Concentric-shaft double-self-driving synchronous control permanent magnet outer rotor lifting device and control method thereof

Abstract

The invention provides a common-mandrel double-self-driving synchronous control permanent magnet outer rotor lifting device and a control method thereof.The device comprises a mandrel and supporting bases used for supporting the left end and the right end of the mandrel, and the mandrel is provided with a left permanent magnet outer rotor lifting structure and a right permanent magnet outer rotor lifting structure; each permanent magnet outer rotor lifting structure comprises a winding drum, a stator, a permanent magnet, an end cover and a disc brake used for braking the winding drum, the stator is arranged in the winding drum, the winding drum is rotatably connected with the mandrel, the stator comprises a stator iron core support, a stator iron core and a stator winding, the stator iron core support is arranged on the mandrel and provided with the stator iron core, and the stator winding is arranged on the stator iron core support. The stator core adopts a magnetic slot wedge, the stator winding is arranged on the stator core, and the mandrel is provided with a wiring slot for accommodating a stator winding outgoing line; the whole diameter can be reduced, the stability during working is improved, the double-load two-way transportation requirement can be met, the flexibility and adjustability are improved, and the double-load two-way transportation device has the advantages of being few in transmission links, free of a high-speed shaft, high in reliability and low in energy consumption.

Description

Technical Field

[0001] The invention relates to a coaxial dual self-driven synchronous control permanent magnet outer rotor lifting device and a control method thereof, belonging to the technical field of mining machinery and equipment. Background Art

[0002] my country is a typical country with abundant mineral resources, and it is at the forefront of the world in terms of reserves, mining utilization rate, etc. The hoisting system is one of the core equipment of mine production, which directly affects the production efficiency and operation safety of mines. At present, the structural form adopted by mine hoisting equipment in my country is generally arranged in series - the output end of the motor is connected to the reducer, the output end of the reducer is connected to the main shaft, the outer circle of the main shaft is provided with a hub, and the outer side of the hub is connected to the reel. This structural form is large in size, high in cost, low in efficiency, and insufficient in safety. In addition, in terms of drive type, most of my country's mine hoisting equipment uses traditional asynchronous motors or electrically excited synchronous motors. The efficiency of traditional asynchronous motors is relatively low, the starting torque is small, and it is easy to overload. The excitation synchronous motor needs to generate additional consumption due to the excitation of the rotor, resulting in energy waste, sensitivity to load changes, and high maintenance costs. In terms of power supply, it usually relies on a single motor as the power source, which has problems such as easy overload, low power, and greater safety hazards when the motor fails.

[0003] To solve the above problems, the invention application with application number 201310232074.3 discloses an outer rotor permanent magnet motor direct-driven integrated mine hoist. The permanent magnet motor and the drum are coaxially directly connected. This structure makes the force on the hoist more uniform, but the space utilization rate of this structure is low, and the manufacturing and installation are complicated. In addition, the bearings at both ends of the hoist drum are asymmetric structures, which affects the motor air gap under dynamic load conditions.

[0004] Patent application number 201310196130.2 discloses a structure of a built-in permanent magnet motor direct-drive drum. The built-in permanent magnet motor rotor housing and the hoist drum are designed in a split style and connected by a flexible connection. The drum brake disc and the end plate are designed as an integrated unit, which has strict requirements on the motor size chain. The drum brake disc and the end plate are designed as an integrated unit, which is difficult to maintain and has high processing requirements.

[0005] Application No. 202311277135.8 discloses an electric shovel lifting system, including two lifting motors and a lifting drum. The two lifting motors are connected to the two ends of the lifting drum in a direct drive manner. The lifting motor is a permanent magnet direct drive motor. A wire rope is wound around the lifting drum. The two ends of the wire rope are connected to the lifting motor and the bucket respectively. The permanent magnet direct drive lifting motor replaces the traditional asynchronous motor plus gearbox structure, which improves the system efficiency and reduces the maintenance cost. However, since each motor has a bearing and its own support seat, and in order to ensure the coaxiality of the two support seats, they are installed on the same support base. For the convenience of assembly, the motor support seat and the common base are detachably connected. The overall structure is relatively loose, and it is difficult to ensure the coaxiality of the left and right motors. In addition, the rotor span is long, the rotor deformation is large, and the service life is short. Summary of the invention

[0006] The purpose of the present invention is to provide a coaxial dual self-driven synchronous control permanent magnet outer rotor lifting device and a control method thereof to solve the problems existing in the prior art of high energy consumption, short service life, and efficiency and reliability to be improved.

[0007] The technical solution of the present invention is:

[0008] A coaxial dual self-driven synchronous control permanent magnet outer rotor lifting device comprises a spindle and a support seat for supporting the left and right ends of the spindle. The spindle is provided with two left and right permanent magnet outer rotor lifting structures. Each permanent magnet outer rotor lifting structure comprises a drum, a stator, a permanent magnet, an end cover and a disc brake for braking the drum. The stator is arranged in the drum, and the drum can be rotatably connected to the spindle. End covers are respectively arranged at both ends of the drum. Rotor pole slots are evenly arranged in the circumferential direction of the drum. Permanent magnets are arranged in the rotor pole slots. A steel wire rope for connecting a load is wound around the outside of the drum. The stator comprises a stator core support, a stator core and a stator winding. The stator core support is arranged on the spindle. The stator core is provided with a stator core. The stator core adopts a magnetic slot wedge. The stator winding is arranged on the stator core. The spindle is provided with a wiring groove for accommodating the stator winding lead wire.

[0009] Furthermore, one drum in the two permanent magnet outer rotor lifting structures is for discharging ropes from the bottom and the other drum is for discharging ropes from the top, and when the two drums are turned at the same time, different running directions of the respectively connected steel wire ropes are realized.

[0010] Furthermore, each reel is equipped with a position loop PID controller and an encoder, and the reel is supported on the spindle through a double-row spherical roller bearing and rotates relative to the spindle.

[0011] Furthermore, it also includes a water-cooling circulation component, which includes a water tank for accommodating cooling water, a water pump, a sleeve 1 with a hole inside, a water-cooling pipe, a water cavity, a water outlet pipe and a sleeve 2 with a hole inside. The spindle is respectively provided with a sleeve 1 and a sleeve 2. The cooling water is drawn from the water tank by the water pump and enters the water cavity inside the drum after passing through the sleeve 1, the water-cooling pipe and the groove on the stator core bracket, and then returns to the water tank through the outlet of the water cavity, the water outlet pipe and the sleeve 2.

