A control method, system and device for synchronizing movement of a vehicle with a cable

Abstract

The application discloses a kind of vehicle and cable synchronous motion control method, system and device, method is: obtaining subcar real-time speed, reel speed information, oil circuit real-time pressure value and remote control handle real-time information;According to the real-time speed of obtaining subcar, reel speed information, oil circuit real-time pressure value and remote control handle information respectively calculates subcar, reel speed acceleration value, turntable angular velocity acceleration value and oil pressure contrast value and generates corresponding control parameter;Control parameter is sent to corresponding hydraulic valve, motor;So that the linear velocity of subcar or reel is equal and synchronous motion, and corrects reel servo when moving, and the oil circuit real-time pressure value of reel is selected to output alarm information to operator.The method, system and device of the application can efficiently control the acceleration of subcar and reel to synchronize speed, and the reaction is fast;Reel and vehicle can switch following motion main body, fully utilize following capacity, and improve the rescue efficiency of emergency drainage rescue subcar.

Description

Technical Field

[0001] The present invention belongs to the field of engineering machinery, and in particular relates to a control method, system and device for synchronous movement of a vehicle and a winding cable. Background Art

[0002] Engineering vehicles are often used in complex environments, especially in areas inaccessible to large vehicles, requiring separate vehicles to enter. Emergency drainage and rescue vehicles use a sub-vehicle to enter small, complex, flooded areas for drainage. The sub-vehicle is powered by the mother vehicle's reel system, requiring the reel to be dragged long distances, resulting in long and heavy cables. Manually retracting and unreeling the cable is time-consuming and labor-intensive. Excessive tension can easily cause the cable to stretch, deform, or even break, while too little tension can easily cause the cable to become tangled or even break. Synchronous movement of the reel and vehicle is key to its safe use.

[0003] In the prior art, CN110642104 B discloses a cable winding control method, device, and cable winding device. Based on the cable reel rotation speed and the vehicle travel mechanism motor speed, the cable reeling and unreeling speed is adjusted to be equal to the vehicle travel speed, thereby controlling the cable reeling and unreeling length to be equal to the travel distance of the vehicle travel mechanism. This solves the problem of the cable being constantly under tension and thus being damaged. However, this technology primarily achieves speed synchronization by controlling displacement, which is prone to severe lag. The reel follows the vehicle movement, but does not consider the problem of insufficient following ability of the reel when it is started.

[0004] Secondly, CN105217500B discloses a cable winding control system and method. The controller calculates the desired motor pressure difference based on the winch rotation angle value obtained from the encoder and the vehicle driving acceleration obtained from the acceleration sensor, and outputs an adjustment signal to the hydraulic control device to adjust the flow and pressure of the hydraulic oil output by the hydraulic control device so that the actual motor pressure difference is basically equal to the desired motor pressure difference, thereby adjusting the motor speed and back pressure and eliminating cable tension fluctuations. However, in actual application, indirect speed synchronization through pressure difference requires the establishment of a pressure difference and speed control model, which may cause error accumulation and the accuracy of the control model is not high. Summary of the Invention

[0005] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a control method, system and device for the synchronous movement of a vehicle and a cable reel. The acceleration of the sub-vehicle and the reel is controlled by the method, system and device of the present invention to achieve speed synchronization, and the response is fast; the reel and the vehicle can switch to follow the moving body, making full use of the following capability, thereby improving the rescue efficiency of the emergency drainage rescue mother-and-child vehicle.

[0006] Technical Solution: In a first aspect, the present invention provides a method for controlling the synchronous movement of a vehicle and a winding cable, comprising:

[0007] Get the real-time speed of the sub-vehicle, the reel speed information, and the remote control handle real-time information;

[0008] According to the real-time information of the remote controller, the target linear velocity value of the sub-car and the target acceleration value of the remote controller are obtained;

[0009] Calculating the sub-vehicle's real-time acceleration based on the sub-vehicle's real-time speed, and calculating the sub-vehicle's current acceleration performance redundancy value based on the sub-vehicle's real-time acceleration;

[0010] The target acceleration value of the remote controller is matched with the current acceleration performance redundancy value to determine whether the target acceleration value meets the acceleration performance of the sub-vehicle and the acceleration of the sub-vehicle is determined according to the judgment result;

[0011] The acceleration time of the sub-carriage is calculated based on the determined sub-carriage acceleration and target linear speed value; the linear speed of the sub-carriage reached within the acceleration time is used as the target linear speed of the reel, and the required speed acceleration of the reel is calculated based on the reel speed information;

[0012] Compare the required reel speed acceleration with the reel speed acceleration upper limit, and select and determine the reel speed acceleration based on the comparison result;

[0013] Determining whether to reversely calculate the sub-vehicle target acceleration based on the determined reel speed acceleration, and outputting the determined reel speed acceleration and sub-vehicle acceleration according to the determination;

[0014] Calculate the reel angular velocity acceleration according to the reel speed information; and generate corresponding control parameters according to the reel angular velocity acceleration, the determined reel speed acceleration, and the vehicle acceleration;

[0015] The corresponding control parameters are output to the corresponding hydraulic valves and motors of the sub-trolley and the reel respectively, controlling the synchronous movement of the sub-trolley and the cable on the reel while correcting the reel follow-up movement.

[0016] In a further embodiment, the method of matching the target acceleration value of the remote controller with the current acceleration performance redundancy value to determine whether the target acceleration value satisfies the acceleration performance of the sub-vehicle and selecting and determining the acceleration of the sub-vehicle based on the determination result includes:

[0017] If the current acceleration performance redundancy value of the sub-car cannot meet the target acceleration value of the remote controller, the target acceleration value is used as the determined acceleration;

[0018] Calculate the sub-carriage acceleration time based on the target acceleration value and the target linear speed value; take the sub-carriage linear speed reached within the acceleration time as the reel target linear speed;

[0019] If the sub-car's current acceleration performance redundancy value meets the target acceleration value of the remote controller, the sub-car's real-time acceleration is used as the determined acceleration;

[0020] The sub-carriage acceleration time is calculated based on the sub-carriage real-time acceleration and the target speed value; the sub-carriage linear speed reached within the sub-carriage acceleration time is used as the reel target linear speed.

