Cable reel control device

Abstract

The present invention discloses a cable reel control device, which is at least used to control a reel motor in a cable reel, and the reel motor is used to drive the reel to rotate to collect or release the cable. The device includes: a control circuit and a second drive circuit; the second drive circuit includes a first sub-drive circuit and a brake circuit, the input end of the brake circuit is connected to the first sub-drive circuit, the control end of the brake circuit is connected to the control circuit, and the output end of the brake circuit is connected to a brake mechanism arranged at the reel motor to control the brake mechanism to clamp the reel motor when the control circuit outputs a trigger brake command. The cable reel control device provided by the present application can achieve more accurate control of the cable reel.

Description

Technical Field

[0001] The present application relates to the field of integrated control of cable reels, and in particular to a cable reel control device. Background Art

[0002] Cable reels are cable winding devices that provide power, control power, or control signals to large mobile equipment. They are widely used in heavy machinery such as port gantry cranes, container cranes, ship loaders, and tower cranes. In existing technology, cable reels are installed on mobile equipment such as cranes to retract and extend the cable while the equipment is moving. The speed of the mobile equipment, such as the crane, needs to match the speed of the cable retraction and extension. However, the existing application of cable reels often suffers from inaccurate speed measurement, which reduces the control accuracy of the cable reel. Furthermore, due to the limitations of existing control methods, the operating efficiency is relatively low. Therefore, a solution that can solve the above technical problems is needed. Summary of the Invention

[0003] The main technical problem solved by the present application is to provide a cable drum control device, which can control the braking moment of the drum motor in the cable drum, thereby achieving more precise control of the drum motor.

[0004] To solve the above technical problems, the present application adopts a technical solution: providing a cable reel control device, the cable reel control device being used at least to control a reel motor in a cable reel, the reel motor being used to drive the reel to rotate to reel in or release the cable, the device comprising a control circuit and a second drive circuit;

[0005] The second drive circuit includes a first sub-drive circuit and a brake circuit. The input end of the brake circuit is connected to the first sub-drive circuit, the control end of the brake circuit is connected to the control circuit, and the output end of the brake circuit is connected to the brake mechanism arranged at the drum motor, so as to delay control the brake mechanism to clamp the drum motor when the control circuit outputs a trigger brake command.

[0006] In the above scheme, the cable drum control device is used at least to control the drum motor in the cable drum. The first sub-drive circuit and the brake circuit in the cable drum control device are respectively connected to the control circuit. When the control circuit outputs a trigger brake command, the brake circuit delays and controls the brake mechanism to clamp the drum motor. By controlling the braking moment, the cable is effectively prevented from being damaged in working conditions such as emergency stop, thereby achieving more precise control of the drum motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 This is a schematic diagram of an application scenario of an embodiment of a cable reel device of the present application;

[0008] Figure 2 This is a flow chart of an embodiment of a cable reel control method of the present application;

[0009] Figure 3 This is a flow chart of another embodiment of a cable reel control method of the present application;

[0010] Figure 4 This is a flow chart of another embodiment of a cable reel control method of the present application;

[0011] Figure 5 This is a flow chart of an embodiment of a cable reel control method of the present application;

[0012] Figure 6 This is a structural diagram of an embodiment of a cable reel control device of the present application;

[0013] Figure 7 This is a structural diagram of an embodiment of a storage medium of the present application;

[0014] Figure 8 This is a structural diagram of an embodiment of a cable reel control device of the present application;

[0015] Figure 9 This is a structural schematic diagram of another embodiment of a cable reel control device of the present application;

[0016] Figure 10 This is a structural schematic diagram of another embodiment of a cable reel control device of the present application;

[0017] Figure 11 This is a structural diagram of another embodiment of a cable reel control device of the present application. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. It will be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0019] The terms "first", "second" and "third" in this application are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features.

[0020] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0021] See Figure 1 , Figure 1 This is a schematic diagram of an application scenario of a cable reel device in one embodiment of the present application. In the current embodiment, the cable reel 2 in the technical solution provided by the present application can be a cable winding device for providing power supply, control power supply or control signal for large loading and transportation equipment, or a device for winding or releasing a cable in a reciprocating motion along a set midpoint. Figure 1 As shown, when the traveling device (not shown) is away from the midpoint of the cable pit P, the cable drum 2 needs to release the cable 1. Figure 1 The illustrated travel endpoints include the left endpoint A and the right endpoint B. When the cable reel 2 approaches the midpoint of the cable pit P, it needs to collect the cable to provide services for external large-scale loading and transportation equipment. In the technical solution provided in this application, the cable reel 2 and the traveling equipment for loading and moving the cable reel 2 are collectively referred to as cable reel equipment. In the process of controlling the cable reel equipment, it is necessary to control the speed of the reel motor so that the speed at which the cable reel 2 collects or releases the cable matches the moving speed of the traveling equipment, thereby ensuring that the tension in the cable 1 is constant or stable within the set range, thereby ensuring safe production and avoiding the traveling equipment from stopping due to the cable being too loose, falling or damaged, or the traveling equipment from stopping or the cable being damaged due to the cable being too tight. Among them, Figure 1 In the middle, 5 is a guide frame 5 for guiding the cable 1 between the traveling equipment and the reel 2. The cable reel equipment provided in this application also includes an inclinometer 3. The calibration direction 4 of the inclinometer 3 and the guiding direction of the guide frame 5 are both vertical directions. The direction of the cable passing between the guide frame 5 and the inclinometer 3 coincides with or is parallel to the calibration direction.

[0022] In the prior art, the control of the cable drum motor is mainly achieved by setting an encoder to measure the speed of the crane. The encoder feeds back the measured speed of the crane to the PLC, and then the acquired speed of the crane is fed back to the frequency converter that controls the drum motor via the external PLC, so that the frequency converter controls the drum motor according to the speed of the crane. It can be seen that there is a certain time delay in transmitting the speed of the crane to the frequency converter, which will result in the drum motor control not being able to follow the crane in real time. When the crane moves at high speed, the speed difference between the drum motor and the crane due to the time delay problem is more obvious, which will cause the cable tension to be too tight or damaged. If, in order to ensure that the drum motor can Better following the traveling equipment so that the traveling equipment and the drum motor run at a lower speed will make the operating efficiency of the cable drum equipment at a lower level; at the same time, in the existing technology, the control of the cable drum motor is mainly based on measuring the speed of the traveling equipment to control the drum motor, but such excessive reliance on the speed of the traveling equipment will lead to the accuracy of the cable drum control when the speed measurement of the traveling equipment is not accurate enough; furthermore, since there are relatively many structures for controlling the cable drum in the existing technology, this will lead to complex connection relationships between different structures and make installation more difficult, and there are more connection points that are prone to failure, thereby reducing safety, so a technical solution that can solve the above problems is needed.