[0012] A control method for the coaxial dual self-driven synchronous control permanent magnet outer rotor lifting device described in any one of the above items comprises the following steps:

[0013] S1. When the coaxial dual self-driven synchronous control permanent magnet outer rotor lifting device is started, the PLC control system will set the initial frequency Set in the ultra-low frequency range, the PLC control system simultaneously monitors and adjusts the current and voltage of the lifting device, and gradually increases the working frequency of the lifting device through the inverter until it reaches the preset working frequency , complete the ultra-low frequency startup;

[0014] S2. When the two reels need to be controlled synchronously, the displacement and speed of the two reels are monitored in real time by the encoder, and the cross-coupling adaptive control method is used to adjust the synchronous speed of the two reels in real time;

[0015] S3, when two reels including reel A and reel B need to be dynamically positioned and adjusted, a dual-reel position loop PID control positioning method based on a neural network is used to achieve positioning adjustment of the two reels;

[0016] S4. When the two reels need to be reversed, the dual reel position loop PID control steering method based on neural network is used to realize the speed and steering control of the two reels;

[0017] S5. Regenerative braking for energy recovery is performed on the coaxial dual self-driven synchronously controlled permanent magnet outer rotor lifting device.

[0018] Further, step S2 is specifically,

[0019] S21, monitor the actual displacement and actual speed of the two reels in real time through the encoder, and input the speed error signal between the actual speed and the expected speed into the speed loop PI controller, and the speed loop PI controller generates the q-axis current reference value according to the speed error signal , and the actual q-axis current , Compare them respectively to generate q-axis current signal error;

[0020] S22, set the current reference value of the d-axis to zero to ensure maximum motor efficiency, generate the current signal errors of the q-axis and d-axis by comparing the reference currents of the q-axis and d-axis with the actual currents, and the current loop PI controller receives the current signal errors of the q-axis and d-axis and adjusts the output d-axis voltage signal , With q-axis voltage signal To the motor driver 1 and the motor driver 2, the motor driver 1 and the motor driver 2 generate the actual voltage signal according to the output signal of the current loop PI controller , , driving two permanent magnet outer rotor lifting structures PMSM1 and PMSM2 respectively;

[0021] S23, the encoder compares the real-time detected position signals of the two reels and calculates the position signal deviation Output to the adaptive controller MRAC, which receives the speed feedback signal of the reel, performs real-time analysis, and calculates the proportional gain adjustment amount , integral time constant adjustment and differential time constant adjustment , and output to the PID controller to dynamically adjust the parameters of the PID controller , , ,The PID controller generates a current control signal according to the set reference value and the feedback actual speed signal and outputs it to the two current loop PI controllers to form a closed-loop control to achieve the control of the synchronous rotation of the two permanent magnet outer rotor lifting structures.

[0022] Further, step S3 is specifically,

[0023] S31. When two reels including reel A and reel B need to be dynamically positioned and adjusted, the set reference position is obtained through the human-machine interface HMI. and And send it to the position loop PID controller, the encoder monitors the actual position of the double reels in real time and And send it to the position loop PID controller;

[0024] S32, the position loop PID controller calculates the position error based on the reference position of the two reels and the actual position of the reels and , and outputs control signals according to the PID control algorithm, and the neural network receives the position error signal and , determine the initial position and state of the dual reels, then determine the reel that needs to move and the reel that remains stationary according to the size of the position error, and generate PID adjustment parameters to select the adjustment reel;

[0025] S33. The neural network transmits the PID adjustment parameters to the PID controller. The PID controller recalculates and generates the speed reference signals of the dual reels according to the adjustment parameters. The FOC controller generates the d-axis and q-axis voltage instructions according to the speed reference signals generated by the PID controller. The driver drives the dual reels to rotate or stop according to the voltage instructions, thereby driving the two reels to complete the positioning adjustment.

[0026] Further, in step S32, the reel that needs to move and the reel that remains stationary are determined according to the size of the position error, specifically,

[0027] S321, if the position error signal If it is less than the set threshold, the reference position is set , that is, reel A remains stationary, and the process proceeds to the next step S323; otherwise, the process proceeds to the next step S322;

[0028] S322, if the position error signal If it is less than the set threshold, the reference position is set , that is, the reel B remains stationary, and the process proceeds to the next step S323; otherwise, the process proceeds to the next step S324;

[0029] S323, if the position error signal , then the speed reference signal of reel A is generated , and set , control reel A to move to the specified position, reel B remains stationary, otherwise generate a speed reference signal for reel B Control reel B to move to the specified position, and reel A remains stationary;

[0030] S324, in the position error signal and position error signal If both are not less than the set threshold, , reel A is adjusted first, and reel B is kept stationary until the position error signal If it is less than the set threshold, return to step S323; if , reel B is adjusted first, and reel A remains stationary until the position error signal When it is less than the set threshold, return to step S323.

[0031] Further, step S4 is specifically,

[0032] S41. Obtain the set target positions of the two reels through the human-machine interface HMI and And send them to the position loop PID controller respectively;

[0033] S42, the position loop PID controller receives the actual positions of the two reels measured in real time by the encoder or , and calculate the position error between the corresponding target position and the actual position and ;

[0034] S43, the neural network obtains parameters through self-learning based on the position error and the rate of change , , The position loop PID controller uses the adjusted parameters to calculate the speed reference signal. and direction control signals;

[0035] S44, vector controller FOC / direct torque controller DTC according to the speed reference signal and direction control signals , adjust the current or torque of the coaxial dual self-driven synchronous control permanent magnet outer rotor lifting device to realize the speed and direction control of the two drums, and achieve the purpose of two-way transportation of different loads of the drums.

