SU1444182A1 - Method and apparatus for controlling hydrostatic drive of ship-carrying truck of inclined canal-lift - Google Patents

Abstract

The invention relates to the transport of vessels from one river's side to another through a dam crest, in particular, to the management of a hydrovolume drive of a ship-carrying carriage of an inclined ship-lift. The purpose of the invention is to increase efficiency by increasing the accuracy of determining the position of the carriage. A control method is proposed that determines the current acceleration value for generating feedback and generates a control algorithm so that in the acceleration, stabilized speed and deceleration sections the difference between the specified and measured current speed values is determined, the relay characteristic is formed from the value of this difference , subtract from it the current value of acceleration, the result is integrated, adjusted and fed to the input of the pump flow control. At the exact positioning site, the value of the signal at the inlet of the pump control unit obtained when approaching this section is memorized, the measured current path value in this section is subtracted from it, the resulting value is corrected, and the resulting value is fed to the pump control body input. The application of the proposed method will improve the positioning accuracy of the trolley, reduce energy costs and improve the working conditions of the operator, 2 s. and I zp f-ly, 2 il. i (L 4 4 4ii 00 ND

Description

The invention relates to the transportation of vessels from one rack to another through the dam ridge, in particular, to the control of a hydrovolume drive of an inclined ship lift trolley, and can use the development of new and modernized ship lift control systems.

The aim of the invention is to increase efficiency by increasing the accuracy of determining the position of the carriage.

FIG. 1 shows the dependence of the speed of movement of the ship's carriage on the track, implemented in accordance with the proposed control method; Fig. 2 is a block diagram of an apparatus for implementing a method for controlling a hydrostatic drive of a propulsion vehicle.

The dependence of the speed V of movement of the carriage carriage on the path (Fig. 1) has the following sections: accelerations 1-2, stabilized speeds 2-3, decelerations 3-4 / and precise positioning 4-5.

The device (Fig. 2) for carrying out the proposed control method comprises a sensor 6 for moving the trolley, the first 7, the second 8, the third. 9 and fourth 10 blocks of comparison, relay link I1, first 12 and second 13 integrating links, first 14, second 15 and third 16 proportional Hiie links, first 17 and second 18 differentiating links, first 19, second 20 and third 21 switching elements , the first 22 and second 23 track sensors controlling the computer 24. The speed sensor 6 input is connected to the output of the control object 25 — a ship with a hydrostatic drive of the propulsion motor, and the output is connected in the form of negative feedback to one of the inputs of each comparison unit, to the input of the first block 7 comparisons directly, the second 8 through the first differentiating link 17, the third 9 through the first proportional link 7 connected in series with the first differentiating link 7 and the fourth 10 through the second link 13 connected in series, the second proportional link 15 and the second switching element 20. Another of the said inputs of the first comparison unit 7 is connected with the output of the control computer 24. The second input of the second comparison unit 8 is connected with the output of the relay link 11. Between the output of the second unit 8, Neny and second inputs of said third comparing unit 9 including a first integrating unit 12. The second input of the fourth unit 10 is coupled to the comparison memory of the control computer 24 and through the first switching element 19 - with the output of the third comparing unit 9. The fourth comparison unit 10 has a third input, which is connected via a second differentiating link 18 connected in series, a third proportional link 16 and a third switching element 21 to the output of the first differentiating link 1.7. The output of the fourth comparator unit 10 is associated with at least one of the pump feed controls as the control input of the control object 25. The outputs of the first 22 and second 23 track sensors are connected to the inputs of the control computer 24, and the outputs of the control computer 24 to the setting elements of the proportional links 14-16 and to the control elements of the switching elements 19-21.

The proposed control method is implemented by the described device as follows.

In accordance with the predetermined dependence of the speed of the ship carriage on the path (l) (Fig. 1), at the input of the first comparison unit 7 (Fig. 2), the control value 24 of the motion of the ship carriage is formed by the control computer 24. The current value of the speed of movement is measured by the sensor 6. In block 7 of the comparison, the difference & Y is calculated between the given Angle and the current V velocity values

.