[0023] See Figure 2 , Figure 2 This is a flow chart of an embodiment of a cable reel control method of the present application. In the current embodiment, the cable reel control method provided by the present application is executed by a cable reel control device. The cable reel control device is used to control at least one motor in the cable reel device. The motor controlled by the cable reel control device includes at least a reel motor. In the current embodiment, the method provided by the present application includes:

[0024] S210: Determine whether the driving equipment is in a pit crossing area.

[0025] The cable reel control device determines whether the crane is currently in a pit-passing area. The crane is the device used to load the cable reel and the reel motor that drives the cable reel. The pit-passing area is defined as an area less than or equal to a preset distance from the midpoint of the crane's travel range. The preset distance can be adjusted based on actual needs to adjust the size of the pit-passing area; there is no limit to the preset distance.

[0026] Specifically, the midpoint of the travel distance of the driving equipment is Figure 1In the illustrated embodiment, this could be position P. When the crane reaches position P, the cable reel will have completely collected the receivable portion of the cable, which can also be understood as the cable reel being full. The midpoint of the crane's travel path is the location of the fixed end of the cable. The crane is used to load the movable end of the cable and reciprocate between the movable and fixed ends to collect and release the movable portion of the cable, thereby providing power signals to external large-scale loading and transport equipment.

[0027] When controlling the cable drum device, the cable drum control device determines in real time whether the driving device is currently in the pit passing area, and determines the real-time control mode of the drum motor according to the judgment result.

[0028] S220: Using the constant tension mode to control the rotation of the drum motor, so that the rotation speed of the drum motor matches the movement of the driving equipment.

[0029] If it is determined in step S210 that the vehicle is currently in a pit-passing area, the cable drum control device controls the drum motor to rotate in a constant tension mode so that the drum motor's rotational speed matches the vehicle's movement. The constant tension mode maintains the cable tension constant while the vehicle is in a pit-passing area. Therefore, in step S220, when it is determined that the vehicle is currently in a pit-passing area, the tension output by the drum motor is controlled to remain constant to maintain the cable tension constant, thereby matching the drum motor's rotational speed with the vehicle's movement.

[0030] In one embodiment, step S220 utilizes a constant tension mode to control the drum motor, further comprising: controlling the drum motor to rotate at a set torque and maintaining it constant, thereby maintaining the tension output by the drum motor to the cable in the pit passage area. The set torque is a preset torque, i.e., when the vehicle is in the pit passage area, the drum motor is controlled to rotate at the set torque and maintain it constant, regardless of the vehicle's speed. The set torque is an empirical value and can be set based on actual application requirements.

[0031] This application Figure 2The method provided in the corresponding embodiment only relies on the cable drum control device to control the speed of the drum motor to match the speed of the crane moving. Instructions and data only need to be exchanged and transmitted within the cable drum control device, without the need for data interaction with an external PLC device. This allows the speed of the drum motor to better follow the speed of the crane moving. During the operation of the cable drum device, the cable drum control device determines in real time whether the crane is in the pit-passing area. When it is determined that the crane is in the pit-passing area, it controls the rotation of the drum motor using a constant tension mode. While matching the rotation speed of the drum motor with the movement of the crane, it maintains the tension in the cable unchanged when the crane passes through the pit-passing area without stopping. Passing the pit can be completed without stopping the drum motor, which reduces the difficulty of operating and controlling the cable drum device and improves production efficiency.

[0032] Furthermore, in another embodiment, when it is determined in step S210 that the driving equipment is not in a pit-passing area, the method provided in the present application further includes step S230.

[0033] S230: Control the rotation of the drum motor using the constant angle mode.

[0034] Among them, Figure 1 As shown, the constant angle mode maintains the angle between the cable 1 and the calibration direction 4 at a first set angle, or maintains the angle between the cable 1 and the calibration direction 4 within a set angle range. The set angle range and the first set angle are preset empirical values. When the angle between the cable 1 and the calibration direction 4 is maintained at the first set angle or within the set angle range, the tension within the cable 1 remains within the set range, and abnormalities such as cable entanglement due to excessive tension or excessive tension will not occur.

[0035] Furthermore, using the constant angle mode to control the rotation of the drum motor includes: obtaining the angle value fed back by the inclinometer 3, and calculating the target speed of the drum motor according to the angle value. The angle value is the angle between the cable 1 and the calibration direction 4, the calibration direction 4 can refer to the vertical direction, and the target speed of the drum motor is the required speed of the drum motor. In the current embodiment, by measuring the angle between the cable 1 and the calibration direction 4 in real time through the inclinometer 3, it is possible to accurately control the cable swing angle (the angle between the cable 1 and the calibration direction 4) in a safe working area, thereby greatly reducing the cable tension impact during the movement of the traveling equipment. When the cable swing angle is in the safe working area, the cable can be normally wound onto the drum or released normally, and the safe working area can also be understood as the above-mentioned first set angle or set angle range.

[0036] Furthermore, in one embodiment, when the PLC for controlling the crane equipment sends the speed of the crane equipment to the cable drum control device, the above-mentioned step of calculating the target speed of the drum motor based on the angle value includes: obtaining the speed of the crane equipment sent by the PLC for controlling the crane equipment; and calculating the target speed of the drum motor based on the speed of the crane equipment and the angle value fed back by the inclinometer. At this time, the target speed of the drum motor = the speed of the crane equipment + the auxiliary speed, wherein the auxiliary speed is the auxiliary speed calculated by the cable drum control device based on the angle value fed back by the inclinometer and the closed-loop PID principle. In the current embodiment, the target speed of the drum motor is calculated using the speed of the crane equipment sent by the PLC, which can achieve more accurate control of the drum motor to match the operating speed of the crane equipment.