[0021] In a further embodiment, the method of comparing the required reel speed acceleration with the reel speed acceleration upper limit and selecting the reel speed acceleration based on the comparison result includes:

[0022] If the required speed acceleration of the reel is less than the upper limit of the speed acceleration of the reel, the required speed acceleration of the reel shall be used as the determined speed acceleration;

[0023] If the required reel speed acceleration is greater than the reel speed acceleration upper limit, the reel speed acceleration upper limit is used as the determined reel speed acceleration, and the sub-vehicle target speed and target acceleration are inversely calculated;

[0024] In a further embodiment, the method of determining whether to inversely calculate the sub-vehicle acceleration based on the determined reel speed acceleration, and selectively outputting the determined reel speed acceleration and sub-vehicle acceleration according to the determination includes:

[0025] When the sub-vehicle real-time acceleration is used as the determined acceleration and the reel required speed acceleration is used as the determined speed acceleration, the sub-vehicle real-time acceleration and the reel required speed acceleration are output;

[0026] When the target acceleration is used as the determined acceleration and the required speed acceleration of the reel is used as the determined speed acceleration, the target acceleration reached by the sub-vehicle and the required speed acceleration of the reel are output;

[0027] When the sub-vehicle real-time acceleration is used as the determined acceleration and the reel speed acceleration upper limit is used as the determined reel speed acceleration, the sub-vehicle acceleration is inversely calculated based on the target linear velocity reached at the reel speed acceleration upper limit at time T; the inversely calculated sub-vehicle acceleration and the reel speed acceleration upper limit are output;

[0028] When the target acceleration is the determined acceleration and the upper limit value of the reel speed acceleration is the determined reel speed acceleration, the acceleration of the sub-vehicle is cyclically inversely calculated based on the target linear speed reached at the upper limit value of the reel speed acceleration at time T, and the cyclically inversely calculated sub-vehicle acceleration and the upper limit value of the reel speed acceleration are output.

[0029] In a further embodiment, the method for synchronous movement of the vehicle and the cable reel further acquires the reel oil circuit pressure in real time;

[0030] Determine whether the reel oil circuit pressure value needs to be adjusted based on a preset asynchronous threshold of the reel oil circuit pressure;

[0031] If adjustment intervention is required, when the reel oil circuit pressure value exceeds the upper limit of the asynchronous threshold, the system operation is stopped and an alarm is output to the display.

[0032] In a further embodiment, the method for obtaining the real-time speed of the sub-vehicle and the reel speed information is:

[0033] The encoder is used to obtain the reel speed information, and the vehicle speed sensor is used to obtain the real-time speed of the sub-vehicle;

[0034] When the cable on the reel moves synchronously with the vehicle, the reel has two working conditions, and the corresponding cable winding conditions are different. Based on the two sets of working conditions of the reel and the different cable winding conditions, multiple real-time accelerations are obtained;

[0035] The vehicle movement and cable winding movement are preset to be synchronized, where the cable winding speed must be equal to the vehicle real-time speed;

[0036] The expression of cable winding speed is:

[0037] v j =2π(n j0 +β j t j )r j

[0038] Where, v j Indicates the cable winding speed, n j0 Indicates the initial speed of the reel, β j represents the rotational acceleration of the reel, t j· Expressed as the reel acceleration time, r j Indicates the real-time radius of the reel, which includes the sum of the radius R of the reel structure and the total diameter of the remaining cable

[0039] The expression of the sub-car's real-time speed is:

[0040] v z =v z0 +a z t z ;

[0041] Where, v z Indicates the real-time speed of the vehicle, v z0 represents the initial linear velocity of the vehicle, a z represents the acceleration of the sub-car, t z represents the acceleration time of the sub-car;

[0042] The two working conditions of the reel include: the first working condition and the second working condition;

[0043] Under the first working condition: the reel speed required for synchronous movement with the sub-carriage is less than the upper limit speed, then the reel is allowed to accelerate to the required speed according to the required speed acceleration, which is equivalent to the cable moving with the sub-carriage;

[0044] Under the second working condition, the reel speed required for synchronous movement with the sub-carriage is greater than or equal to the upper limit speed, then the reel can only be accelerated to the upper limit speed, which is equivalent to the sub-carriage moving with the cable;

[0045] The different cable winding situations include: three situations when laying out the cable and three situations when retracting the cable;

[0046] The three situations of cable laying include: the reel start-up stage, the reel stable stage, and the reel stop stage. In the reel start-up stage: the sub-car can be regarded as uniformly accelerated motion. At this time, v j =v z , a j =a z , a j Indicates acceleration, and there are also two working conditions of the reel;

[0047] The reel is in a stable stage: the vehicle can be regarded as moving at a uniform speed, at this time v j =v z , a z =0, r j Indicates the real-time radius value of the reel, which is used to calculate the linear speed value at the outermost end. The reel speed increases slowly as the laying radius decreases.

[0048] Reel stop phase: The vehicle can be considered as uniformly decelerated motion, at this time v j =v z , a j =a z , two working conditions of the reel;

[0049] The three situations when winding and rewinding the cable include: the reel start-up phase, the reel stable phase, and the reel stop phase. In the reel start-up phase: the sub-car can be regarded as uniformly accelerated motion, at this time v j =v z , a j =a z , there are also two working conditions of the reel;

[0050] The reel is in a stable stage: the vehicle can be regarded as moving at a uniform speed, at this time v j =v z , a z =0, The reel speed decreases slowly as the deployment radius increases;

[0051] Reel stop phase: The vehicle can be considered as uniformly decelerated motion, at this time v j =vz , a j =a z , there are also two working conditions of the reel.

[0052] In a further embodiment, a method for calculating the reel angular velocity acceleration based on the reel rotation speed information includes:

[0053] The reel speed information includes: real-time reel speed, real-time reel angle, and real-time reel angular velocity;

[0054] Calculate the number of cable coils based on the real-time angle of the reel, and calculate the number of cable layers based on the number of cable coils and the preset number of coils per layer;

[0055] The cable retracting radius is calculated based on the number of cable layers, the radius of the empty reel and the cable reel radius;

[0056] The linear velocity is calculated based on the cable reeling radius and the real-time angular velocity of the reel.

