unit 52 provided with forward rotation switches 51a and 52a and reverse rotation switches 51b and 52b.

The balance control apparatus 100 is controlled by an auto / manual switch 101. When the auto / manual switch 101 is selected as the manual position (M), the balance control apparatus 100 is controlled. ) Is not driven.

On the other hand, when the automatic / manual switch 101 is selected as the automatic position (A; Automatic Mode), the balance control device 100 and the wire rope 21 wound on the drum 31 of the left motor 41 and By maintaining the moving distance of the wire rope 22 wound on the drum 32 of the right motor 42 to be controlled so that the water gate 10 can be moved up and down while maintaining the equilibrium state.

5 is a block diagram of a balance control device of a two-motor-two drum type winch according to an exemplary embodiment of the present invention.

As shown in FIG. 5, the balance control apparatus 100 according to the embodiment of the present invention includes a wire rope wound or unwound on the drums 30; 31, 32 of the left and right motors 40; 41, 42. The wire rope movement length detection unit 110 for detecting the movement lengths of the 20 and 21 and 22, respectively, and the movement length and the right wire rope of the left wire rope 21 detected through the wire rope movement length detection unit 110; 22) a deviation detecting unit 120 for calculating a deviation of the moving length, and a left and right motor 41 for removing a deviation between the left wire rope moving length and the right wire rope moving length detected through the deviation detecting unit 120. A balance controller 130 for controlling the rotational speed of 42 and a display unit 140 for displaying the left and right inclination state of the water gate 10 to the outside by the balance controller 130. .

The wire rope movement length detection unit 110 includes a left movement length detection unit 111 for detecting a movement length of the wire rope 21 wound around the drum 31 of the left motor 41, and a drum of the right motor 42. And a right movement length detection unit 112 for detecting a movement length of the wire rope 22 wound around the wire 32. FIG. 6 is a block diagram of the wire rope movement length detection unit according to an embodiment of the present invention. It is shown.

As shown in FIG. 6, the left movement length detection unit 111 includes a pulse encoder 111a for generating a pulse signal according to the movement of the wire rope 21 wound around the drum 31 of the left motor 41. And an encoder signal matching logic 111b for matching the pulse signals output through the pulse encoder 111a and a pulse integration logic 111c for integrating the pulse signals output through the encoder signal matching logic 111b. It is done by

The pulse encoder 111a rotates at the same speed as the driving speed of the left motor 41 and generates a pulse signal according to the movement of the left wire rope 21. In the embodiment of the present invention, the pulse encoder 111a is used. Is installed in line with the central axis of the drum 31 is rotated in accordance with the drive of the left motor 41 is to determine the moving length of the wire rope 21 by measuring the amount of rotation of the drum (31). That is, when the drum 31 is rotated, the wire rope 21 wound around the drum 31 is wound or unwound to change the length of the wire rope 21. The rotation amount of the drum 31 and the wire rope 21 are changed. Determining the relationship of the displacement amount of the advance, it is possible to determine the moving length of the wire rope 21 through the rotation amount of the drum (31).

For example, assuming that the diameter of the drum on which the wire rope is wound is D and the number of pulses per revolution of the pulse encoder is P, the transfer length L of the wire rope per pulse is as follows.

If there is a reduction gear having a reduction ratio N between the drum 31 and the pulse encoder 111a, the above equation is changed as follows.

In an embodiment of the present invention, the pulse encoder 111a sets a reference point at an arbitrary point of the left wire rope 21 and generates four pulse signals while the wire rope 21 moves 1 mm based on this reference point. The pulse signal generated through the output method of the line driver type is output to the encoder signal matching logic 111b.

The encoder signal matching logic 111b shapes the waveform of the pulse signal output from the pulse encoder 111a, outputs the output signal of the pulse encoder 111a as two signals having a 90 degree phase difference, and pulses of these two signals. By analyzing the phase difference, the direction of movement of the wire rope 21 ascends or descends is determined, and the state of the pulse is divided into four types at the rising edge of the pulse signal to increase the accuracy by multiplying the pulse signal by four. . In an embodiment of the present invention, the encoder signal matching logic 111b is implemented through SN75175, which is a line driver input device to which an output signal of the pulse encoder 111a can be input, and FIG. 7A is implemented by an SN75175 device. An example of a line driver data transmission model of encoder signal matching logic is shown, and FIG. 7B shows an example of pulse signals of type A and B having a phase difference of 90 degrees used to analyze the moving direction of the wire rope in the encoder signal matching logic. will be.