[0037] Furthermore, after the target speed of the reel motor is calculated, the number of pulses for controlling the reel motor is further calculated based on the target speed to generate a pulse control instruction for controlling the reel motor, which is sent to the reel motor by the reel control device to control the reel motor to run at the target speed.

[0038] After obtaining the angle value fed back by the inclinometer, the method provided by the present application may further include:

[0039] Determine whether the angle value is greater than a second set angle. The second set angle is a preset threshold value. The second set angle can be used to determine whether the angle between the current cable and the calibration direction is abnormal, and further determine whether the driving equipment or the reel motor is faulty.

[0040] If it is determined that the angle value fed back by the inclinometer is greater than the second set angle, the reel integrated control device will issue a fault command to the reel motor and the PLC used to control the crane equipment, so that the reel motor and the crane equipment will stop, avoiding damage to the cable due to the crane equipment continuing to move forward or the reel motor continuing to rotate when a fault occurs.

[0041] In the current embodiment, the target speed of the drum motor is obtained by directly using the angle value measured by the inclinometer, without relying on the speed of the traveling equipment to obtain the target speed of the drum motor. The angle value feedback by the inclinometer is used to assist in debugging the speed of the drum motor, which can quickly compensate for the speed error between the speed of the drum motor and the traveling equipment. The cable drum control device can quickly compensate for the speed error according to the feedback value of the inclinometer, ensuring that the speed of the cable drum motor can accurately follow the speed of the traveling equipment.

[0042] Further, see Figure 3 , Figure 3This is a flow chart of another embodiment of a cable reel control method of the present application, focusing on the contents of step S210 in the current embodiment. Specifically, in one embodiment, step S210 determines whether the vehicle is in a pit crossing area and includes the following steps S301 to S303.

[0043] S301: Calculate the real-time position of the driving equipment.

[0044] In one embodiment, the cable drum control device includes an encoder disposed at the drum motor, and step S301 may be to calculate the real-time position of the traveling device based on the signal fed back by the encoder at the drum motor. In the current embodiment, the position of the traveling device does not require independent measurement by a separate device. The present application only requires an encoder disposed at the drum motor to calculate the position of the traveling device based on the signal fed back by the encoder at the drum motor. The method provided in the present application also includes: when the drum motor encoder measures that the reel is full, the cable drum control device will also control the drum encoder to clear the count upon receiving the full reel signal to eliminate the accumulated error.

[0045] Among them, the real-time position of the driving device is the relative position relative to the midpoint of its own moving stroke. For example, in one embodiment, the left side of the midpoint of the moving stroke of the driving device is defined as the positive direction, and the right side of the midpoint of the moving stroke of the driving device is defined as the negative direction. Correspondingly, in this embodiment, step S301 is to calculate the real-time position of the driving device relative to the midpoint of its own stroke. According to the setting, when the driving device is on the left side of the midpoint of its own stroke, the real-time position of the driving device relative to the midpoint of its own stroke is positive. Conversely, when the driving device is on the right side of the midpoint of its own stroke, the real-time position of the driving device relative to the midpoint of its own stroke is negative. It should be noted that the real-time position of the driving device is the position relative to the midpoint, and the real-time position includes the direction of the driving device relative to the midpoint of the moving stroke.

[0046] Further, see Figure 4 , Figure 4 This is a flow chart of another embodiment of a cable reel control method of the present application. Figure 4 The main steps included in the above step S301 of calculating the real-time position of the driving device are shown. In the current embodiment, the above step S301 includes steps S401 to S403.

[0047] S401: Obtain the number of revolutions of the reel motor.

[0048] In the technical solution provided in the present application, the number of revolutions of the drum motor can be obtained by providing an encoder on the drum motor, wherein the encoder includes at least one of an absolute encoder and an incremental encoder.

[0049] Furthermore, in the technical solution provided by this application, while obtaining the number of revolutions of the drum motor, the encoder can also obtain the rotation direction of the drum motor within the current rotation cycle and feed it back to the cable drum control device, thereby further verifying the movement direction of the driving device through the obtained rotation direction of the drum motor. The rotation direction of the drum motor can be obtained by the encoder, or by other sensors specifically used to obtain the reverse direction of motor rotation, or can be directly fed back to the cable drum control device by an external PLC device.

[0050] S402: Calculate the length of the cable wound on the reel according to the number of revolutions of the reel motor, the diameter of the cable, and the inner diameter of the reel.

[0051] The reel is a structure driven by a reel motor for winding a cable. The reel inner diameter is a parameter pre-entered based on the actual inner diameter of the reel. Correspondingly, the cable diameter is the diameter of the cable taken up or released by the reel. In the current embodiment, both the cable diameter and the reel inner diameter are preset parameters.

[0052] In the current embodiment, since the reel is fixedly connected to the output end of the drum motor, each rotation of the drum motor will drive the reel to rotate one circle, and the reel will then wind the cable one circle. As the reel winds more cables, the diameter of the cable wound by the reel will change. In the current embodiment, the diameter of the cable wound by the reel will change each time the reel rotates one circle. It can also be understood that the height of the reel along the axial extension is exactly equal to the diameter of the cable, or is slightly larger than the diameter of the cable. Therefore, in the technical solution provided by the present application, the current diameter of the cable can be directly calculated based on the diameter of the cable, the inner diameter of the reel and the number of rotations of the drum motor.

[0053] In another embodiment, when the axially extending height of the reel is greater than the diameter of the cable, the length of the cable wound on the reel can be calculated based on the number of rotations of the reel motor, the diameter of the cable, the inner diameter of the reel, and the axial height of the reel. Specifically, the number of cable turns that can be wound on one layer of the reel can be calculated based on the cable diameter and the axial height of the reel. Then, the number of cable winding layers and the number of turns wound on the current winding layer can be calculated based on the number of rotations of the motor. Finally, the current cable winding diameter can be calculated based on the number of winding layers, the number of turns wound on the current winding layer, the number of motor windings, the cable diameter, and the inner diameter of the reel.

[0054] After obtaining the current cable diameter, the length of the cable currently wound on the reel is calculated based on the calculated cable diameter and the total length of the cable or the travel of the crane. The total length of the cable can be fitted to be equal to half the travel of the crane plus the guide frame 5 (see Figure 1In the structure shown in FIG, the guide frame 5 is used to guide the cable to the height between the inclinometer and the guide frame 5. It is understood that in other embodiments, the total length of the cable is equal to half the travel of the traveling device plus the height of the inner diameter of the reel. In some embodiments, the total length of the cable can also refer to the maximum length of the cable that can be reeled on the reel, and the specific setting depends on the actual application.