[0057] The target angular velocity is calculated based on the target linear velocity, and the angular velocity acceleration per unit time is obtained. The angular velocity acceleration is then used to generate the corresponding control parameters to correct the reel follow-up.

[0058] The calculation formula of the reel real-time angular velocity ω is:

[0059]

[0060] Reel speed n j The calculation formula is:

[0061]

[0062] Speed ​​acceleration β j The calculation formula is:

[0063]

[0064] The calculation formula for the number of turns of the cable is:

[0065]

[0066] The calculation formula for the number of cable layers is:

[0067]

[0068] The calculation expression of the cable winding radius is:

[0069] r j =r0+(2M-1)r1

[0070] Among them, θ is the angle of the reel measured by the controller according to the encoder per unit time, ω is the angular velocity of the reel, nj is the reel speed, β j is the acceleration of the rotation speed, Δt is the unit time, N is the number of turns of the cable, N is an integer, N0 is the number of turns of each layer of the wound cable, M is the number of cable layers, r0 is the radius of the reel when it is empty, and r1 is the radius of the cable.

[0071] In a further embodiment, the method for obtaining the target linear velocity value of the sub-vehicle and the target acceleration value of the remote controller according to the real-time information of the remote controller is as follows:

[0072] When the vehicle is moving and the cable is being wound synchronously, the target linear velocity value v of the vehicle and the cable being wound synchronously is obtained by receiving the control signal of the current opening of the remote controller. e , thus predicting the handle pushing speed according to the sensitivity of the remote control handle, and obtaining the target acceleration value a of the remote control handle according to the handle pushing speed e .

[0073] The target reel speed can also be obtained based on the target acceleration of the remote controller, including:

[0074] According to the target acceleration a e The target acceleration time of the sub-vehicle is obtained by combining the real-time speed of the sub-vehicle and the sub-vehicle. The calculation formula of the target acceleration time of the sub-vehicle is:

[0075] Target acceleration a based on the vehicle's motion e , target acceleration time, calculate the target speed acceleration of the sub-vehicle driving wheel, where the calculation formula for the target speed acceleration of the sub-vehicle driving wheel is: Where β ze is the target speed acceleration of the driving wheel;

[0076] Based on the target speed acceleration of the driving wheel β ze , calculate the target speed of the driving wheel, where the calculation formula of the target speed of the driving wheel is: Where n ze is the target speed of the driving wheel, r z Drive wheel radius;

[0077] The reel target speed acceleration is calculated based on the drive wheel target speed. The reel target speed acceleration calculation formula is: Where β je is the reel target speed acceleration;

[0078] Based on the reel target speed acceleration, calculate the reel target speed, the calculation formula is n je =n j0 +β je t e , where n je is the target reel speed.

[0079] In a further embodiment, the reel target speed has an upper limit value of the speed. Based on the limitation of the upper limit value of the reel speed, the reel target speed is preset under two working conditions:

[0080] If the reel target speed n je Less than or equal to the upper limit of the reel speed n max , then the target speed of the driving wheel and the target speed of the reel are equal n je =n ze ;

[0081] If the reel target speed n je Greater than the upper limit of the reel speed n max , then the target speed of the driving wheel, the target speed of the reel, and the upper limit of the reel speed are equal n ze =n je =n max . .

[0082] In a further embodiment, the motion error generated by the sub-vehicle during actual motion is also included and the motion error is accumulated in time sequence. Therefore, it is necessary to monitor in real time whether the sub-vehicle driving wheel speed and the reel speed meet the original target acceleration time, select to update the target acceleration time, and select to compensate for the reel or sub-vehicle driving wheel speed change under the updated target acceleration time. The compensation speed change method is:

[0083] The preset monitoring time is t jc , if t jc At the moment when the sub-car meets the target speed of the driving wheel and the real-time speed acceleration of the reel is less than the target speed acceleration of the reel, the reel continues to accelerate and the driving wheel of the sub-car performs a compensatory speed change. The required compensatory speed acceleration and corresponding speed change time of the driving wheel of the sub-car are calculated according to the target speed of the driving wheel, the original target acceleration time, the updated target acceleration time, and the current speed acceleration of the reel, so as to ensure that the movement speed of the sub-car and the reel scaling speed are at the new target time t e2 The speeds are equal; the original target acceleration time is the time it takes for the current target acceleration to accelerate to the target speed; the updated target acceleration time is the new target acceleration time generated after the reel acceleration changes and the original target acceleration time cannot accelerate to the target speed. The sub-vehicle must accelerate to the target speed at the new target acceleration time;

[0084] If t jcAt the moment when the reel meets the reel target speed and the sub-car driving wheel speed real-time speed acceleration is less than the driving wheel target speed acceleration, the sub-car driving wheel speed continues to accelerate and the reel performs compensatory speed change; at this time, the reel acceleration performance needs to be considered; if the reel compensation speed acceleration is less than the upper limit speed acceleration, the speed is changed according to the compensation speed acceleration; if the reel compensation speed acceleration is greater than or equal to the upper limit speed acceleration, the speed is changed according to the upper limit speed acceleration, and the movement time of different compensation speed change stages is adjusted accordingly to ensure that the sub-car and the reel are within the updated target acceleration time t e2 The speed is equal;

[0085] If the reel compensation speed acceleration is greater than or equal to the upper limit speed acceleration and the compensation time t e3 Exceeds the updated target acceleration time t e2 When the speed of the sub-vehicle driving wheel meets the target speed of the driving wheel and the real-time speed acceleration of the reel is less than the target speed acceleration of the reel, the speed change of the new stage is continued;

[0086] It also includes monitoring the cable winding oil circuit pressure during the compensatory speed change of the reel or the sub-vehicle driving wheel speed; if the oil circuit pressure does not exceed the upper limit of the asynchronous threshold, the speed change is allowed to continue, otherwise the speed change is stopped and an alarm is prompted, allowing the operator to use the synchronization coordinator on the remote control for manual synchronization control.

[0087] In a second aspect, the present invention provides a control system for synchronous movement of a vehicle and a winding cable, comprising:

[0088] Remote control, encoder, proximity switch, controller, retracting pressure sensor, deploying pressure sensor, display, vehicle speed sensor;

[0089] The remote controller is used to control the vehicle to move forward and backward and to lay and reel in the cable.

