SU1204546A1 - Device for controlling drive of movement of machine with flexible suspension of cargo - Google Patents

Description

The invention relates to lifting equipment, namely, devices for controlling the drive of the movement of a lifting means with a flexible load suspension.

The purpose of the invention is to increase the reliability of the control device for the movement of a load-lifting means with a flexible suspension of the load,

Fig. 1 shows a functional diagram of the proposed device for controlling the drive of the movement of a lifting means with a flexible suspension of the load; Fig. 2 shows a functional diagram of the correction drive; FIG. 3 shows approximated optimal switching lines of the device.

A device for controlling the drive of the movement of the load-lifting means 1 with a flexible load suspension includes a sensor 2 for the speed of the angular deviation of the flexible load suspension, a sensor 3 for the speed of the movement mechanism, a sensor 4 for the length of the flexible load suspension and a sensor 5 for the load-lifting means. The sensor 2 is connected to the input of the integrator 6 and to the first input of the adder 7. The sensor 3 is connected to the second input of the adder 7 and to the first input of the division unit 8. The sensors 4 and 5 are connected respectively to the square-root extraction unit 9 and to the first input of the comparator 10, the output of which is connected to the input of the correction drive 13 via the first inputs of the adder 11 and the multiplication unit 12. The output of block 9 is connected to the first input of block 14 multiplication and through the inverter 15 to the first input of block 16 multiplication. The output of block 14 is connected to the second input of block 8, the first input of which is connected via inverter 17 to the second input of block 16. The output of adder 7 is connected to the input of proportional power amplifier 18 through potentiometers 19 changing its input signal, the sliders of which are connected to the output of block 16 through the drive 20 correction. The output of the drive 13 is kinematically connected with the sliders of the potentiometers 21 changing the output signal of the proportional amplifier 18, the output of which is connected to the first input of the comparator unit 22. The integrator 6 is through the second one, the input of the unit 22 is connected with the controller 23 of the speed of the mechanism 24 of movement D) of the lifting lift 1. , 1 setups04546

A pin 25 is connected to the second Hxo / ia fii of adder 11, comparator Yu and multiplication unit 14. The correction drives 13 and 20 consist of a comparator 26, 5 whose first input is connected to the input of the correction drive and through the power switch 27 to the input of the motor 28, which is connected to the potentiometer sliders through the gearbox 29 and to the position feedback unit 30 the engine with the second input of the comparator 26, the output of which is connected to the control input of the key 27.

The device for controlling the drive of the movement of a lifting means with a flexible suspension of cargo works as follows.

The movement is carried out in three stages: acceleration with oscillation damping, motion with oscillation damping, and braking with oscillation damping. The speed and possibility of damping oscillations at any angular deviations of the load is provided by using an approximation of the optimal switching lines 31 and 32 shown in FIG. 3 and implemented on the basis of the proportional amplifier 18, in ax Cf the load deviation angle from the vertical and C the load speed equal to the algebraic sum of the vehicle speed V and the angular velocity of the deviation of the load from the vertical (f. In the first and second stages of distribution, line 31 is used, which corresponds to the initial positions of the potential 21 meters. Signals from sensors 2 and 3 are used to determine the current value of the load deflection angle relative to the switching line. These signals are summed with the help of adder 7 and fed to the input of amplifier 18, the output signal of which is compared in block 22 with the value of the current load deflection angle received from sensor 2 with the help of integrator 6. If the signal of integrator 6 is less than the signal of amplifier 18, then the speed controller 23 switches on the highest speed of the movement mechanism 24, and if on the contrary - the lowest speed. The transition to the braking mode is carried out at the moment when the signals from sensor 3 and sensor 25 on the comparator 10 are equal. On the setpoint 25, the required value of the transition moment is preselected. The correction of the switching line occurs in accordance with the current values of the linear speed of the movement mechanism and the length of the load suspension, as well as when switching to the deceleration mode (line 32 of FIG. 3). Correction is accomplished by scaling the switch line vertically and shifting the origin of coordinates horizontally. The horizontal line sections for the acceleration stage correspond to the value

(one)

where L is the length of the load suspension;

a - acceleration of free padeo

Nin .

Similar sections for the braking phase correspond to

(2)

Vertical correction is performed according to the specified ratios m. Using the adder 11 and the output of the unit 25 with a single signal, the coefficient value is generated, which is fed to the first input of the multiplication unit 12, to the second input of which a signal is sent from; t, atchik 3, assigned to the value of L a by means of the divider 8, extraction unit 9 square root and block 14 multiplied by

) / 2

from the generator comes the value of O

As a result, the output of block 12

at each moment in time is formed

ten

15

2U434b

signal corresponding to the horizontal sections of the switching line. This signal arrives at the first input of the comparator 26 of the drive 13 g of correction and switches the engine 28 through the key 27, which through the appropriately selected gearbox 29 moves the potentiometer sliders 21. The engine 28 stops at a command from the comparator 26 that goes to the control input of the key 27 , - after the signal at the second input of the comparator 26, coming from block 30, reaches the value of the signal at its first input. In the event of a further change in the signal at the output of the block 12, the engine 28 is switched on again in the corresponding direction with a further 2Q correction of the magnitude of the correction signal. During the transition to the braking stage, the signal from the comparator 10 is inverted in block 15 and fed to the first input of multiplication unit 16, the second input of which constantly contains the signal from sensor 3, inverted in block 17. Thus, the signal from block 17 to drive 20 correction signal is received, equal to the value of the required shift of the switching line in the horizontal direction. The signal is processed according to a circuit similar to the vertical correction drive 13, while the kinematic output of the drive 20 is connected with the potentiometer 19 engine. All correction channels can operate independently of each other and at the same time, which ensures the flexibility and speed of operation of the control unit as a whole.

25

thirty

40

1

four

26

-

29

 J /

(f

-V

J2

Compiled by A Gideonov Editor S. Lisin Tehred A. Babinets Proofreader M. Pojo

Order 8484/21 Circulation 803 Subscription

VNIIPI USSR State Committee

for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab., 4/5

(Glial P1Sh Patent, city, Uzhgorod, Proektna str., 4

Fig.Z

Claims (2)

1. DEVICE FOR MANAGEMENT A drive driven by a load-lifting device with a flexible load suspension, comprising an adder, speed sensors of the movement mechanism and angular deflection of the flexible suspension of the load, connected to the inputs of the adder, a proportional amplifier made with elements for changing the output and input signal, the last of which is connected to the output of the adder, a comparison unit, one input of which is connected to the output of the proportional amplifier, and the output to the input of the control unit of the mechanism for moving the lifting means, and integrator, the input of which is connected to the speed sensor of the angular deviation of the flexible suspension of the load, and the output is another input of the comparison unit, characterized in that, in order to increase reliability, it is equipped with a square root extraction unit, a flexible suspension suspension length sensor connected to the input of the square extraction unit the root, a division unit, the inputs of which are connected to the output of the square root extraction unit and the speed sensor of the movement mechanism, the path sensor of the lifting means, the multiplication units, the inputs of the primary about which are connected to the sensor of the path of the lifting means and the output of the division unit, and the inputs of the second to the sensors of the speed of the movement mechanism and the path of the lifting means, with correction drives, the control inputs of which are connected to the outputs of the multiplication units, and the outputs are connected with the elements of the change respectively of the output and input signal proportional amplifier. 2. The device according to claim 1, characterized in that each correction drive includes a comparator, a power switch, the control input of which is connected to the output of the comparator, a motor, the working winding of which is connected to the power switch, and a feedback unit for the position of the motor, input which is connected to the motor output, and the output is connected to the input of the comparator. ¹ 1204546