[0055] S403: Calculate the real-time position of the crane device according to the length of the cable wound on the reel and the travel distance of the crane device.

[0056] The calculated length of the cable wound on the reel is subtracted from the preset moving distance of the crane, and then the real-time position of the current crane is obtained based on the obtained moving direction of the crane.

[0057] In the current embodiment, the crane is controlled by an external PLC device, so the direction of movement of the crane can also be directly sent by the external PLC device used to control the crane to the cable reel control device. Specifically, the direction of movement of the crane can be left or right.

[0058] Furthermore, in another embodiment, the direction of motor rotation can be further combined to determine whether the vehicle is currently to the left or right of the midpoint. The reel motor can then be pre-controlled based on the vehicle's position relative to the left or right side of the midpoint, pre-decelerating the reel motor according to a set deceleration rate to achieve smoother steering control of the vehicle. For example, when it is determined that the vehicle is to the left of the midpoint and the vehicle is driving left, the cable reel control device can further determine whether to enter a reel motor pre-steering mode based on the remaining cable distance, so that the reel motor can quickly complete the steering in accordance with the vehicle's steering direction.

[0059] Please combine Figure 1 ,Depend on Figure 1 It can be seen that the reel is set at a certain height from the ground, and when the traveling equipment moves to the cable pit, which is the midpoint of the traveling equipment's travel, there is still a length of cable corresponding to the distance between the reel and the cable pit that cannot be reeled onto the reel. Therefore, in the current embodiment, the traveling travel of the traveling equipment is twice the maximum length of cable that the reel can release.

[0060] After calculating the length of the cable wound on the reel, the length of the cable released by the reel or the length of the cable to be wound on the reel can be calculated based on the obtained length of the cable wound on the reel and the moving stroke of the crane. The calculated length of the cable released by the reel or the length of the cable to be wound on the reel is equal to the distance between the crane and the cable pit. Combined with the relative position of the crane relative to the cable pit, the current real-time position of the crane can be obtained.

[0061] In the current embodiment, the cable drum control device can determine the relative position of the current traveling device and the cable pit based on the signal of the inclinometer, and then determine whether the traveling device is in the pit area based on the angle measured by the inclinometer. The angle signal detected by the inclinometer can correspond to the position of the traveling device relative to the cable pit, and there are positive and negative angles. For example, the angle signal detected by the inclinometer can be set to positive and negative angles. For example, when the traveling device is on the left side of the cable pit, the angle between the cable and the reference direction detected by the inclinometer is positive. Correspondingly, when the traveling device is on the right side of the cable pit, the angle between the cable and the reference direction detected by the inclinometer is set to a negative angle. When the traveling device is exactly in the cable pit, the angle measured by the inclinometer is zero (or approximately equal to zero). Positive angles, negative angles, and zero can be fed back to the cable drum control device in different types of signals, so that the cable drum control device can obtain the relative direction of the traveling device relative to the cable pit.

[0062] Assume that the maximum length of the cable that the reel can reel is 20 meters, and the length of the cable wound on the reel is 13 meters after calculation. Then, the length of the cable that has been released by the reel or the length of the cable to be wound on the reel is 7 meters. The sensor in front obtains that the reel motor is rotating counterclockwise. According to the setting, when the reel rotates counterclockwise, the cable reel is releasing the cable, and the traveling device is away from the midpoint of the moving stroke. It should be noted here that for a cable reel device, when the reel is collecting or releasing the cable, the rotation direction of the reel motor is not limited in any way, and can be set and adjusted according to actual needs. For example, in one embodiment, when the reel is collecting the cable, the reel motor can rotate clockwise, and correspondingly, when the reel is releasing the cable, the reel can rotate counterclockwise. In another embodiment, when the reel is collecting the cable, the reel motor can rotate counterclockwise, and correspondingly, when the reel is releasing the cable, the reel can rotate clockwise.

[0063] Among them, the cable drum control device can also determine the relative position of the current traveling equipment and the cable pit based on the signal of the inclinometer. For example, the angle signal detected by the inclinometer can be set to positive and negative angles corresponding to the position setting of the traveling equipment relative to the cable pit. For example, when the traveling equipment is on the left side of the cable pit, the angle between the cable and the reference direction detected by the inclinometer is positive. Correspondingly, when the traveling equipment is on the right side of the cable pit, the angle between the cable and the reference direction detected by the inclinometer is set to a negative angle. Different types of signals can be used to feed back to the cable drum control device for positive and negative angles, so that the cable drum control device can obtain the relative direction of the traveling equipment relative to the cable pit.

[0064] Furthermore, in another embodiment, step S403 may also be to calculate the real-time position of the traveling equipment relative to the midpoint of the traveling equipment based on the length of the cable wound on the reel and the total length of the cables.

[0065] S302: Calculate the distance between the driving equipment and the midpoint.

[0066] After the real-time position of the traveling device is obtained, the distance between the traveling device and the midpoint is determined according to a preset moving stroke of the traveling device.

[0067] S303: Determine whether the vehicle is in a pit crossing area based on the distance between the vehicle and the midpoint.

[0068] The calculated distance from the vehicle to the midpoint determines whether the vehicle is within a predetermined distance from the midpoint of travel, thereby determining whether the vehicle is in a pit-passing area. If the vehicle is determined to be in a pit-passing area, step S220 is executed, where the cable drum control device controls the drum motor in a constant tension mode, thereby aligning the drum motor's rotational speed with the movement of the vehicle.

[0069] In the current embodiment, the technical solution provided by this application can quickly calculate the position of the crane without relying on an external PLC device, and determine whether the crane is in a pit-passing area based on the position of the crane, thereby providing a technical basis for sensitive control of the drum motor. The rotation of the drum motor can then be accurately controlled during the movement of the crane, so that the rotation of the drum motor matches the movement of the crane. At the same time, the position of the crane can be determined by the number of rotations of the cable drum motor fed back by the drum motor encoder, thereby determining the pit-passing area and using constant tension control in the pit-passing area to enable the crane to quickly pass the pit.