[0090] The encoder measures the reel rotation angle for calculating the reel angular velocity;

[0091] The proximity switch is used to measure the speed of the driving wheel of the sub-vehicle;

[0092] The reeling pressure sensor is used to measure the oil circuit pressure when the cable is reeled in;

[0093] The laying pressure sensor is used to measure the oil circuit pressure during cable laying;

[0094] The display is used to output alarm information to remind operators to cooperate;

[0095] The vehicle speed sensor is used to obtain the real-time speed of the sub-vehicle;

[0096] The controller is used to receive data collected by multiple sensors, calculate corresponding control parameter values ​​based on the data of the multiple sensors, and send alarm information to the display.

[0097] In a third aspect, the present invention provides a control device for synchronous movement of a vehicle and a winding cable, comprising:

[0098] Information collection unit, calculation unit, display alarm module, control module, human-computer interaction module;

[0099] The information acquisition unit is used to obtain the real-time speed of the sub-vehicle, the reel speed information, the real-time pressure value of the oil circuit, and the real-time information of the remote control handle;

[0100] The calculation unit is used to calculate the corresponding control parameters according to the real-time speed of the sub-vehicle, the reel speed information, the real-time pressure value of the oil circuit, and the remote control handle information;

[0101] The control module is used to preset the pressure asynchronous threshold in the calculation unit and send alarm information to the display alarm module, as well as send control parameters to the corresponding hydraulic valves and motors;

[0102] The display alarm module is used to output alarm information to the operator;

[0103] The human-computer interaction module is used to manually control the target linear speed of the sub-vehicle through the remote control handle and send real-time information of the remote control handle to the information collection unit.

[0104] Beneficial effects: Compared with the prior art, the present invention has the following advantages:

[0105] (1) The method, device and system of the present invention control the acceleration of the sub-vehicle and the reel to synchronize the speed and respond quickly; the reel and the vehicle can switch to follow the moving body, making full use of the following ability, thereby improving the rescue efficiency of the emergency drainage rescue sub-vehicle.

[0106] (2) Synchronization is achieved by directly controlling the acceleration to match the speed, while pressure monitoring is used to ensure that the vehicle and the cable change speed within a safe range, thereby improving the safety of cable use.

[0107] (3) Use the synchronization coordinator on the remote control to manually synchronize the vehicle and the cable, and prepare for emergency shutdown in case of emergencies. BRIEF DESCRIPTION OF THE DRAWINGS

[0108] Figure 1 This is a structural diagram of a control device for synchronous movement of a vehicle and a winding cable according to the present invention;

[0109] Figure 2 This is a topological diagram of the control system for the synchronous movement of the vehicle and the cable according to the present invention.

[0110] Reference signs: 1 - mother car 1, 2 - sub-car, 3 - remote controller, 4 - controller, 5 - winding pressure sensor, 6 - laying pressure sensor, 7 - encoder, 8 - proximity switch. DETAILED DESCRIPTION

[0111] In order to more fully understand the technical content of the present application, the technical solutions of the present application are further introduced and explained below in combination with specific examples, but are not limited thereto.

[0112] Example 1: as shown in the embodiment, a vehicle and cable winding synchronization movement control system is arranged between the mother car 1 and the sub-car 2, which includes: a remote controller 3, an encoder 7, a proximity switch 8, a controller 4, a winding pressure sensor 5, a laying pressure sensor 6, a display; Figure 1

[0113] The remote controller 3 includes a remote controller 3 control handle and a control key, the remote controller 3 is used for human-computer interaction, the remote controller 3 control handle outputs a control signal to control the target speed and target acceleration of the sub-car 2 forward and backward, the control key outputs a control signal of the reel to control the winding and laying of the cable, and converts the control signal into a digital signal and sends it to the controller 4; when the pressure is out of limit and the sub-car and the reel cannot be automatically synchronized, manual adjustment can be realized through the control key to realize a disposal scheme under the automatic synchronization failure condition, thereby forming a full-process closed-loop operation; the encoder 7 measures the reel rotation angle for calculating the reel angular velocity; the proximity switch 8 is used for measuring the sub-car driving wheel speed; the controller 4 is used for receiving the data collected by multiple sensors, calculating the corresponding control parameter values based on the data of multiple sensors, and sending alarm information to the display 6; the winding pressure sensor 5 is used for measuring the oil line pressure when the cable is wound; the laying pressure sensor 6 is used for measuring the oil line pressure when the cable is laid; the display is used for outputting alarm information to remind the operator to cooperate; the speed sensor is used for obtaining the real-time speed of the sub-car 2.

[0114] Example 2: as shown in the embodiment, a vehicle and cable winding synchronization movement control device is further explained, which includes: Figure 2

[0115] An information acquisition unit, a calculation unit, a display alarm module, a control module, and a man-machine interaction module;

[0116] The information acquisition unit is used for obtaining the real-time speed of the sub-car 2, the reel speed information, the real-time oil pressure value, and the real-time information of the remote controller 3 handle;

[0117] The calculation unit is used for calculating the corresponding control parameters according to the real-time speed of the sub-car 2, the reel speed information, the real-time oil pressure value, and the remote controller 3 handle information;

[0118] ​​The control module is used to preset the pressure asynchronous threshold in the calculation unit and send alarm information to the display alarm module, as well as send control parameters to the corresponding hydraulic valves and motors;

[0119] The display alarm module is used to output alarm information to the operator;

[0120] The human-computer interaction module is used to manually control the target linear speed of the sub-vehicle 2 through the remote control 3 handle and send the real-time information of the remote control 3 handle to the information collection unit.