When the pulse integration unit 111c receives a pulse signal generated from the pulse encoder 111a by the movement of the wire rope 21 via the encoder signal matching logic 111b, the pulse integration unit 111c accumulates the received pulse signal to form a wire rope ( 21 to determine and store the moving distance, and transmits the detected moving distance of the wire rope 21 to the deviation detecting unit 120. Table 1 below shows an example of integration data of pulse signals that are captured and stored through the pulse integration unit.

The pulse encoder 112a, the encoder signal matching logic 112b, and the pulse integration unit 112c provided in the right movement length detection unit 112 have the same configuration as the left length detection unit 111 described above and the right wire rope 22 ) Detects the moving length and transmits it to the deviation detecting unit 120.

The deviation detecting unit 120 calculates a deviation between the left moving length and the right moving length of the wire ropes 20; 21 and 22 transmitted from the wire rope moving length detecting unit 110 described above. An information correction logic 121 and an error detector 122 are provided.

The information correction logic 121 operates the up and down manipulation unit 50 to rotate the right motor 42 at a higher speed when the left motor 41 starts to rotate in the up or down direction so as to quickly cancel an error. The information forward (FF; Feed Forward) value is calculated and transmitted to the error detector 122. This information forward (FF) is a reverse concept of the feed back (FB; feed back). When the switches 51a, 52a, 51b and 52b are turned on, the left and right motors 41 and 42 are driven to predict the change of the control amount generated by the movement of the wire ropes 21 and 22 in advance. It transmits the control amount change value directly to the error detector 122 serves to speed up the response speed of the system.

The error detector 122 analyzes the difference in the information length transmitted through the information correction logic 121 and the movement length difference between the left and right wire ropes 20; 21 and 22 transmitted from the movement length detection unit 110. The slope of the lifting device LD is calculated. Since the lifting device LD is in equilibrium with the gate 10, the slope of the lifting device LD means the slope of the gate 10. Table 2 below is an example showing the inclination state of the lifting device detected through the deviation detection unit.

The balance controller 130 adjusts the rotational speed of the right motor 42 according to the deviation of the left and right wire ropes 20; 21 and 22, which are detected through the deviation detector 120, and the left and right wire ropes 20. The length of the lifting device LD becomes 0 to maintain the horizontal state by equalizing the lengths of the 21 and 22, and the balance control unit 130 balances with the torsion preventing logic 131. The controller 132 and the inverter 133 are provided.

The torsion preventing logic 131 may sound through the buzzer 141 of the display unit 140 when the deviation of the left and right wire ropes 20; 21 and 22 transmitted through the deviation detector 120 deviates from a preset reference value. At the same time, the drive of the left and right motors (40; 41, 42) is forcibly interrupted to prevent the jam phenomenon from being excessively inclined and the jamming of the guide frame (2). The inclination of the lifting device LD grasped by the torsion preventing logic 131 is displayed on the monitor 142 provided in the display unit 140 so that an operator can visually confirm the change. (Which portion is changed ??? )

The balance controller 132 is left and right side to prevent the tilting of the lifting device LD generated according to the deviation of the left and right movement distance of the wire ropes 20; 21 and 22, which are detected through the deviation detector 120. By controlling the rotation speed of the motor (40; 41, 42) serves to control the deviation of the left and right wire rope (20; 21, 22) to continuously converge to zero.

In the embodiment of the present invention, the balance controller 132 is implemented through a PI controller, which is a combination of known proportional control and integral control, and the rotational speed of the right motor 42. The PI controller controls the left and right wire ropes by maintaining the left motor 41 at the original rotation speed and adjusting the rotation speed of the right motor 42 based on the rotation speed of the left motor 41. The deviation of (20; 21, 22) is controlled to converge to zero.

The PI controller adjusts the output frequency of the inverter 133 for supplying power to the right motor 42 in order to adjust the rotational speed of the right motor 42. In general, the frequency supplied to the motor and the speed of the motor are as follows. Same as

Where N is the rotational speed (rpm), f is the frequency (Hz), P is the number of poles of the motor, and s is the slip, which is 0.04 to 0.25. As shown in the above formula, the rotational speed (N) of the motor is proportional to the frequency (f), by adjusting the frequency of the power supplied to the motor in accordance with the above formula can adjust the rotational speed of the motor. In the embodiment of the present invention, the PI controller controls the speed of the right motor 42 by adjusting the output frequency of the inverter 133 that supplies power to the right motor 42 based on the drive speed of the left motor 41. As a result, the deviation of the left and right wire ropes 20 and 21 and 22 is set to 0 so that the lifting device LD can be maintained in a horizontal state.