[0070] See Figure 5 , Figure 5 This is a flow chart of an embodiment of a cable reel control method of the present application. In the current embodiment, the method provided by the present application further includes the following steps after calculating the target speed of the reel motor according to the angle value in the above-mentioned steps of one embodiment.

[0071] S501: Determine whether the driving equipment is on the left side of the midpoint.

[0072] After obtaining the real-time position of the driving equipment, it is further determined whether the driving equipment is on the left side of the midpoint of the journey based on the real-time position of the driving equipment and / or the angle of the inclinometer. When it is determined that the driving equipment is on the left side of the midpoint, step S502 is executed.

[0073] For example, in one embodiment, when the cable is detected to be on the left side of the calibration direction, the angle between the cable and the calibration direction is a positive angle, and when the cable is detected to be on the right side of the calibration direction, the angle between the cable and the calibration direction is a negative angle. In step S501, it is determined whether the driving device is on the left side of the midpoint based on the received angle value.

[0074] In another embodiment, when the relative position relationship between the traveling equipment and the midpoint can be determined based on the rotation direction of the drum motor and the distance change trend between the traveling equipment and the midpoint, that is, when the real-time position of the traveling equipment has a direction, it can be determined whether the traveling equipment is on the left side of the midpoint based on the real-time position of the traveling equipment.

[0075] S502: Determine whether the driving equipment is moving to the left.

[0076] If it is determined in step S501 that the vehicle is on the left side of the midpoint, then it is determined that the vehicle is moving to the left, and then step S503 is executed. In the current embodiment, whether the vehicle is moving to the left can be determined based on the moving direction of the vehicle input by the external device PLC. The left side of the midpoint can be viewed from the paper direction. Figure 1 The left side of the midpoint P shown in the figure, correspondingly, the right side of the midpoint below refers to the side viewed from the paper direction. Figure 1 To the right of the midpoint P shown in .

[0077] Furthermore, in another embodiment, step S502 may also determine whether the vehicle is moving to the left based on a trend in the distance of the vehicle from the midpoint. If it is determined that the vehicle is to the left of the midpoint and the current distance of the vehicle from the midpoint is greater than the distance from the midpoint at the previous sampling moment, then the vehicle is moving to the left.

[0078] S503: Control the reel motor to drive the reel to release the cable.

[0079] If the traveling device moves to the left, the drum motor is controlled to drive the drum to rotate according to the set cable release direction to release the cable.

[0080] S504: Control the reel motor to drive the reel to take up the cable.

[0081] On the contrary, if the driving device moves to the right, the reel motor is controlled to drive the reel to rotate in the preset cable-taking direction to take up the cable.

[0082] Furthermore, when it is determined in step S501 that the driving equipment is on the right side of the midpoint, the method further includes steps S505 to S507.

[0083] S505: Determine whether the driving equipment is moving to the right.

[0084] Similarly, when it is determined that the traveling equipment is on the right side of the midpoint, it can be determined whether the traveling equipment is moving to the right based on the traveling equipment movement message sent by the external PLC.

[0085] In another embodiment, the direction of movement of the vehicle can also be determined based on the trend of changes in the distance from the vehicle to the midpoint within a preset period. The preset period is a predetermined, relatively short time period. If the distance from the midpoint decreases within the preset period, it indicates that the vehicle is moving leftward. Conversely, if the distance from the midpoint increases within the preset period, it indicates that the vehicle is moving rightward. If the vehicle is determined to be moving rightward, step S503 is executed; otherwise, step S504 is executed.

[0086] Furthermore, in one embodiment, the cable reel control method provided by the present application further includes:

[0087] Since there is a certain delay in stopping the driving equipment, when the emergency stop command input by the user is received, the brake mechanism is controlled to hold the drum motor tightly for a delay time to stop the drum motor.

[0088] In another embodiment, when the brake mechanism is controlled to be turned on by a brake circuit, the method provided in this application may further include: upon receiving an emergency stop command input by a user, sending a delayed clamping command to the brake circuit, causing the brake circuit to be turned on after a set delay, thereby controlling the brake mechanism to immediately clamp the drum motor. The preset time is set based on empirical values.

[0089] Compared with the existing technology, the control of the cable reel equipment is carried out by a frequency converter to exchange data with the PLC device that controls the entire cable reel, and then relies on the speed of the traveling equipment provided by the PLC. The technical solution provided by the present application can achieve the control of the reel motor by the cable reel control device without relying on the PLC to send the speed of the traveling equipment, and there is no need to rely on external PLC equipment to obtain the speed of the traveling equipment, which simplifies the control process. At the same time, compared with the existing technology that uses PLC to transmit the trolley speed, there is a certain signal delay. The technical solution provided by the present application directly communicates within the cable reel control device, and there is no communication delay, so the reel motor can achieve a better following effect of the traveling equipment. Furthermore, it can also be achieved without stopping when the traveling equipment passes through a pit, thereby improving production operation efficiency.

[0090] See Figure 6 , Figure 6Schematic diagram of the structure of a cable reel control device according to an embodiment of the present application. In the current embodiment, the cable reel control device 600 provided by the present application includes: an angle sensor component 604, a processor 601, a first drive circuit 603, a memory 602, and program data stored in the memory.

[0091] Among them, the angle sensing component 604 is arranged on the driving equipment, and the detection end of the angle sensing component 604 is connected to the cable in the cable reel equipment, and the output end of the angle sensing component 604 is connected to the processor 601 to feed back the angle value between the detected cable and the calibrated direction to the processor 601, so that the processor 601 determines the target speed of the reel motor according to the angle value.

[0092] The processor 601 is coupled to the memory 602 and the first drive circuit 603. When the first drive circuit 603 receives the control instruction from the processor 601, it outputs the drive signal required by the control instruction to the motor in the cable reel device to drive the reel motor to operate according to the control instruction. The processor 601 executes the program data when working to complete the method described in any of the above embodiments.

[0093] See Figure 7 , Figure 7 This is a structural diagram of an embodiment of a storage medium of the present application. In the current embodiment, the storage medium 700 provided by the present application stores program data 701 that can be run by a processor. When the program data 701 is executed, it can achieve the following Figures 1 to 5 The method described in any one of the preceding claims. Specifically, the storage medium 700 may be a device that can store the program data 701, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, or may be a server that stores the program data 701. The server may send the stored program data 701 to other devices for execution, or may execute the stored program data 701 itself.