[0036] Further, step S5 is specifically,

[0037] S51. When the concentric shaft dual self-driven synchronous control permanent magnet outer rotor lifting device decelerates or brakes, the control system sends a braking signal to the braking control unit BCU, and the braking control unit BCU transmits the driving signal to the driver to adjust the current and voltage of the motor to achieve deceleration or braking; the braking control unit BCU transmits the conversion control signal to the rectifier and inverter, the rectifier converts the AC power generated by the lifting device into DC power, and the inverter adjusts the voltage and current to adapt to the supercapacitor energy storage and reuse; the braking control unit BCU transmits the charging and discharging control signal to the supercapacitor to store and release electrical energy;

[0038] S52. When the coaxial shaft dual self-driven synchronous control permanent magnet outer rotor lifting device is accelerating or running at high load, the control system transmits an electric energy release signal to the supercapacitor, the supercapacitor releases the electric energy and converts it into alternating current used by the coaxial shaft dual self-driven synchronous control permanent magnet outer rotor lifting device through the inverter, supplementing the power demand of the coaxial shaft dual self-driven synchronous control permanent magnet outer rotor lifting device, and completing the regenerative braking of the coaxial shaft dual self-driven synchronous control permanent magnet outer rotor lifting device.

[0039] The beneficial effects of the present invention are:

[0040] 1. This type of coaxial dual self-driven synchronous control permanent magnet outer rotor lifting device can reduce the overall diameter and save space on the lifting mechanism platform through the shared central shaft of the left and right permanent magnet outer rotor lifting structures, which reduces the center of gravity of the mining equipment and improves the stability during operation. The left and right permanent magnet outer rotor lifting structures are arranged on the central shaft, which can meet the needs of dual-load bidirectional transportation, improve flexibility and adjustability, and can adapt to the working conditions of lifting and lowering dual loads at the same time. The operating state can be adjusted according to the load demand. When the load is light, only a single drum is operated. When the load is heavy, both drums are activated at the same time, so as to reasonably distribute the load and extend the service life of the equipment while reducing energy consumption. The present invention is a high-reliability, low-energy consumption permanent magnet lifting device applied to mining machinery, which has the characteristics of few transmission links and no high-speed shaft.

[0041] 2. The present invention can achieve force balance on the double drums through different rope-out methods. The left drum is for bottom rope out, and the right drum is for top rope out. When the double drums turn at the same time, different running directions of the wire ropes can be achieved, generating relative torque, offsetting the deviation and imbalance caused by uneven load, and greatly improving the operating stability of the system.

[0042] 3. This concentric shaft dual self-driven synchronous control permanent magnet outer rotor lifting device and its control method, by setting a water cooling circulation component in the stator, overcomes the problem of low heat dissipation efficiency of traditional lifting devices when running under high load. Circulating cooling is achieved by the flow of coolant inside the lifting device, ensuring that the lifting device can effectively dissipate heat when running for a long time or under high load, increasing the reliability of the system during operation, and extending the service life of the lifting device.

[0043] Fourth, this concentric axis dual self-driven synchronous control permanent magnet outer rotor lifting device and its control method can adjust the cross-coupling adaptive control of the synchronous speed of the dual reels in real time according to the working state, overcoming the problems of slow response speed and large influence of external interference in the traditional dual motor control method, and ensuring the synchronization of the dual reels. Parameter adjustment based on real-time feedback increases the system's adaptability to external disturbances and load changes, making the lifting system highly stable and robust.

[0044] 5. This concentric shaft dual self-driven synchronous control permanent magnet outer rotor lifting device and its control method can realize ultra-low frequency starting of the drum and regenerative braking of energy recovery, solve the impact vibration problem during the starting process of the lifting device, and realize the smooth starting of the drum; when the system decelerates and brakes, the kinetic energy is converted into electrical energy for storage, and released when the drum needs additional power, reducing the energy consumption of the system, improving the braking performance of the system, and reducing the mechanical wear of the system.

[0045] 6. This concentric shaft dual self-driven synchronous control permanent magnet outer rotor lifting device and its control method can effectively overcome the mechanical loss and maintenance difficulties caused by the high-speed rotating shaft in the traditional lifting system, reduce the mechanical loss and noise of the lifting device, and improve the overall efficiency and reliability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 2 is a schematic structural diagram of a coaxial dual self-driven synchronous control permanent magnet outer rotor lifting device according to an embodiment of the present invention;

[0047] Figure 2 1 is a schematic diagram for explaining an embodiment in which one drum is for discharging ropes from the bottom and the other drum is for discharging ropes from the top;

[0048] Figure 3 is a schematic cross-sectional structure diagram of a shaft sleeve 1 in the embodiment;

[0049] Figure 4 is a schematic diagram illustrating the principle of ultra-low frequency starting and regenerative braking in an embodiment;

[0050] Figure 5 1 is a schematic diagram for explaining the overall control of the coaxial dual self-driven synchronous control permanent magnet outer rotor lifting device in the embodiment;

[0051] Figure 6 is a schematic diagram for explaining the use of a cross-coupling adaptive control method in an embodiment to adjust the synchronous rotation speed of dual reels in real time;

[0052] Figure 7 1 is a schematic diagram illustrating the principle of realizing positioning adjustment and commutation control of two permanent magnet outer rotor lifting structures in the embodiment by using a neural network;

[0053] Among them: 101, support seat; 102, spindle; 103, water cooling pipe; 104, stator core; 105, permanent magnet; 106, end cover; 107, disc brake; 108, stator core bracket; 109, drum; 110, stator winding; 111, water cavity; 112, sleeve 1; 113, wiring groove; 114, channel; 115, wire rope. DETAILED DESCRIPTION

[0054] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0055] The embodiment provides a coaxial dual self-driven synchronous control permanent magnet outer rotor lifting device, such as Figure 1 , including a spindle 102 and a support seat 101 for supporting the left and right ends of the spindle 102, the spindle 102 is provided with two left and right permanent magnet outer rotor lifting structures, each permanent magnet outer rotor lifting structure includes a drum 109, a stator, a permanent magnet 105, an end cover 106 and a disc brake 107 for braking the drum, the drum 109 is provided with a stator, and the drum 109 can be rotatably connected to the spindle 102, the two ends of the drum 109 are respectively provided with end covers 106, and the drum 109 is evenly provided with rotor magnetic pole slots along the circumferential direction A permanent magnet 105 is provided in the rotor pole slot, a steel wire rope 115 for connecting the load is wound outside the drum 109, and the stator includes a stator core support 108, a stator core 104 and a stator winding 110. The stator core support 108 is provided on the mandrel 102, and the stator core support 108 is provided with a stator core 104. The stator core 104 adopts a magnetic slot wedge, and the stator winding 110 is provided on the stator core 104. The mandrel 102 is provided with a wiring groove 113 for accommodating the lead wire of the stator winding 110.