Hereinafter, an operation process of the balance control device of the winches according to the present invention having the above configuration will be described.

8A and 8B are flowcharts illustrating a process of maintaining a water gate equilibrium while raising the water gate through a balance control apparatus according to an embodiment of the present invention.

As shown in FIGS. 8A and 8B, first, the system is turned on to supply power to the winch and the control device (step S110), and the auto / manual switch 101 is selected as the automatic position A so that the balance control device ( Through 100), the equilibrium state of the floodgate is automatically maintained (step S120).

After the auto / manual switch 101 is selected as the automatic position A, when the rising of the water gate 10 is selected through the up and down adjustment unit 50 (step S130), the left motor 41 and the right motor ( Power is supplied to 42 to drive the left and right motors 40; 41, 42 at the initial reference speed (steps S140, S150).

When the left and right motors 40 and 41 and 42 are driven, the wire ropes 20 and 21 and 22 wound around the drums 30 and 31 and 32 of the left and right motors 40 and 41 and 42 are raised. (Step S141, S151), when the left and right wire ropes 20 and 1 and 22 are raised by driving the left and right motors 40 and 41 and 42, the wire rope movement length detection unit 110 moves to the left. The pulse encoders 111a and 112a provided in the length detector 111 and the right movement length detector 112 generate a pulse signal according to the movement of the wire rope 21 (steps S142 and S152). The signal is transmitted to the encoder signal matching logic 111b and 112b to be matched (steps S143 and S153), and the matched pulse signal is transmitted to the pulse integration logic 111c and 112c to undergo an integration process to detect the deviation 120. Are sent (steps S144, S154).

On the other hand, the information correcting logic 121 of the deviation detecting unit 120 calculates the information fixing command value at a predetermined ratio when the left and right motors 40; 41 and 42 are driven by the operation of the up and down operating unit 50. To the error detector 122, and the error detector 122 adds the information correction command value transmitted from the information correction logic 121 and the pulse integration signal transmitted from the wire rope movement length detection unit 110. The movement length deviation of the right wire rope 20; 21, 22 is calculated (step S160).

If the deviation of the left and right wire ropes 20 and 21 and 22 has not occurred in step S160 (step S170), this means that the left and right sides of the lifting device LD are kept in balance and are rising. Then, the process returns to the steps S140 and S150 until the ascension of the floodgate 10 ends (step S180).

If the deviation of the left and right wire ropes 20; 21 and 22 occurs in step S160, the generated left and right deviation information is transmitted to the torsion preventing logic 131 of the balance control unit 130. The torsion preventing logic 131 compares the left and right deviations transmitted from the deviation detection unit 120 with a preset reference value (S190). The reference value compared with the left / right deviation value is set in advance to a left / right inclination value such that the sluice 10 is inclined much to the left or right to cause jamming to be caught in the guide frame 2. .

As a result of the comparison between the left and right deviation values and the reference value, if the left and right deviation values exist within the reference value, the balance controller 132 of the balance control unit 132 performs the left wire rope 21 to remove the left and right deviations. It is calculated how much the right wire rope 22 should be moved in consideration of the moving speed of, and the driving speed of the right motor 42 for moving the right wire rope 22 by the calculated moving length is calculated. When the driving speed of the right motor 42 is calculated, the frequency to be supplied to the right motor 42 to drive the right motor 42 at the calculated driving speed is calculated, and the calculated frequency is converted by the inverter 133. The intensity of the current applied to the inverter 133 is adjusted to be output (step S200), and the inverter 133 outputs the frequency according to the intensity of the applied current to the right motor 42 (step S210). .

When the changed frequency is supplied to the right motor 42 through the above process, the process of driving the right motor 42 at a speed proportional to the changed frequency returns to step S150, and the right motor 42 is repeatedly performed. In parallel with the driving of the left motor 41 is continuously driven to maintain the initial reference speed.

If, in step S190, the left and right deviation is greater than or equal to the reference value, the torsion prevention logic 131 stops the driving of the left and right motors 40 (41; 42) to prevent the jamming of the sluice 10; Then, a warning sound is generated through the buzzer 141 of the display unit 140 (step S191).