(I)

From the resulting mismatch by the relay link I1, a relay characteristic is formed with an ordinate equal to the specified acceleration value a- or slow-down depending on the sign of the mismatch & V at the input of the relay link 11. The relay characteristic, formed by link 1I, has an insensitivity zone + Л corresponding to required accuracy of stabilization of the value of Va. From the output of the relay link 11 given

acceleration values in the second block

8 comparison, the actual value of the acceleration is subtracted, determined by differentiating the actual value of the velocity V with the help of differentiating element 17, i.e. block 8 comparison implements the expression

aj; -a a. (2)

The value of the mismatch a. on exit

de comparison unit 8 is integrated in the first integrator 12; From the result in the third comparison block 9, the correction signal ei, a is subtracted, and the value of the coefficient oti is selected from the conditions for ensuring the required quality of the transition process, in this case aperiodic. Corrected signal V VA-ci, a (3)

supplied from the output of the third comparison unit 9 through the first switching element 19 and the fourth comparison block 0 to the control object 25, closed at the acceleration, constant speed and deceleration section. At the moment of moving the speed of the cart, the input signal V of the relay link 1 1 significantly exceeds its deadband. At the same time, a signal a is generated at the output of the relay link 11, which determines the acceleration in section 1-2 (Fig. 1). As the speed of movement increases, the mismatch V decreases and, when HUr, the output signal of the relay link I becomes equal to zero, i.e. Acceleration 1-2 ends. In section 2-3 (Fig. 1) of the stabilization of the speed, the relay link 11 generates signals a.t, O or -a depending on the magnitude and sign of the mismatch of the remote control. The transition to the section 3-4 (Fig. 1) of the deceleration is carried out by the signal of the track sensor 22 or by the initiative signal from the operator console. In doing so, the control computer 24 forms the input signal, the mismatch & V has a negative sign and the relay link 10 forms a negative acceleration value which is processed by the control object 25 until the mismatch value 4V is less than the dead band of the relay link 11, and the value.

In the modes of acceleration, deceleration and stabilization of speed, the switching element 19 is closed, and the switching elements 20, 21 are open

82

and the signal Vy at the output of the third comparator unit 9 is fed through the comparator unit 10 to the input of the control object 25 by changing the speed of the carriage specified by the operator by means of the control computer 24 W from the console. Simultaneously signal V ,. is transferred to the memory of the control computer 24, which is necessary to form an accurate positioning mode. Taking into account the transfer functions of the control object and the above elements 9-12, 14, the equation of motion of the trolley as a controlled system is

HAA + SCR, and + SKO, (4)

where m is the mass of the ship trolley;

C - drive stiffness of the drive; Cd (. - drive transfer ratio driving the

impact.

Named condition aperiodicity has the form

Y.4t

Sc

(five)

AND

Upon reaching point 4 (FIG. 1), the signal from track sensor 23 is switched to the exact positioning mode. In this case, the switching element 19 is opened and the switching elements 20 and 21 are closed. Subsequently, in this cycle of movement, a constant signal is applied to the input of the fourth comparison unit 9, recorded in the memory of the control computer 24 at the moment of transition to the described mode. Negative feedback along the path traveled by the dolly is formed by integrating the signal V at the output of sensor 6 in the second integrating link 13 with the gain (yjj defined by the second proportional link 15 and determining the deceleration rate) and fed to the other input of the fourth block 1 O compare.

To ensure the stability of the positioning process, the difference of signals obtained at the output of the fourth comparison unit 10 corrects the feed back to the third input of the comparison block 10 by the second derivative, which is formed in the second differentiating link 18 with the gain factor oiv defined by the third proportional link 16, oi,

m

 Sko,

H

influence inertia

gp

the trolley’s mass is compensated by the correction and the equation of the controlled system takes the form

xk (6)

According to this equation, the trolley speed will decrease exponentially to zero. In this case, the path is 5 times, the 1st carriage in positioning mode is equal to

(7 04

The value X. determines the choice of the installation location of the track sensor 23 relative to a given stopping point of the cart.

