Cable tension self-adjustment winch and control method thereof

Abstract

The invention discloses a cable tension self-adjustment winch and a control method thereof, and belongs to the field of automatic control. The cable tension self-adjustment winch comprises a winding drum and a driving device driving the winding drum to rotate; the driving device is electrically connected with a control device; a winding displacement device parallel to the axial direction of the winding drum is arranged on the outer side of the winding drum; the winding drum is linked with the winding displacement device; a tension detection device is arranged on the winding displacement device, is located between the winding displacement device and the winding drum, and is electrically connected with the control device; and a tension protection device is connected with between the driving device and the winding drum, limits maximum torque output by the driving device and is connected with the control device. Through the measurement on winding and unwinding stressed states and winding and unwinding movement states of a cable and a clutch state of the tension protection device, self-adaption control is carried out on a rotating speed and torque of the winding drum, so that winding and unwinding movement of the cable is coordinated with active movement of a high-speed mobile object, and cable breakage is avoided.

Description

technical field [0001] The invention relates to a cable winch, in particular to a cable tension self-adjusting winch and a control method thereof, belonging to the field of automatic control. Background technique [0002] A robot fixed at a certain position cannot fully meet the needs of all aspects. The mobility enables the robot to change its spatial position freely and complete various tasks more effectively and flexibly. However, the inability to be fixed in a certain position has brought a series of impacts on the power supply and communication of the mobile robot. General ground mobile robots can use batteries for power supply and wireless communication, but some mobile robots for special applications are not suitable for use. For example, for flying mobile robots, batteries are difficult to meet the requirements of long endurance and small self-weight due to low energy density; for For pipeline mobile robots, the electromagnetic shielding of metal pipelines may cause...

AI Technical Summary

Problems solved by technology

However, the tensile strength of the thin-diameter cable is low. If the cable retraction movement is not coordinated with the flight action of the flying mobile robot, the thin-diameter cable is likely to be broken. Therefore, a high-dynamic, High-precision motion control, so that it can quickly and accurately follow the movement of the flying mobile robot

In addition, strong and rapid changes in the high-altitude wind field will also have a great impact on the cable retraction movement, which seriously interferes with the coordinated movement of the cable winch and the flying mobile robot

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