[0121] Example 3: In this example, a control method of a control system based on synchronous motion of a vehicle and a winding cable is further described:

[0122] Get the real-time speed of vehicle 2, reel speed information, and remote controller 3 handle real-time information;

[0123] According to the real-time information of the remote controller 3, the target linear velocity value of the sub-car 2 and the target acceleration value of the remote controller 3 are obtained;

[0124] Calculating the real-time acceleration of vehicle 2 according to the real-time speed of vehicle 2, and calculating the current acceleration performance redundancy value of vehicle 2 according to the real-time acceleration of vehicle 2;

[0125] The target acceleration value of the remote controller 3 is matched with the current acceleration performance redundancy value to determine whether the target acceleration value meets the acceleration performance of the sub-car 2 and the acceleration of the sub-car 2 is selected based on the judgment result;

[0126] The acceleration time of sub-carriage 2 is calculated based on the determined acceleration of sub-carriage 2 and the target linear velocity value; the linear velocity of sub-carriage 2 achieved during the acceleration time is used as the target linear velocity of the reel, and the required speed acceleration of the reel is calculated based on the reel speed information;

[0127] Compare the required reel speed acceleration with the reel speed acceleration upper limit, and select and determine the reel speed acceleration based on the comparison result;

[0128] Based on the determined reel speed acceleration, determine whether to inversely calculate the target acceleration of the sub-vehicle 2, and select and output the determined reel speed acceleration and sub-vehicle 2 acceleration according to the determination;

[0129] Calculate the reel angular velocity acceleration according to the reel speed information; and generate corresponding control parameters according to the reel angular velocity acceleration, the determined reel speed acceleration, and the acceleration of the sub-vehicle 2;

[0130] The corresponding control parameters are output to the corresponding hydraulic valves and motors of the sub-trolley 2 and the reel respectively, controlling the sub-trolley 2 and the cable on the reel to move synchronously while correcting the reel follow-up movement.

[0131] The target acceleration value of the remote controller 3 is matched with the current acceleration performance redundancy value to determine whether the target acceleration value satisfies the acceleration performance of the sub-vehicle 2 and, based on the determination result, the method for determining the acceleration of the sub-vehicle 2 includes:

[0132] If the current acceleration performance redundancy value of the sub-car 2 cannot meet the target acceleration value of the remote controller 3, the target acceleration value is used as the determined acceleration;

[0133] Calculate the acceleration time of sub-carriage 2 according to the target acceleration value and the target linear speed value; take the linear speed of sub-carriage 2 achieved during the acceleration time as the target linear speed of the reel;

[0134] If the current acceleration performance redundancy value of sub-car 2 meets the target acceleration value of the remote controller 3, the real-time acceleration of sub-car 2 is used as the determined acceleration;

[0135] The acceleration time of sub-carriage 2 is calculated according to the real-time acceleration of sub-carriage 2 and the target speed value; the linear speed of sub-carriage 2 reached within the acceleration time of sub-carriage 2 is used as the target linear speed of the reel.

[0136] Comparing the required reel speed acceleration with the reel speed acceleration upper limit, and selecting a method for determining the reel speed acceleration based on the comparison result includes:

[0137] If the required speed acceleration of the reel is less than the upper limit of the speed acceleration of the reel, the required speed acceleration of the reel shall be used as the determined speed acceleration;

[0138] If the required reel speed acceleration is greater than the reel speed acceleration upper limit, the reel speed acceleration upper limit is used as the reel speed acceleration, and the target speed and target acceleration of vehicle 2 are calculated inversely;

[0139] The method of determining whether to inversely calculate the acceleration of the sub-vehicle 2 based on the determined reel speed acceleration and outputting the determined reel speed acceleration and the sub-vehicle 2 acceleration according to the determination includes:

[0140] When the real-time acceleration of the sub-car 2 is used as the determined acceleration and the required speed acceleration of the reel is used as the determined speed acceleration, the real-time acceleration of the sub-car 2 and the required speed acceleration of the reel are output;

[0141] When the target acceleration is the determined acceleration and the required reel speed acceleration is the determined speed acceleration, the target acceleration reached by the vehicle 2 and the required reel speed acceleration are output;

[0142] When the real-time acceleration of sub-carriage 2 is used as the determined acceleration and the upper limit of the reel speed acceleration is used as the determined reel speed acceleration, the acceleration of sub-carriage 2 is calculated by reverse calculation based on the target linear velocity reached at the upper limit of the reel speed acceleration at time T; the reverse calculated acceleration of sub-carriage 2 and the upper limit of the reel speed acceleration are output;

[0143] When the target acceleration is the determined acceleration and the upper limit value of the reel speed acceleration is the determined reel speed acceleration, the acceleration of the sub-vehicle 2 is cyclically inversely calculated based on the target linear speed reached at the upper limit value of the reel speed acceleration at time T, and the cyclically inversely calculated acceleration of the sub-vehicle 2 and the upper limit value of the reel speed acceleration are output.

[0144] The method for synchronous movement of the vehicle and the cable reel also obtains the reel oil circuit pressure in real time;

[0145] Determine whether the reel oil circuit pressure value needs to be adjusted based on a preset asynchronous threshold of the reel oil circuit pressure;

[0146] If adjustment intervention is required, when the reel oil circuit pressure value exceeds the upper limit of the asynchronous threshold, the system operation is stopped and an alarm is output to the display.

[0147] The method to obtain the real-time speed and reel speed information of vehicle 2 is as follows:

[0148] The reel speed information is obtained through the encoder 7, and the real-time speed of the sub-car 2 is obtained through the vehicle speed sensor;

[0149] When the cable on the reel moves synchronously with the vehicle 2, the reel has two working conditions, and the corresponding cable winding conditions are different. Based on the two sets of working conditions of the reel and the different cable winding conditions, multiple real-time accelerations are obtained;

[0150] The movement of the sub-carriage 2 and the cable winding are preset to move synchronously, where the cable winding line speed must be equal to the real-time speed of the sub-carriage 2;

[0151] The expression of cable winding speed is:

[0152] v j =2π(n j0 +β j t j )r j

[0153] Where, v j Indicates the cable winding speed, n j0 Indicates the initial speed of the reel, β j represents the rotational acceleration of the reel, t j· Expressed as the reel acceleration time, r j Indicates the real-time radius of the reel, which includes the sum of the radius R of the reel structure and the total diameter of the remaining cable

[0154] The expression of the real-time speed of vehicle 2 is:

[0155] v z =v z0 +a z tz ;

[0156] Where, v z Indicates the real-time speed of vehicle 2, v z0 represents the initial linear velocity of vehicle 2, a z represents the acceleration of vehicle 2, t z represents the acceleration time of vehicle 2;

[0157] The two working conditions of the reel include: the first working condition and the second working condition;