I Continuous control based on the difference between the set and measured current speeds of the ship's trolley by subsequent formation of a bounded characteristic, subtracting from it the current acceleration value with integration and correction of the result and feeding it to the input of the control unit of the hydrostatic drive drive motor in the acceleration and deceleration sections provide a given, defined by the ordinate relay characteristics, the amount of positive or negative acceleration when setting the drive motor Roe five different from its current value. and in the stabilized speed section, the energy consumption associated with its stabilization process is reduced. At the same time, the accuracy of stabilized speed is required by selecting the appropriate dead zone of the relay characteristic.

Continuous control of the hydrostatic drive of the propulsion unit with feedback on the way. At the exact positioning site, it significantly reduces the dependence of the end position in the process of positioning the ship's dolly on the change in the parameters of the trolley, driving its propulsion unit and changing external influences, and also ensures that the pro- Taoist positioning on the properties of the human operator as a link in the control system. This reduces the intensity of the work of the operator, improves the working conditions.

.

u 5.

20

25 30 35, 40

45 50 gg 1826

Claims (3)

Formula isotopic . The method of controlling the hydrostatic drive of a ship-carrying carriage of an inclined ship elevator, in which the position coordinate and the speed of movement are continuously determined to form feedbacks on the coordinate of the position, speed, acceleration and first derivative of acceleration, in the alignment, stabilized speed and deceleration sections the mismatch is determined the set and measured current speed value and in the acceleration and deceleration sections continuously change the value of the control signal with a given speed Neither the pump’s supply at the stabilized speed section is kept constant, the exact positioning segment is adjusted to a value corresponding to zero speed j characterized in that, in order to increase efficiency by increasing the accuracy of determining the position of the carriage, the acceleration value is determined by differentiating the current speed value , according to the value of the mismatch of the given and measured velocity values, they form a relay characteristic with ordinate equal to the predetermined acceleration value depending on t mismatch, subtract the current acceleration value, integrate, correct and memorize the result, and in the acceleration, stabilized speed and deceleration sections, the received signal is controlled directly by the pump flow; in the exact position, the signal value is subtracted from the signal value stored at this section. proportional to the measured current value of the position coordinate in this area, correct the resulting signal difference and the resulting signal value Ala is controlled by the pump flow. 2. A device for controlling a hydrovolume drive of the propulsor of a ship-carrying carriage of an inclined ship elevator, comprising at least one adjustable pump with a feed control body, hydraulic motors, a carriage speed sensor, characterized in that, in order to increase efficiency by increasing the accuracy of determining the position of the carriage it is equipped with three series-connected comparison units, a summation unit with three inputs, two proportional links, a differentiating link, two switching elements, two track sensors and a control unit, the output of the speed sensor connected in the form of negative feedback to one at the inputs of each unit of comparison and summation, and to the input of the first of the units of comparison, directly, to the input of the second unit of comparison, through differentiating The link, the input of the third unit of comparison, through the link of the proportional link, sequentially connected to the differentiating link, and to the input of the summation block, through the second of integrating and second of proportional links and the second of the switching elements, connected in series. memorized inputs of the first comparison block are connected with the output of the control unit, the second of the comparison blocks with the output of the relay link, the third with the output of the first of the integrating links, another input of the summation block is connected through the second of the switching elements with the output of the third comparison block, the output the summation unit is associated with at least one of the governing bodies of the sub-. the pump 3. The device according to claim 2, characterized in that it further comprises a second differential link, a third proportional link and a third switching element, the third input of the summation unit being connected via a serially connected second differentiating link, a third proportional link and a third switching link element with the release of the first differentiating element. Ouse F (€ .2