[0094] See Figure 8 , Figure 8 This is a structural diagram of an embodiment of a cable reel control device of the present application.

[0095] In the current embodiment, the cable reel control device 1000 provided herein is used to control at least the reel motor M1 of the cable reel. The reel motor M1 is used to rotate in response to the movement of the vehicle to reel in or release the cable, thereby providing functional services to external devices. In the current embodiment, the cable reel control device 1000 provided herein comprises a control circuit 100 and a second drive circuit 200, which are interconnected.

[0096] The control circuit 100 is configured to calculate target parameters of the drum motor M1 based on the collected parameters, and then generate corresponding control instructions based on the calculated target parameters and output them to the second drive circuit 200. Upon receiving a control instruction from the control circuit 100, the second drive circuit 200 is configured to respond to the control instruction and output a corresponding drive signal, thereby controlling the drum motor M1 to rotate according to the target parameters corresponding to the control instruction, or to respond to the control instruction and turn on the corresponding structure or circuit unit to complete the operation corresponding to the control instruction.

[0097] Furthermore, the second drive circuit 200 includes a first sub-drive circuit 210 and a brake circuit 220 .

[0098] The input end of the brake circuit 220 is connected to the first sub-drive circuit 210, the control end of the brake circuit 220 is connected to the control circuit 100, and the output end of the brake circuit 220 is connected to the brake mechanism 203 provided on the drum motor M1. This delay controls the brake mechanism 203 to clamp the drum motor M1 when the control circuit 100 outputs a trigger brake command. The brake mechanism 203 clamps the drum motor M1 only when the brake circuit 220 is conducting; it does not clamp the drum motor M1 when the brake circuit 220 is not conducting. The delay time of the brake circuit 220 can be set and controlled by the control circuit 100 based on empirical values. In another embodiment, the delay time of the brake circuit 220 can also be determined by the structure and parameters of the relevant components in the brake circuit 220, which are not limited in this context.

[0099] For further information, please see Figure 8 The control circuit 100 includes a first processing chip 110, which includes at least one pulse width modulation port PWM. The at least one pulse width modulation port PWM is connected to the first sub-driver circuit 210 in the second driver circuit 200 to output pulse control instructions to the first sub-driver circuit 210. In one embodiment, the first processing chip 110 may be a DSP processing chip, but the type of the first processing chip 110 is not limited. It is understood that the first processing chip 110 may also include other ports and interfaces, as described in the corresponding sections below.

[0100] Further, see Figure 9 , Figure 9 This is a schematic diagram of another embodiment of a cable reel control device according to the present application. The first sub-drive circuit 210 includes a rectifier unit 211 and a drive unit 212, which are interconnected. The input end of the rectifier unit 211 is connected to the external power supply 1001. The rectifier unit 211 is configured to rectify the electrical signal input from the external power supply 1001 to the first sub-drive circuit 210, thereby converting the AC power input from the external power supply 1001 into DC power.

[0101] Further, please also see Figure 10 , Figure 10 This is a structural diagram of another embodiment of a cable reel control device of the present application. In which, the rectifier unit 211 includes three sets of parallel IGBT bridge arms (not shown in the figure), and the IGBT bridge arm includes two series-connected IGBT switches. Figure 10 As shown, IGBT switch T7 and IGBT switch T8 are connected in series to form an IGBT bridge arm, IGBT switch T9 and IGBT switch T10 are connected in series to form an IGBT bridge arm, and IGBT switch T11 and IGBT switch T12 are connected in series to form an IGBT bridge arm.

[0102] The output end of the rectifier unit 211 is connected to the input end of the drive unit 212, and the output end of the drive unit 212 is connected to the drum motor M1. The drive unit 212 is used to convert the direct current output by the rectifier unit 211 into alternating current of a set voltage and output it to the drum motor M1. Specifically, the set voltage value is determined according to the rated voltage of the drum motor M1, and no limitation is made here. The control end of the drive unit 212 is connected to a pulse width modulation port PWM in the first processing chip 110. After receiving the pulse control instruction from the control circuit 100, the drive unit 212 outputs a drive signal corresponding to the pulse control instruction to the drum motor M1 to control the drum motor M1 to rotate according to the pulse control instruction, so that the rotation speed of the drum motor M1 can match the movement speed of the driving equipment, thereby collecting or releasing the cable.

[0103] Further, please also see Figure 9 and Figure 10The drive unit 212 includes an IGBT driver group and an IGBT driver chip 2122. The input of the IGBT driver group is connected to the output of the rectifier unit 211, the control end of the IGBT driver group 2121 is connected to the output of the IGBT driver chip 2122, and the input of the IGBT driver chip 2122 is connected to the pulse width modulation port PWM of the first processing chip 110. Upon receiving a pulse control command from the first processing chip 110, the IGBT driver chip 2122 responds to the pulse control command to control the IGBT group 2121 to convert the DC power output from the rectifier unit 211 into a drive signal of a set voltage. Accordingly, under the control of the IGBT driver chip 2122, the IGBT group 2121 converts the DC power output from the rectifier unit 211 into a drive signal of a set voltage. The converted drive signal is then output to the drum motor M1, driving the drum motor to rotate according to the parameters corresponding to the pulse control command, thereby ensuring that the speed of the drum motor M1 can better match the moving speed of the traveling device.

[0104] Furthermore, the IGBT driving group includes three groups of parallel IGBT bridge arms (not shown in the figure), and the IGBT bridge arm includes two series-connected IGBT switches. Figure 10 As shown, IGBT switch T1 and IGBT switch T2 are connected in series to form an IGBT bridge arm 21211, IGBT switch T3 and IGBT switch T4 are connected in series to form another IGBT bridge arm, and IGBT switch T5 and IGBT switch T6 are connected in series to form another IGBT bridge arm. The three IGBT bridge arms are connected in parallel to form an IGBT group 2121 to convert the DC power output by the rectifier unit 211 into AC power under the control of the IGBT chip.

[0105] The first input of the brake circuit 220 is connected to the output of the rectifier unit 211 to receive a power signal from the output of the rectifier unit 211 to power the relevant components of the brake circuit 220. The second input of the brake circuit 220 is connected to the first processing chip 110 to receive control instructions from the first processing chip 110. The control instructions that the brake circuit 220 can receive from the first processing chip 110 include at least a brake instruction. When the brake circuit 220 receives the brake instruction from the first processing chip 110, it turns on to control the brake mechanism 203 to tighten the drum motor M1.