[0056] This type of coaxial dual self-driven synchronous control permanent magnet outer rotor lifting device can reduce the overall diameter, save space on the lifting mechanism platform, lower the center of gravity of mining equipment, and improve stability during operation by using the left and right permanent magnet outer rotor lifting structures to share the central shaft 102. The central shaft 102 is provided with two left and right permanent magnet outer rotor lifting structures, which can meet the needs of dual-load bidirectional transportation, improve flexibility and adjustability, and can adapt to the working conditions of lifting and lowering dual loads at the same time. The operating state can be adjusted according to the load demand. When the load is light, only a single drum 109 is running. When the load is heavy, the double drums 109 are enabled at the same time, so as to reasonably distribute the load, reduce energy consumption, and extend the service life of the equipment. The present invention is a high-reliability, low-energy consumption permanent magnet lifting device applied to mining machinery, which has the characteristics of few transmission links and no high-speed shaft.

[0057] like Figure 2 One of the two permanent magnet outer rotor lifting structures has a drum 109 for discharging ropes from the bottom and the other drum 109 for discharging ropes from the top. When the two drums 109 are turned at the same time, different running directions of the steel wire ropes 115 connected to the two drums 109 are realized. The two drums 109 can achieve force balance through different rope discharging methods. The left drum 109 is for discharging ropes from the bottom and the right drum 109 is for discharging ropes from the top. When the two drums 109 are turned at the same time, different running directions of the steel wire ropes 115 are realized, generating relative torque, offsetting the offset and imbalance caused by uneven load, and greatly improving the operation stability of the system.

[0058] It also includes a water-cooling circulation component, which includes a water tank for containing cooling water, a water pump, a sleeve 112 with a hole 114 inside, a water-cooling pipe 103, a water cavity 111, a water outlet pipe and a sleeve 2 with a hole 114 inside. The spindle 102 is respectively provided with a sleeve 112 and a sleeve 2. The cooling water is drawn from the water tank by the water pump and passes through the sleeve 112, the water-cooling pipe 103, and the notch on the stator core bracket 108 to enter the water cavity 111 inside the reel 109, and then flows back to the water tank through the outlet of the water cavity 111, the water outlet pipe, and the sleeve 2. Since the lifting device generates a lot of heat due to high efficiency and high power density when working, it often faces the problem of heat dissipation. Excessive temperature will demagnetize the permanent magnet 105. Effective heat dissipation is very important to ensure the performance and life of the lifting device. In the embodiment, a water-cooling circulation component is set. Cooling water is pumped out of the water tank by a water pump and transported to the water-cooling circulation component. Through a sleeve 112 with a hole 114 inside, as shown in FIG. Figure 3 , the water cooling pipe 103 enters the water cavity 111 inside the reel 109, the cooling water flows in the water cavity 111, takes away the heat generated when the lifting device is working, and then flows out of the lifting device through the outlet at the lower end of the water cavity 111, the water outlet pipe, and the shaft sleeve 2, and then exchanges heat with the atmosphere to reduce the water temperature and flow back to the water tank, completing the circulating water cooling heat dissipation of the lifting device. Compared with the traditional air cooling method, it has a simple structure and high cooling efficiency, which can ensure that the working temperature of the lifting device is within a safe range when the lifting system works for a long time or under high load, thereby extending the service life of the lifting device.

[0059] The stator of this coaxial dual self-driving synchronous control permanent magnet outer rotor lifting device adopts magnetic slot wedges, which have good relative magnetic permeability and magnetic conductivity, so that the air gap magnetic density is evenly distributed, and vibration and noise are reduced at the same time. Both sides of the magnetic slot wedge are provided with inclined surfaces for easy insertion of windings, and the drum 109 surrounds the mandrel 102 in the circumferential direction. The drum 109 is supported on the mandrel 102 through double-row spherical roller bearings and moves in a circular motion relative to the mandrel 102. The rotor magnetic pole slots are arranged inside the drum 109, and the permanent magnets 105 are evenly distributed and embedded in the inner wall of the drum 109 along the circumferential direction. The wire rope 115 is wound on the outer circumferential surface of the drum 109, so that the self-driving of the permanent magnet outer rotor lifting device is realized.

[0060] The concentric shaft dual self-driven synchronous control permanent magnet outer rotor lifting device has left and right support seats 101 fixed on the ground or on the base of other equipment to support the spindle 102. The disc brake 107 is fixed on the lifting system placement plane and mechanically connected to the support seat 101. The permanent magnet 105 is made of neodymium iron boron permanent magnet material, which has very high magnetic properties and significantly improves the performance of the permanent magnet outer rotor lifting machine. The permanent magnet 105 can be in the shape of a tile and can be fixed by mutually perpendicular fixing blocks. The shape of the permanent magnet 105 fixing block is complementary to the shape of the permanent magnet 105, which better fits the inner wall of the drum 109 and limits the freedom of the permanent magnet 105. The permanent magnet 105 fixing block is fixed to the inner wall of the drum 109 by screws to prevent the permanent magnet 105 from loosening or falling off due to vibration and the like. The permanent magnet 105 fixing blocks are all made of copper material, which can effectively isolate the magnetic poles, allowing the magnetic lines to pass through the wall of the drum 109, avoiding magnetic leakage and making the lifting device more efficient.

[0061] This concentric shaft dual self-driven synchronous control permanent magnet outer rotor lifting device can realize a new structure in which two permanent magnet outer rotor lifting structures share a core shaft 102 to drive the drum 109 by controlling the synchronous rotation of the drums 109 of the left and right permanent magnet outer rotor lifting structures. The working process of the device is to realize the lifting or lowering work by winding the wire rope 115 on the outer surface of the drum 109. The inner wall of the drum 109 is embedded with a permanent magnet 105, which constitutes the outer rotor of the permanent magnet lifting device. When working, the drum 109 rotates around the core shaft 102, one end of the wire rope 115 is relatively fixed to the drum 109, and the other end is connected to the load. The wire rope 115 is wound on the outer surface of the drum 109 to complete the lifting work. After reaching the specified height, the drum 109 stops rotating and the disc brake 107 locks the drum 109; when lowering, the drum 109 runs in the reverse direction, loosens the wire rope 115, and completes the load lowering work.