When a warning sound is generated through the buzzer 141, the operator switches the automatic / manual switch 101 to the manual position (step S192), and then the left motor operating unit 51 and the right motor operating unit (up and down adjustment unit 50) 52, the left and right balances of the water gate 10 are manually matched by operating the forward and reverse rotation switches 51a, 52a, 51b, and 52b (step S193). The movement length detector 110 detects the left and right movement lengths of the wire ropes 20; 21 and 22 in the process of manually operating the floodgate 10, and the deviation detection unit 120 moves the left and right movement lengths. Detect the left and right deviation according to the balance control unit 130, the balance control unit 130 displays the left and right deviation on the monitor 142 of the display unit 140 so that the operator can visually check this .

When the left and right deviations enter within the reference value according to the manual water gate 10 operation (step S194), the operator returns to the step S120 where the automatic / manual switch 101 is set to the automatic position A. This process is repeated.

The balance control apparatus of the winches according to the present invention through the above process by controlling the drive speed of the right motor so that the movement length of the left wire rope according to the drive of the left motor can follow the movement length of the right wire rope in real time, The lifting device and the gate connected to the left wire rope and the right wire rope are controlled to maintain the equilibrium.

As described above, the balance control device of the hoist according to the present invention is connected to both sides of the object, such as the sluice in the two-motor-two drum-type hoist, the length of movement of the left wire rope and the length of movement of the right wire rope By maintaining the same to allow the object to be moved in a horizontal state, there is an effect that can prevent problems caused by left and right imbalance during the movement of the object.

In addition, the balance control device of the winch according to the present invention to stop the operation of the left and right motor when tilting more than a certain amount when moving up and down the object and at the same time to generate a warning sound through the buzzer, preventing accidents in advance This has a useful effect.

1 is a schematic installation configuration diagram of a conventional conventional two motor-two drum type hoist,

2 is an example of a control circuit of a conventional conventional Two Motor-Two Drum type hoist,

3 is a schematic installation configuration of the Two Motor-Two Drum type winch according to the present invention,

Figure 4 is an example of the control circuit of the Two Motor-Two Drum type hoist according to the present invention,

5 is a block diagram of a balance control device of a two-motor-two drum type winch according to the present invention;

Figure 6 is a block diagram of a wire rope movement length detection unit provided in the balance control apparatus according to the present invention,

7A is an example of the line driver data transmission model of the encoder signal matching logic provided in the wire rope movement length detection unit according to the present invention;

7B is an example of a pulse signal used to analyze the moving direction of the wire rope in the encoder signal matching logic provided in the wire rope moving length detecting unit according to the present invention;

8A and 8B are flowcharts illustrating a process of maintaining the balance of the gate while raising the gate through the balance control apparatus according to the present invention.

※ Explanation of codes for main parts of drawing

1: dike (concrete structure) 2: guide frame

10: sluice 20: Wire Rope

30: Drum 40: Motor

50: up and down control panel 101: automatic / manual switch

110: movement length detector 111: left movement length detector

112: right moving length detector 111a, 112a: pulse encoder

111b, 112b: Encoder signal matching logic 111c, 112c: Pulse integration logic

120: deviation detection unit 121: information logic algorithm

122: error detector 130: balance control unit

131: torsion prevention logic 132: balance controller

133: inverter 140: display unit

141: buzzer 142: monitor

Claims (5)

delete delete delete delete The wire rope movement length detector 110 detects the movement length of the wire ropes 21 and 22 connected to both ends of the object in real time, and the wire rope 21 detected through the wire rope movement length detector 110. Deviation detection unit 120 for detecting the tilted left and right deviation of the object by comparing the movement length of the 22 and the wire rope 21 to remove the left and right deviation detected through the deviation detection unit 120 Two Motor-Two Drum comprising a balance control unit 130 for correcting an object in a horizontal state by adjusting the driving speed of the motors 41 and 42 for rotating the drums 31 and 32 on which the 22 is wound. In the hoist control device of the form, The movement length detection unit 110 outputs through pulse encoders 111a and 112a and pulse encoders 111a and 112a to generate pulse signals according to the movement lengths of the wire ropes 21 and 22, respectively. Encoder signal matching logic 111b and 112b for shaping the waveform of the pulse signal to be determined and determining the vertical movement direction of the wire ropes 21 and 22 according to the pulse signal waveform, and the encoder signal matching logic 111b and 112b. And a left and right moving length detector (111) (112) having pulse integration logic (111c) (112c) for accumulating and integrating the pulse signals outputted from the?).