[0158] Under the first working condition: the reel speed required for synchronous movement with the sub-carriage 2 is less than the upper limit speed, then the reel is allowed to accelerate to the required speed according to the required speed acceleration, which is equivalent to the cable moving with the sub-carriage 2;

[0159] In the second working condition, the reel speed required for synchronous movement with the sub-carriage 2 is greater than or equal to the upper limit speed, so the reel can only be accelerated to the upper limit speed, which is equivalent to the sub-carriage 2 moving with the cable;

[0160] The different cable winding situations include: three situations when laying out the cable and three situations when retracting the cable;

[0161] The three situations of cable laying include: the reel start-up stage, the reel stable stage, and the reel stop stage. In the reel start-up stage: the sub-car 2 can be regarded as a uniformly accelerated motion. At this time, v j =v z , a j =a z , a j Indicates acceleration, and there are also two working conditions of the reel;

[0162] The reel is in a stable stage: the vehicle 2 can be regarded as a uniform motion, at this time v j =v z , a z =0, r j Indicates the real-time radius value of the reel, which is used to calculate the linear speed value at the outermost end. The reel speed increases slowly as the laying radius decreases.

[0163] Reel stop phase: Vehicle 2 can be considered as uniform deceleration motion, at this time v j =v z , a j =a z , two working conditions of the reel;

[0164] The three situations when winding the cable include: the reel start-up phase, the reel stable phase, and the reel stop phase. In the reel start-up phase: the sub-carriage 2 can be regarded as uniformly accelerated motion. At this time, v j =v z , a j=a z , there are also two working conditions of the reel;

[0165] The reel is in a stable stage: the vehicle 2 can be regarded as a uniform motion, at this time v j =v z , a z =0, The reel speed decreases slowly as the deployment radius increases;

[0166] Reel stop phase: Vehicle 2 can be considered as uniform deceleration motion, at this time v j =v z , a j =a z , there are also two working conditions of the reel.

[0167] The method for calculating the reel angular velocity acceleration based on the reel speed information includes:

[0168] The reel speed information includes: real-time reel speed, real-time reel angle, and real-time reel angular velocity;

[0169] Calculate the number of cable coils based on the real-time angle of the reel, and calculate the number of cable layers based on the number of cable coils and the preset number of coils per layer;

[0170] The cable retracting radius is calculated based on the number of cable layers, the radius of the empty reel and the cable reel radius;

[0171] The linear velocity is calculated based on the cable reeling radius and the real-time angular velocity of the reel.

[0172] The target angular velocity is calculated based on the target linear velocity, and the angular velocity acceleration per unit time is obtained. The angular velocity acceleration is then used to generate the corresponding control parameters to correct the reel follow-up.

[0173] The calculation formula of the reel real-time angular velocity ω is:

[0174]

[0175] Reel speed n j The calculation formula is:

[0176]

[0177] Speed ​​acceleration β j The calculation formula is:

[0178]

[0179] The calculation formula for the number of turns of the cable is:

[0180]

[0181] The formula for calculating the number of layers of the cable is:

[0182]

[0183] The formula for calculating the radius of the cable is:

[0184] r j = r0+ (2M-1) r1

[0185] where θ is the angle of the reel measured by the encoder 7 in unit time, ω is the angular velocity of the reel, n j is the rotational speed of the reel, β j is the acceleration of the rotational speed, Δt is the unit time, N is the number of turns of the cable, N is an integer, N0 is the number of turns of each layer of the wound cable, M is the number of layers of the cable, r0 is the radius of the empty reel, and r1 is the radius of the cable.

[0186] The method for obtaining the target linear velocity value of the sub-car 2 and the target acceleration value of the handle of the remote controller 3 according to the real-time information of the handle of the remote controller 3 is as follows:

[0187] When the sub-car 2 is moving and the cable is being laid out, the target linear velocity value v e of the sub-car 2 moving and the cable being laid out synchronously is obtained by receiving the control signal of the current opening of the handle of the remote controller 3, so as to predict the pushing speed of the handle according to the sensitivity of the handle of the remote controller 3, and obtain the target acceleration value a e of the handle of the remote controller 3 according to the pushing speed of the handle.

[0188] The target rotational speed of the reel can also be obtained according to the target acceleration of the handle of the remote controller 3, including:

[0189] The target acceleration time of the sub-car 2 is obtained according to the target acceleration a e of the handle of the remote controller 3 and the real-time speed of the sub-car 2, and the formula for calculating the target acceleration time of the sub-car 2 is

[0190] Based on the target acceleration a e of the sub-car 2 and the target acceleration time, the target rotational speed acceleration of the drive wheel of the sub-car 2 is calculated, and the formula for calculating the target rotational speed acceleration of the drive wheel of the sub-car 2 is where β ze is the target rotational speed acceleration of the drive wheel;

[0191] Based on the target rotational speed acceleration β ze of the drive wheel, the target rotational speed of the drive wheel is calculated, and the formula for calculating the target rotational speed of the drive wheel is where n ze is the target rotational speed of the drive wheel, and r2 is the radius of the drive wheel.

[0192] The reel target speed acceleration is calculated based on the drive wheel target speed. The reel target speed acceleration calculation formula is: Where β je is the reel target speed acceleration;

[0193] Based on the reel target speed acceleration, calculate the reel target speed, the calculation formula is n je =n j0 +β je t e , where n je is the target reel speed.

[0194] The reel target speed has an upper limit value of the speed. Based on the upper limit value of the reel speed, the reel target speed is preset under two working conditions:

[0195] If the reel target speed n je Less than or equal to the upper limit of the reel speed n max , then the target speed of the driving wheel and the target speed of the reel are equal n je =n ze ;

[0196] If the reel target speed n je Greater than the upper limit of the reel speed n max , then the target speed of the driving wheel, the target speed of the reel, and the upper limit of the reel speed are equal n ze =n je =n max .