[0062] The embodiment further provides a control method for the coaxial dual self-driven synchronous control permanent magnet outer rotor lifting device as described in any one of the above items, comprising the following steps:

[0063] S1. When the coaxial dual self-driven synchronous control permanent magnet outer rotor lifting device is started, the PLC control system will set the initial frequency Set in the ultra-low frequency range of 0.6 HZ ~ 6 HZ, the PLC control system simultaneously monitors and adjusts the current and voltage of the lifting device, and gradually increases the operating frequency of the lifting device through the inverter until it reaches the preset operating frequency , complete the ultra-low frequency startup, such as Figure 4 .

[0064] In step S1, since the lifting device needs to be started and braked frequently during operation, and is usually started under high load conditions, the initial frequency It is set in the ultra-low frequency range to ensure that the lifting device starts to rotate slowly and smoothly at startup. The inverter gradually increases the frequency of the lifting device and can be adjusted according to the load and application requirements. When the frequency of the lifting device gradually increases to the preset specified frequency, the ultra-low frequency start of the lifting device is completed. At this time, the lifting device has smoothly accelerated to the required operating speed and entered the normal operating state. During this process, the control system simultaneously monitors and adjusts the current and voltage of the lifting device to avoid excessive starting current causing overload of the device, and provides sufficient starting torque to ensure that the lifting device can operate within a safe range and provide sufficient starting torque throughout the startup process. This method can achieve a smooth startup process, reduce mechanical and electrical shocks, and extend the service life of the lifting device.

[0065] S2. When the two reels 109 need to be controlled synchronously, the displacement and speed of the two reels 109 are monitored in real time by the encoder, and the synchronous speed of the two reels 109 is adjusted in real time by the cross-coupling adaptive control method. Figure 6 :

[0066] S21, monitor the actual displacement and actual rotation speed of the two reels 109 in real time through the encoder, and input the speed error signal between the actual rotation speed and the expected rotation speed into the speed loop PI controller, and the speed loop PI controller generates a q-axis current reference value according to the speed error signal , and the actual q-axis current , Compare them respectively to generate q-axis current signal error;

[0067] S22, set the current reference value of the d-axis to zero to ensure maximum motor efficiency, generate the current signal errors of the q-axis and d-axis by comparing the reference currents of the q-axis and d-axis with the actual currents, and the current loop PI controller receives the current signal errors of the q-axis and d-axis and adjusts the output d-axis voltage signal , With q-axis voltage signal To the motor driver 1 and the motor driver 2, the motor driver 1 and the motor driver 2 generate the actual voltage signal according to the output signal of the current loop PI controller , , driving two permanent magnet outer rotor lifting structures PMSM1 and PMSM2 respectively;

[0068] S23, the encoder compares the position signals of the two reels 109 detected in real time, and calculates the position signal deviation Output to the adaptive controller MRAC, the adaptive controller MRAC receives the speed feedback signal of the reel 109, performs real-time analysis, and calculates the proportional gain adjustment amount , integral time constant adjustment and differential time constant adjustment , and output to the PID controller to dynamically adjust the parameters of the PID controller , , ,The PID controller generates a current control signal according to the set reference value and the feedback actual speed signal and outputs it to the two current loop PI controllers to form a closed-loop control, realizing the precise control of the synchronous rotation of the two permanent magnet outer rotor lifting structures.

[0069] In step S2, due to differences in parts manufacturing, assembly accuracy, load form, working environment, etc., it is inevitable that the left and right drums 109 will be out of sync. Therefore, when the two drums 109 are required to be able to lift and lower independently and to ensure synchronous control of rotation, the position error between the two drums 109 after multiple lifting and lowering operations puts forward higher requirements on control accuracy. Therefore, the present invention adopts an adaptive control method based on cross-coupling to synchronously control the dual drums 109, combined with speed loop PI control, current loop PI control, adaptive controller MRAC and PID controller dynamic parameter adjustment, it can achieve high-precision and high-response dual drum 109 coupled synchronous control.

[0070] Figure 5 It is a schematic diagram for explaining the overall control of the coaxial shaft dual self-driven synchronous control permanent magnet outer rotor lifting device in the embodiment. Figure 5 In the process, the PLC control system obtains the reference position and expected speed according to the preset control logic, and generates control signals according to the feedback signals to adjust the operation of the motor. The encoder collects the actual position information and speed signals of reel 1 and reel 2, converts the angular displacement and angular velocity of the reel during the wire rope driving process into electrical signals, and feeds these signals back to the adaptive coupling compensation module and the PLC control system. The adaptive coupling compensation module receives the reference signal from the PLC control system. The target speed is obtained, and then the dynamic compensation of the position error and speed error between the two drums is realized through double-layer PID control and MRAC adaptive control, and the compensation signal is sent to the motor one driver and the motor two driver. The motor one driver and the motor two driver drive the drum one and the drum two by adjusting the driving torque and speed of the drum. The drum one and the drum two are driven by the motor one, i.e., the permanent magnet outer rotor lifting structure PMSM1, and the motor two, i.e., the permanent magnet outer rotor lifting structure PMSM2, respectively. The drum is connected to the load through a wire rope, and the traction movement of the wire rope realizes the lifting and lowering of the load.