[0106] Further, see Figure 10 , Figure 10 for Figure 8 A schematic diagram of the structure of an embodiment of the brake circuit 220 is shown. In the current embodiment, the brake circuit 220 provided by the present application includes a diode D1, a switch circuit K2, an input filter capacitor C2, and an output filter capacitor C3.

[0107] Among them, the positive end of the input filter capacitor C2 is connected to the positive bus EF in the first sub-drive circuit 210 to draw power from the positive bus EF, the negative end of the input filter capacitor C2 is connected to the negative bus CD in the first sub-drive circuit 210, the positive end of the output filter capacitor C3 is connected to the positive bus EF to draw power from the positive bus EF, the negative end of the output filter capacitor C3 is connected to the input end of the switching circuit K2, the output end of the switching circuit K2 is connected to the negative bus CD, and the control end of the switching circuit K2 is connected to the control circuit 100.

[0108] The input filter capacitor C2 and the output filter capacitor C3 are both used to filter the electrical signal from the positive bus EF. The switch circuit K2 is configured to delay for a set time upon receiving a brake command from the first processing chip 110, entering an on state. This delay then turns on the brake mechanism 203, thereby tightening the drum motor M1. The switch circuit K2 remains off when it does not receive a brake command from the first processing chip 110. During this time, the brake mechanism 203 cannot receive a valid drive signal, maintaining its initial state and preventing it from tightening the drum motor M1.

[0109] The first end of the brake mechanism 203 is connected to the positive end of the output filter capacitor C3 , and the second end of the brake mechanism 203 is connected to the negative end of the output filter capacitor C3 .

[0110] Furthermore, the brake circuit 220 also includes an inductor for filtering the electrical signal driving the brake structure. There is no limitation on the parameters of the inductor, and the parameters can be set and adjusted according to actual needs.

[0111] Furthermore, the switch circuit K2 includes a MOS transistor, the drain of which is connected to the negative bus CD, and the source of which is connected to the second end of the brake mechanism 203 via an inductor.

[0112] Please continue to see Figure 10 The second driving circuit 200 in the cable reel control device 1000 provided in the present application further includes a feedback filter circuit 230 . One end of the feedback filter circuit 230 is connected to the external power supply 1001 , and the other end of the feedback filter circuit 230 is connected to the rectifier unit 211 .

[0113] Furthermore, the feedback filter circuit 230 further includes three sets of inductors L1, L2, and L3 arranged in parallel, which connect the external power supply 1001 and the rectifier unit 211. When the feedback current is connected to the grid, the feedback filter circuit 230 cooperates with the rectifier unit 211 to filter the feedback current to obtain a current signal that can be connected to the grid, and then connect the feedback current to the grid for consumption by other structures.

[0114] Specifically, when the drum motor M1 brakes, the kinetic energy generated by the braking of the drum motor is converted into a feedback current signal, which is fed back to the external power grid or used to power other devices through the drive unit 212 and the rectifier unit 211. The three parallel IGBT bridge arms provided in this application can filter out harmonic signals in the feedback current, thereby allowing the feedback current to be connected to the external power grid, thereby achieving energy conservation to a certain extent.

[0115] See Figure 10 The cable reel control device provided herein further includes a buffer circuit 300. The third terminal of the buffer circuit 300 is connected to the positive bus EF, and the fourth terminal of the buffer circuit 300 is connected to the negative bus CD. It should be noted that when the reel motor M1 is in operation, the third terminal of the buffer circuit 300 is the positive terminal, and the corresponding fourth terminal of the buffer circuit 300 is the negative terminal.

[0116] Furthermore, the buffer circuit 300 includes a buffer capacitor C1, a protection resistor R1, and a buffer switch K1, wherein the positive end of the buffer capacitor C1 is connected to the positive bus EF, the negative end of the buffer capacitor C1 is connected to one end of the buffer switch K1 and one end of the protection resistor R1, respectively, and the other end of the buffer switch K1 and the other end of the buffer protection resistor R1 are both connected to the negative bus CD. When the current or voltage in the positive bus EF or the negative bus CD increases, the buffer protection circuit prevents the relevant components in the second drive circuit 200 from being broken down due to the instantaneous rapid change of current.

[0117] Furthermore, the second drive circuit 200 also includes an auxiliary power supply circuit 201 for supplying power to the sampling circuit 240, a fan or a lighting lamp, etc. The positive terminal of the auxiliary power supply circuit 201 is connected to the positive bus EF to draw power from the positive bus EF, and the negative terminal of the auxiliary power supply circuit 201 is connected to the negative bus terminal CD. Specifically, when the auxiliary power supply circuit 201 supplies power to the sampling circuit 240, a fan or a lighting lamp, etc. at the same time, a cable reel control device 1000 includes multiple auxiliary power supply circuits. Figure 10 As shown, the power supply circuit may include an auxiliary power supply circuit 201 and an auxiliary power supply circuit 202 .

[0118] Furthermore, in another embodiment, the cable reel control device 1000 provided in the present application can also be used to control a traveling device. The cable reel control device 1000 provided in the present application also includes a second sub-drive circuit (not shown). The input end of the second sub-drive circuit is connected to the control circuit 100, and the output end of the second sub-drive circuit is connected to the motor of the traveling device to drive the traveling device. The second sub-drive circuit matches the motor of the traveling device and is provided with a device group for rectification and a device group for outputting a drive signal, which will not be described in detail here.

[0119] See Figure 11 , Figure 11 This is a structural diagram of another embodiment of a cable reel control device of the present application. Figure 11 Specifically shown is the port distribution corresponding to the first processing chip.

[0120] Further, see Figure 11 The cable reel control device provided herein may further include a human-computer interaction circuit 204, which is connected to the human-computer interaction port P13 on the first processing chip 110. The human-computer interaction circuit 204 includes at least one of an operation screen, an operation panel, or a panel for user input of the cable reel control device 1000. The user input of the command is not limited herein.

[0121] In the current embodiment, the first processing chip 110 provided by this application includes at least:

[0122] Manual / automatic signal input port P1 is connected to the corresponding input button in human-computer interaction circuit 204 and is used to receive user input for manual or automatic cable reeling. When the user selects manual cable reeling / manual cable release, the manual cable reeling / manual cable release signal is fed back to first processing chip 110 via manual cable reeling / manual cable release signal input port P2. At this point, cable reel control device 1000 terminates automatic cable reeling mode, allowing the user to manually reel in / out the cable using the handle structure.