[0197] Furthermore, when laying the cable, the start-up phase of the reel can be considered as a uniform acceleration motion. Considering the heavy weight of the cable in the first few turns, it is very easy for the reel speed to be lower than the speed of the driving wheel of the sub-carriage 2, so the acceleration capability of the reel needs to be considered. If the desired reel speed n je ≤n max , then the cable is allowed to move synchronously with the sub-car 2, uniformly according to the desired speed acceleration β e Perform uniform acceleration until the desired speed is reached; if the desired speed of the reel is n je >n max , then the car 2 moves synchronously with the cable, and the reel and the car 2 move at the maximum speed n max Redetermine the desired speed acceleration β e2 , also unified according to the new expected speed acceleration β e2 Perform uniform acceleration until the desired speed is reached. The intermediate movement stage of the reel can be regarded as uniform motion. At this time, the speed of the sub-car 2 remains unchanged, while the reel has Expected speed n je As the cable retracts and extends, the radius r jSlowly decrease while slowly increase. The reel stop stage can be regarded as uniform deceleration motion, if the reel desired rotation speed n je ≤n max , the cable is allowed to move synchronously with the sub-car 2, and uniformly according to the desired rotation speed acceleration β e deceleration motion until the desired speed is reached; if the reel desired rotation speed n je >n max , the sub-car 2 moves synchronously with the cable, and the reel and the sub-car 2 uniformly according to the maximum rotation speed n max The desired rotation speed acceleration β e2 is re-determined, and the same uniform deceleration motion is carried out according to the new desired rotation speed acceleration β e2 until the desired speed is reached.

[0198] When the cable is reeled, the reel intermediate motion stage can be regarded as uniform motion, at this time the sub-car 2 rotation speed is unchanged, and there is desired rotation speed n je of the reel, and the reel reeling radius r j slowly increases while slowly decreases; the reel start and stop stages and the cable unwinding are the same, and will not be described here.

[0199] There is also a situation that the sub-car 2 or the reel cannot reach the desired acceleration capacity according to the adjustment signal, so the control method in this embodiment also includes the motion error generated by the actual motion of the sub-car 2, and the motion error is accumulated in time sequence, so it is necessary to monitor whether the sub-car 2 driving wheel rotation speed and the reel rotation speed meet the original target acceleration time in real time, select the updated target acceleration time, and select the compensation speed compensation method for the reel or the sub-car 2 driving wheel under the updated target acceleration time:

[0200] The preset monitoring time is t jc , if the sub-car 2 meets the driving wheel target rotation speed at t jc , and the reel real-time rotation speed acceleration is less than the reel target rotation speed acceleration, the reel continues to accelerate and the sub-car 2 driving wheel carries out compensation speed, wherein the required compensation speed acceleration of the sub-car 2 driving wheel and the corresponding speed time are calculated according to the driving wheel target rotation speed, the original target acceleration time, the updated target acceleration time, and the current reel rotation speed acceleration, to ensure that the sub-car 2 motion speed and the cable scaling speed are equal at the new target time t e2 ; the original target acceleration time is the time for the current predetermined target acceleration to accelerate to the target speed; the updated target acceleration time is the new target acceleration time generated when the original target acceleration time cannot accelerate to the target speed after the reel acceleration changes, and the sub-car 2 needs to accelerate to the target speed again in the new target acceleration time;

[0201] If t jcWhen the reel meets the target reel speed and the acceleration of the real-time speed of the driving wheel of the sub-vehicle 2 is less than the target acceleration of the driving wheel, the driving wheel of the sub-vehicle 2 continues to accelerate and the reel compensates for the speed change; at this time, the acceleration performance of the reel needs to be considered; if the acceleration of the compensation speed of the reel is less than the upper limit of the acceleration, the speed change is performed according to the acceleration of the compensation speed; if the acceleration of the compensation speed of the reel is greater than or equal to the upper limit of the acceleration, the speed change is performed according to the upper limit of the acceleration, and the motion time of different compensation speed change stages is adjusted accordingly to ensure that the sub-vehicle 2 and the cable meet the updated target acceleration time t e2 The speeds are equal;

[0202] If the acceleration of the compensation speed of the reel is greater than or equal to the upper limit of the acceleration and the compensation time t e3 Exceeds the updated target acceleration time t e2 At this time, it is determined that the driving wheel of the sub-vehicle 2 meets the target driving wheel speed and the real-time speed of the reel is less than the target acceleration of the reel, and the speed change of a new stage is continued;

[0203] It also includes monitoring the cable oil pressure during the compensation speed change of the reel or the driving wheel of the sub-vehicle 2; if the oil pressure does not exceed the upper limit of the out-of-sync threshold, the speed change is allowed to continue, otherwise the speed change is stopped and an alarm is prompted, so that the operator uses the synchronization coordinator on the remote controller 3 to perform manual synchronization control.

[0204] In summary, the method, device and system of the application control the acceleration of the sub-vehicle 2 and the reel to synchronize the speed, which is fast in response; the reel and the vehicle can switch to follow the moving subject, fully utilize the following capacity, and improve the rescue efficiency of the emergency drainage rescue sub-vehicle; the speed matching is realized by directly controlling the acceleration to realize synchronization, and the pressure monitoring is supplemented to ensure that the vehicle and the cable change speed within a safe range, and the use safety of the cable is improved; the vehicle and the cable are manually controlled by the synchronization coordinator on the remote controller 3, and the emergency shutdown under the sudden situation is completed.

[0205] Those skilled in the art should understand that the embodiments of the application can be provided as a method, a system, or a computer program product. Therefore, the application can adopt a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the application can adopt the form of a computer program product implemented on one or more computer usable storage media containing computer usable program code (including but not limited to disk memory, CD-ROM, optical memory, etc.).