[0071] S3: When the two reels 109 including reel 109A and reel 109B need to be dynamically positioned and adjusted, the positioning and adjustment of the two reels 109 is realized by using the dual reel 109 position loop PID control positioning method based on a neural network. Figure 7 :

[0072] S31, when the two reels 109 including reel 109A and reel 109B need to be dynamically positioned and adjusted, the set reference position is obtained through the human-machine interface HMI and And send it to the position loop PID controller, the encoder monitors the actual position of the double reel 109 in real time and And send it to the position loop PID controller;

[0073] S32, the position loop PID controller calculates the position error according to the reference position of the dual reels 109 and the actual position of the reel 109 and , and outputs control signals according to the PID control algorithm, and the neural network receives the position error signal and , determine the initial position and state of the dual reels 109, then determine the reel 109 that needs to move and the reel 109 that remains stationary according to the size of the position error, and generate PID adjustment parameters to select the adjustment reel;

[0074] In step S32, the reel 109 that needs to move and the reel 109 that remains stationary are determined according to the size of the position error. Specifically,

[0075] S321, if the position error signal If it is less than the set threshold, the reference position is set , that is, the reel 109A remains stationary, and the process proceeds to the next step S323; otherwise, the process proceeds to the next step S322;

[0076] S322, if the position error signal If it is less than the set threshold, the reference position is set , that is, the reel 109B remains stationary, and the process proceeds to the next step S323; otherwise, the process proceeds to the next step S324;

[0077] S323, if the position error signal , then the speed reference signal of reel A is generated , and set , control reel A to move to the specified position, reel B remains stationary, otherwise generate a speed reference signal for reel B Control reel B to move to the specified position, and reel A remains stationary;

[0078] S324, in the position error signal and position error signal If both are not less than the set threshold, , the reel 109A is adjusted first, and the reel 109B is kept stationary until the position error signal If it is less than the set threshold, return to step S323; if , the reel 109B is adjusted first, and the reel 109A remains stationary until the position error signal When it is less than the set threshold, return to step S323.

[0079] In step S32, first determine whether the position errors of reel 109A and reel 109B are both within the set threshold range. If the position error of reel 109A or reel 109B is within the set threshold range, proceed to step S323 to implement dual reel positioning stop adjustment. If the position errors of reel 109A and reel 109B are both greater than or equal to the set threshold, positioning adjustment is performed according to the error size priority mechanism. The reel with the larger position error is selected for priority adjustment. Specifically described as follows: Greater than or equal to the set threshold and If it is also greater than or equal to the set threshold, compare it. , reel A is adjusted first, and reel 109B is kept stationary until the position error of reel 109A is within the set threshold range, and then the positioning adjustment of reel 109B is performed according to step S323; if , reel 109B is adjusted first, and reel 109A remains stationary until the position error of reel 109B is within the set threshold range, and then the positioning adjustment of reel 109A is performed according to step S323. Steps S321 and S322 ensure that the position error of reels 109A and 109B is less than the set threshold, and step S323 is performed within the set threshold range to achieve accurate synchronization of reels 109A and 109B. This adjustment method can reduce the overall deviation of the system as quickly as possible in the shortest time, and can ensure that the final position error of the two reels is within the balanced range.

[0080] S33. The neural network transmits the PID adjustment parameters to the PID controller. The PID controller recalculates and generates the speed reference signals of the dual reels 109 according to the adjustment parameters. The FOC controller generates the d-axis and q-axis voltage instructions according to the speed reference signals generated by the PID controller. The driver drives the dual reels 109 to rotate or stop according to the voltage instructions, thereby driving the two reels 109 to complete the positioning adjustment.

[0081] In step S3, the positioning adjustment of the reel 109 is realized by the PID control of the dual reel 109 position loop based on the neural network. The positioning adjustment of the dual reel 109 is realized by stopping and moving the reel 109. The precise positioning adjustment of the two reels 109 can be realized, thereby reducing unnecessary energy consumption and wear and improving the stability and reliability of the system.

[0082] S4, when the two reels 109 need to be reversed, the dual reels 109 position loop PID control steering method based on neural network is used to realize the speed and steering control of the two reels 109. Figure 7 :

[0083] S41, obtaining the set target positions of the two reels 109 through the human-machine interface HMI and And send them to the position loop PID controller respectively;

[0084] S42, the position loop PID controller receives the actual positions of the two reels 109 measured in real time by the encoder or , and calculate the position error between the corresponding target position and the actual position and ;

[0085] S43, the neural network obtains parameters through self-learning based on the position error and the rate of change , , The position loop PID controller uses the adjusted parameters to calculate the speed reference signal. and direction control signals;

[0086] S44, vector controller FOC / direct torque controller DTC according to the speed reference signal and direction control signals , adjust the current or torque of the coaxial dual self-driven synchronous control permanent magnet outer rotor lifting device to realize the speed and direction control of the two drums 109, and achieve the purpose of bidirectional transportation of different loads of the drum 109.

[0087] In step S4, the neural network is used to adjust the parameters of the position loop PID controller in real time to achieve the commutation control of the reel 109. Each reel 109 is equipped with an independent position loop PID controller and encoder, and a neural network is shared for parameter adjustment. In the actual operating environment, the encoder is responsible for collecting data of the reel 109 under different loads and operating conditions, including angular position and angular velocity. The PID controller preprocesses the collected data, including calculating errors, data normalization, and feature extraction for neural network training. The trained neural network model is embedded in the PID controller. The neural network obtains control parameters according to the real-time state of the reel 109 and sends them to the PID controller. The PID controller generates a speed reference signal according to the adjustment parameters of the neural network and transmits it to the FOC / DTC controller. The FOC / DTC controller adjusts the current or torque of the lifting device and transmits the signal to the driver to achieve the commutation control of the reel 109.

[0088] S5. Regenerative braking for energy recovery is performed on the coaxial dual self-driven synchronously controlled permanent magnet outer rotor lifting device.

[0089] S51, when the coaxial dual self-driven synchronous control permanent magnet outer rotor lifting device is decelerating or braking, if Figure 4 , the control system sends a braking signal to the braking control unit BCU, the braking control unit BCU transmits the driving signal to the driver, adjusts the current and voltage of the motor, and realizes deceleration or braking; the braking control unit BCU transmits the conversion control signal to the rectifier and inverter, the rectifier converts the AC power generated by the lifting device into DC power, and the inverter adjusts the voltage and current to adapt to the supercapacitor energy storage and reuse; the braking control unit BCU transmits the charging and discharging control signal to the supercapacitor to store and release electrical energy;

[0090] S52. When the coaxial shaft dual self-driven synchronous control permanent magnet outer rotor lifting device is accelerating or running at high load, the control system transmits an electric energy release signal to the supercapacitor, the supercapacitor releases the electric energy and converts it into alternating current used by the coaxial shaft dual self-driven synchronous control permanent magnet outer rotor lifting device through the inverter, supplementing the power demand of the coaxial shaft dual self-driven synchronous control permanent magnet outer rotor lifting device, and completing the regenerative braking of the coaxial shaft dual self-driven synchronous control permanent magnet outer rotor lifting device.