[0123] The manual cable retraction signal input port P2 is used to feed back a manual cable retraction signal to the first processing chip 110 when the user selects manual cable retraction through the human-computer interaction circuit 204 .

[0124] The manual cable release signal input port P3 is used to feed back a manual cable release signal to the first processing chip 110 when the user selects manual cable release through the human-computer interaction circuit 204 .

[0125] The reset signal input port P4 is connected to the reset button. The user can trigger the reset button and then send a reset signal to the first processing chip 110 through the reset signal input port P4. The user can reset preset parameters, such as the length of the currently collected cable. It is understood that when resetting multiple data, the cable reel control device 1000 provided in this application may also include multiple reset signal input ports and reset buttons.

[0126] The left signal input port P5 of the traveling equipment and the right input port P6 of the traveling equipment are connected to an external PLC device. The external PLC device can feedback the current moving direction of the traveling equipment to the cable drum control device 1000 through the left signal input port P5 of the traveling equipment and the right input port P6 of the traveling equipment, so as to control the drum motor M1 based on the moving direction of the traveling equipment.

[0127] The emergency stop signal port P7 is connected to an external emergency stop button. The user can input an emergency stop signal through the emergency stop button, and the emergency stop signal is fed back to the first processing chip 110 through the emergency stop signal port P7.

[0128] The reel full signal input port P8 is connected to a sensor for detecting whether the reel is full, and is used to feed back to the first processing chip 110 whether the reel is full.

[0129] The inclinometer input port P11 is connected to the inclinometer and is used to obtain the angle value fed back by the inclinometer. The inclinometer is used to detect the angle between the cable and the calibration direction, and then feed the detected angle between the cable and the calibration direction back to the first processing chip 110.

[0130] The expansion port P12 is a reserved expansion port that can be used to connect to other expansion chips when the ports of the first processing chip 110 are insufficient.

[0131] The sampling detection port P14 is connected to an external sensor or detection component for detecting set parameters. When multiple external parameters need to be acquired, the first processing chip 110 may further include multiple sampling detection ports. For example, the sampling detection ports may include a port connected to an encoder for detecting the rotational speed of the reel motor M1 to acquire the rotational speed of the reel motor M1. Furthermore, the sampling detection ports may also include a port connected to the sampling circuit 240 to acquire the parameters of the electrical signal actually output to the reel motor M1.

[0132] Furthermore, in some embodiments, the first processing chip 110 also includes a crane speed input port P10 connected to an external PLC device. The external PLC device can use this port to provide feedback to the first processing chip 110 regarding the current crane speed, thereby controlling the reel motor M1 based on the crane speed.

[0133] The above description is only an implementation method of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A cable drum control device, characterized in that: The cable drum control device is at least used to control the drum motor in the cable drum following the movement of the traveling device, and the drum motor is used to drive the drum to rotate to collect or release the cable. The device includes a control circuit, a second drive circuit and a buffer circuit; The second drive circuit includes a first sub-drive circuit and a brake circuit, wherein the input end of the brake circuit is connected to the first sub-drive circuit, the control end of the brake circuit is connected to the control circuit, and the output end of the brake circuit is connected to a brake mechanism provided at the drum motor, so as to delay control of the brake mechanism to clamp the drum motor when the control circuit outputs a trigger brake command; In which, the brake circuit includes a diode, a switching circuit, an input filter capacitor and an output filter capacitor. The positive end of the input filter capacitor is connected to the positive bus, the negative end of the input filter capacitor is connected to the negative bus, the positive end of the output filter capacitor is connected to the positive bus, the negative end of the output filter capacitor is connected to the input end of the switching circuit, the output end of the switching circuit is connected to the negative bus, and the control end of the switching circuit is connected to the control circuit; the third end of the buffer circuit is connected to the positive bus, and the fourth end of the buffer circuit is connected to the negative bus. The switching circuit is used to delay the setting time to enter the conduction state when receiving the brake command, and turn on the brake mechanism for the delay setting time, thereby tightening the drum motor.

2. The cable drum control device according to claim 1, characterized in that: The control circuit includes a first processing chip. The first processing chip includes at least one pulse width modulation port. The at least one pulse width modulation port is connected to the second driving circuit to output a pulse control instruction to the second driving circuit.

3. The cable drum control device according to claim 2, characterized in that: The first sub-drive circuit includes a rectifier unit and a drive unit that are connected to each other, the input end of the rectifier unit is connected to an external power supply, the output end of the rectifier unit is connected to the input end of the drive unit, the output end of the drive unit is connected to the drum motor, and the control end of the drive unit is connected to one of the pulse width modulation ports. After receiving the pulse control instruction from the control circuit, the drive unit outputs a drive signal corresponding to the pulse control instruction to the drum motor to control the drum motor to rotate according to the pulse control instruction.

4. The cable drum control device according to claim 3, characterized in that: The first input end of the brake circuit is connected to the output end of the rectifier unit, and the second input end of the brake circuit is connected to the first processing chip.

5. The cable drum control device according to claim 4, characterized in that: The first end of the brake mechanism is connected to the positive end of the output filter capacitor, and the second end of the brake mechanism is connected to the negative end of the output filter capacitor.

6. The cable drum control device according to claim 5, characterized in that: The brake circuit also includes an inductor; The switch circuit includes a MOS transistor, a drain of the MOS transistor is connected to the negative bus, and a source of the MOS transistor is connected to the second end of the brake mechanism through the inductor.

7. The cable drum control device according to claim 3, characterized in that: The second driving circuit further includes a feedback filter circuit, one end of the feedback filter circuit is connected to the external power supply end, and the other end of the feedback filter circuit is connected to the rectifier unit.

8. The cable drum control device according to claim 3, characterized in that: The rectifier unit includes three groups of parallel-connected IGBT bridge arms, and each IGBT bridge arm includes two series-connected IGBT switches.

9. The cable drum control device according to claim 1, wherein: The device further includes a second sub-driving circuit, wherein an input end of the second sub-driving circuit is connected to the control circuit, and an output end of the second sub-driving circuit is connected to a motor of the traveling device for driving the traveling device to move.

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