[0091] In step S5, when the lifting device needs to brake, the braking control unit BCU receives the braking request through the control system, analyzes the signal, and combines the sensor data (rotation speed of the drum 109, internal current, and voltage) to send a driving signal to the driver to start the braking process of the lifting device and adjust the current and voltage to achieve the required braking force. At this time, the lifting device can be regarded as a generator. The magnetic field of the permanent magnet 105 on the inner wall of the drum 109 is cut by the winding, generating an induced current in the winding coil. The rectifier and inverter receive the conversion control signal sent by the BCU, convert the AC power generated by the lifting device into DC power, and adjust the voltage and current to adapt to energy storage and reuse. The supercapacitor receives the charging signal sent by the BCU and stores the electric energy in the supercapacitor. In this process, the BCU monitors the braking state of the drum 109 in real time, dynamically adjusts the braking force according to the sensor data, and ensures smooth braking and efficient energy recovery. When the synchronous drive of the lifting device requires additional power, the supercapacitor will discharge quickly and convert the stored electric energy into electric energy suitable for the lifting device through the inverter again. The inverter converts DC power into AC power suitable for the lifting device, and adjusts the voltage and current to meet the operating requirements of the lifting device. This regenerative braking process is cyclical. When the lifting device slows down or brakes again, the regenerative braking starts again, and the kinetic energy is converted into electrical energy. After being processed by the inverter, it is stored in the supercapacitor for the next use. Through this mechanism, the lifting system can significantly improve energy efficiency, reduce energy waste, and improve the operating stability and reliability of the lifting device.

[0092] This concentric axis dual self-driven synchronous control permanent magnet outer rotor lifting device and its control method can adjust the cross-coupling adaptive control of the synchronous speed of the dual drums 109 in real time according to the working state, overcome the problems of slow response speed and large influence of external interference in the traditional dual motor control method, and ensure the synchronization of the dual drums 109. Parameter adjustment is carried out according to real-time feedback, which increases the system's adaptability to external disturbances and load changes, and makes the lifting system highly stable and robust.

[0093] This concentric shaft dual self-driven synchronous control permanent magnet outer rotor lifting device and its control method realize positioning and commutation control through dual motor position loop PID control based on neural network, can dynamically adjust the dual drums 109 according to real-time needs, improve overall operating efficiency, and adapt to complex mining operating environments.

[0094] This concentric shaft dual self-driven synchronous control permanent magnet outer rotor lifting device and its control method can realize ultra-low frequency starting of the drum 109 and regenerative braking of energy recovery, solve the impact vibration problem during the starting process of the lifting device, and realize the smooth starting of the drum 109; when the system decelerates and brakes, the kinetic energy is converted into electrical energy for storage, and released when the drum 109 needs additional power, reducing the energy consumption of the system, improving the braking performance of the system, and reducing the mechanical wear of the system.

[0095] This concentric shaft dual self-driven synchronous control permanent magnet outer rotor lifting device and its control method can effectively overcome the mechanical loss and maintenance difficulties caused by the high-speed rotating shaft in the traditional lifting system, reduce the mechanical loss and noise of the lifting device, and improve the overall efficiency and reliability of the system.

[0096] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A coaxial dual self-driven synchronous control permanent magnet outer rotor lifting device, comprising a spindle and a support seat for supporting the left and right ends of the spindle, characterized in that: The spindle is provided with two left and right permanent magnet outer rotor lifting structures, each permanent magnet outer rotor lifting structure includes a drum, a stator, a permanent magnet, an end cover and a disc brake for braking the drum, a stator is arranged in the drum, and the drum can be rotatably connected to the spindle, end covers are respectively provided at both ends of the drum, rotor pole slots are evenly arranged in the circumferential direction in the drum, permanent magnets are arranged in the rotor pole slots, a steel wire rope for connecting the load is wound outside the drum, the stator includes a stator core support, a stator core and a stator winding, the stator core support is arranged on the spindle, the stator core support is provided with a stator core, the stator core adopts a magnetic slot wedge, the stator winding is arranged on the stator core, and the spindle is provided with a wiring groove for accommodating the stator winding lead wire.

2. The coaxial dual self-driven synchronous control permanent magnet outer rotor lifting device according to claim 1, characterized in that: One drum in the two permanent magnet outer rotor lifting structures is for discharging ropes from the bottom and the other drum is for discharging ropes from the top, and when the two drums are turned at the same time, different running directions of the steel wire ropes respectively connected are realized.

3. The coaxial dual self-driven synchronous control permanent magnet outer rotor lifting device according to claim 1, characterized in that: Each reel is equipped with a position loop PID controller and an encoder. The reel is supported on the spindle through a double-row spherical roller bearing and rotates relative to the spindle.

4. The coaxial dual self-driven synchronous control permanent magnet outer rotor lifting device according to claim 1, characterized in that: It also includes a water-cooling circulation component, which includes a water tank for containing cooling water, a water pump, a sleeve 1 with a hole inside, a water-cooling pipe, a water cavity, a water outlet pipe and a sleeve 2 with a hole inside. The spindle is respectively provided with a sleeve 1 and a sleeve 2. The cooling water is drawn from the water tank by the water pump and enters the water cavity inside the drum after passing through the sleeve 1, the water-cooling pipe and the slot on the stator core bracket, and then returns to the water tank through the outlet of the water cavity, the water outlet pipe and the sleeve 2.

5. A control method for a coaxial dual self-driven synchronous control permanent magnet outer rotor lifting device according to any one of claims 1 to 4, characterized in that: The following steps are included: S1. When the coaxial dual self-driven synchronous control permanent magnet outer rotor lifting device is started, the PLC control system will set the initial frequency Set in the ultra-low frequency range, the PLC control system simultaneously monitors and adjusts the current and voltage of the lifting device, and gradually increases the working frequency of the lifting device through the inverter until it reaches the preset working frequency , complete the ultra-low frequency startup; S2. When the two reels need to be controlled synchronously, the displacement and speed of the two reels are monitored in real time by the encoder, and the cross-coupling adaptive control method is used to adjust the synchronous speed of the two reels in real time; S3, when two reels including reel A and reel B need to be dynamically positioned and adjusted, a dual-reel position loop PID control positioning method based on a neural network is used to achieve positioning adjustment of the two reels; S4. When the two reels need to be reversed, the dual reel position loop PID control steering method based on neural network is used to realize the speed and steering control of the two reels; S5. Regenerative braking for energy recovery is performed on the coaxial dual self-driven synchronously controlled permanent magnet outer rotor lifting device.

6. The control method of the coaxial dual self-driven synchronous control permanent magnet outer rotor lifting device according to claim 5 is characterized in that: Step S2 is specifically, S21, monitor the actual displacement and actual speed of the two reels in real time through the encoder, and input the speed error signal between the actual speed and the expected speed into the speed loop PI controller, and the speed loop PI controller generates the q-axis current reference value according to the speed error signal , and the actual q-axis current , Compare them respectively to generate q-axis current signal error; S22, set the current reference value of the d-axis to zero to ensure maximum motor efficiency, generate the current signal errors of the q-axis and d-axis by comparing the reference currents of the q-axis and d-axis with the actual currents, and the current loop PI controller receives the current signal errors of the q-axis and d-axis and adjusts the output d-axis voltage signal , With q-axis voltage signal To the motor driver 1 and the motor driver 2, the motor driver 1 and the motor driver 2 generate the actual voltage signal according to the output signal of the current loop PI controller , , driving two permanent magnet outer rotor lifting structures PMSM1 and PMSM2 respectively; S23, the encoder compares the real-time detected position signals of the two reels and calculates the position signal deviation Output to the adaptive controller MRAC, which receives the speed feedback signal of the reel, performs real-time analysis, and calculates the proportional gain adjustment amount , integral time constant adjustment and differential time constant adjustment , and output to the PID controller to dynamically adjust the parameters of the PID controller , , ,The PID controller generates a current control signal according to the set reference value and the feedback actual speed signal and outputs it to the two current loop PI controllers to form a closed-loop control to achieve the control of the synchronous rotation of the two permanent magnet outer rotor lifting structures.

7. The control method of the coaxial dual self-driven synchronous control permanent magnet outer rotor lifting device according to claim 5 is characterized in that: Step S3, specifically, S31. When two reels including reel A and reel B need to be dynamically positioned and adjusted, the set reference position is obtained through the human-machine interface HMI. and And send it to the position loop PID controller, the encoder monitors the actual position of the double reels in real time and And send it to the position loop PID controller; S32, the position loop PID controller calculates the position error based on the reference position of the two reels and the actual position of the reels and , and outputs control signals according to the PID control algorithm, and the neural network receives the position error signal and , determine the initial position and state of the dual reels, then determine the reel that needs to move and the reel that remains stationary according to the size of the position error, and generate PID adjustment parameters to select the reel to be adjusted; S33. The neural network transmits the PID adjustment parameters to the PID controller. The PID controller recalculates and generates the speed reference signals of the dual reels according to the adjustment parameters. The FOC controller generates the d-axis and q-axis voltage instructions according to the speed reference signals generated by the PID controller. The driver drives the dual reels to rotate or stop according to the voltage instructions, thereby driving the two reels to complete the positioning adjustment.

8. The control method of the coaxial dual self-driven synchronous control permanent magnet outer rotor lifting device according to claim 6 is characterized in that: In step S32, the reel that needs to move and the reel that remains stationary are determined according to the size of the position error, specifically, S321, if the position error signal If it is less than the set threshold, the reference position is set , that is, reel A remains stationary, and the process proceeds to the next step S323; Otherwise, proceed to the next step S322; S322, if the position error signal If it is less than the set threshold, the reference position is set , that is, the reel B remains stationary, and the process proceeds to the next step S323; Otherwise, proceed to the next step S324; S323, if the position error signal , then the speed reference signal of reel A is generated , and set , control reel A to move to the specified position, reel B remains stationary, otherwise generate a speed reference signal for reel B Control reel B to move to the specified position, and reel A remains stationary; S324, in the position error signal and position error signal If both are not less than the set threshold, , reel A is adjusted first, and reel B is kept stationary until the position error signal If it is less than the set threshold, return to step S323; if , reel B is adjusted first, and reel A remains stationary until the position error signal When it is less than the set threshold, return to step S323.

9. The control method of the coaxial dual self-driven synchronous control permanent magnet outer rotor lifting device according to claim 5, characterized in that: Step S4 is specifically, S41. Obtain the set target positions of the two reels through the human-machine interface HMI and And send them to the position loop PID controller respectively; S42, the position loop PID controller receives the actual positions of the two reels measured in real time by the encoder or , and calculate the position error between the corresponding target position and the actual position and ; S43, the neural network obtains parameters through self-learning based on the position error and the rate of change , , The position loop PID controller uses the adjusted parameters to calculate the speed reference signal. and direction control signals; S44, vector controller FOC / direct torque controller DTC according to the speed reference signal and direction control signals , adjust the current or torque of the concentric shaft dual self-driven synchronous control permanent magnet outer rotor lifting device to realize the speed and direction control of the two drums, and achieve the purpose of two-way transportation of different loads of the drums.

10. The control method of the coaxial dual self-driven synchronous control permanent magnet outer rotor lifting device according to claim 5, characterized in that: Step S5, specifically, S51. When the concentric shaft dual self-driven synchronous control permanent magnet outer rotor lifting device decelerates or brakes, the control system sends a braking signal to the braking control unit BCU, and the braking control unit BCU transmits the driving signal to the driver to adjust the current and voltage of the motor to achieve deceleration or braking; the braking control unit BCU transmits the conversion control signal to the rectifier and inverter, the rectifier converts the AC power generated by the lifting device into DC power, and the inverter adjusts the voltage and current to adapt to the supercapacitor energy storage and reuse; the braking control unit BCU transmits the charging and discharging control signal to the supercapacitor to store and release electrical energy; S52. When the coaxial shaft dual self-driven synchronous control permanent magnet outer rotor lifting device is accelerating or running at high load, the control system transmits an electric energy release signal to the supercapacitor, the supercapacitor releases the electric energy and converts it into alternating current used by the coaxial shaft dual self-driven synchronous control permanent magnet outer rotor lifting device through the inverter, supplementing the power demand of the coaxial shaft dual self-driven synchronous control permanent magnet outer rotor lifting device, and completing the regenerative braking of the coaxial shaft dual self-driven synchronous control permanent magnet outer rotor lifting device.

Images