[0206] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0207] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0208] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0209] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for controlling the synchronous movement of a vehicle and a winding cable, characterized in that: Based on a control system and control device for synchronous movement of a vehicle and a winding cable, the control system includes: Remote control, encoder, proximity switch, controller, retracting pressure sensor, deploying pressure sensor, display, vehicle speed sensor; Control methods include: Get the real-time speed of the sub-vehicle, the reel speed information, and the remote control handle real-time information; Obtain the target linear velocity value of the sub-car and the target acceleration value of the remote controller according to the real-time information of the remote controller; Calculating the sub-vehicle's real-time acceleration based on the sub-vehicle's real-time speed, and calculating the sub-vehicle's current acceleration performance redundancy value based on the sub-vehicle's real-time acceleration; The target acceleration value of the remote controller is matched with the current acceleration performance redundancy value to determine whether the target acceleration value meets the acceleration performance of the sub-vehicle and the acceleration of the sub-vehicle is determined according to the judgment result; The acceleration time of the sub-carriage is calculated based on the determined sub-carriage acceleration and target linear speed value; the linear speed of the sub-carriage reached within the acceleration time is used as the target linear speed of the reel, and the required speed acceleration of the reel is calculated based on the reel speed information; Compare the required reel speed acceleration with the reel speed acceleration upper limit, and select and determine the reel speed acceleration based on the comparison result; Determining whether to reversely calculate the sub-vehicle target acceleration based on the determined reel speed acceleration, and outputting the determined reel speed acceleration and sub-vehicle acceleration according to the determination; Calculate the reel angular velocity acceleration according to the reel speed information; and generate corresponding control parameters according to the reel angular velocity acceleration, the determined reel speed acceleration, and the vehicle acceleration; The corresponding control parameters are output to the corresponding hydraulic valves and motors of the sub-trolley and the reel respectively, controlling the synchronous movement of the sub-trolley and the cable on the reel while correcting the reel follow-up movement; The control device includes: an information collection unit, a calculation unit, a display alarm module, a control module, and a human-computer interaction module.

2. A method for controlling the synchronous movement of a vehicle and a winding cable according to claim 1, characterized in that: The method of matching the target acceleration value of the remote controller with the current acceleration performance redundancy value to determine whether the target acceleration value satisfies the acceleration performance of the sub-vehicle and selecting the acceleration of the sub-vehicle according to the determination result includes: If the current acceleration performance redundancy value of the sub-car cannot meet the target acceleration value of the remote controller, the target acceleration value is used as the determined acceleration; Calculate the sub-carriage acceleration time based on the target acceleration value and the target linear speed value; take the sub-carriage linear speed reached within the acceleration time as the reel target linear speed; If the sub-car's current acceleration performance redundancy value meets the target acceleration value of the remote controller, the sub-car's real-time acceleration is used as the determined acceleration; The sub-carriage acceleration time is calculated based on the sub-carriage real-time acceleration and the target speed value; the sub-carriage linear speed reached within the sub-carriage acceleration time is used as the reel target linear speed.

3. The method for controlling the synchronous movement of a vehicle and a winding cable according to claim 1, characterized in that: Comparing the required reel speed acceleration with the reel speed acceleration upper limit, and selecting a method for determining the reel speed acceleration based on the comparison result includes: If the required speed acceleration of the reel is less than the upper limit of the speed acceleration of the reel, the required speed acceleration of the reel shall be used as the determined speed acceleration; If the required reel speed acceleration is greater than the reel speed acceleration upper limit, the reel speed acceleration upper limit is used as the determined reel speed acceleration, and the sub-vehicle target speed and target acceleration are inversely calculated.

4. The method for controlling the synchronous movement of a vehicle and a winding cable according to claim 1, characterized in that: The method of determining whether to inversely calculate the sub-vehicle acceleration based on the determined reel speed acceleration and outputting the determined reel speed acceleration and sub-vehicle acceleration according to the determination includes: When the sub-vehicle real-time acceleration is used as the determined acceleration and the reel required speed acceleration is used as the determined speed acceleration, the sub-vehicle real-time acceleration and the reel required speed acceleration are output; When the target acceleration is used as the determined acceleration and the required speed acceleration of the reel is used as the determined speed acceleration, the target acceleration reached by the sub-vehicle and the required speed acceleration of the reel are output; When the sub-vehicle real-time acceleration is used as the determined acceleration and the reel speed acceleration upper limit is used as the determined reel speed acceleration, the sub-vehicle acceleration is inversely calculated based on the target linear velocity reached at the reel speed acceleration upper limit at time T; and the inversely calculated sub-vehicle acceleration and reel speed acceleration upper limit are output; When the target acceleration is the determined acceleration and the upper limit value of the reel speed acceleration is the determined reel speed acceleration, the acceleration of the sub-vehicle is cyclically inversely calculated based on the target linear speed reached at the upper limit value of the reel speed acceleration at time T, and the cyclically inversely calculated sub-vehicle acceleration and the upper limit value of the reel speed acceleration are output.

5. The method for controlling the synchronous movement of a vehicle and a winding cable according to claim 1, characterized in that: The method for synchronous movement of the vehicle and the cable reel also obtains the reel oil circuit pressure in real time; Determine whether the reel oil circuit pressure value needs to be adjusted based on a preset asynchronous threshold of the reel oil circuit pressure; If adjustment intervention is required, when the reel oil circuit pressure value exceeds the upper limit of the asynchronous threshold, the system operation is stopped and an alarm is output to the display.

6. The method for controlling the synchronous movement of a vehicle and a winding cable according to claim 1, characterized in that: The method to obtain the real-time speed of the sub-car and the reel speed information is: The encoder is used to obtain the reel speed information, and the vehicle speed sensor is used to obtain the real-time speed of the sub-vehicle; When the cable on the reel moves synchronously with the vehicle, the reel has two working conditions, and the corresponding cable winding conditions are different. Based on the two sets of working conditions of the reel and the different cable winding conditions, multiple real-time accelerations are obtained; The vehicle movement and cable winding movement are preset to be synchronized, where the cable winding speed must be equal to the vehicle real-time speed; The expression of cable winding speed is: ； Where, Indicates the cable winding speed, Indicates the initial speed of the reel. represents the rotational acceleration of the reel, Expressed as the reel acceleration time, Indicates the real-time radius of the reel, which includes the sum of the radius R of the reel structure and the total diameter of the remaining cable; The expression of the sub-car's real-time speed is: ； Where, Indicates the real-time speed of the vehicle. represents the initial linear velocity of the vehicle, represents the acceleration of the vehicle, represents the acceleration time of the sub-car; The two working conditions of the reel include: the first working condition and the second working condition; Under the first working condition: the reel speed required for synchronous movement with the sub-carriage is less than the upper limit speed, then the reel is allowed to accelerate to the required speed according to the required speed acceleration, which is equivalent to the cable moving with the sub-carriage; Under the second working condition, the reel speed required for synchronous movement with the sub-carriage is greater than or equal to the upper limit speed, then the reel can only be accelerated to the upper limit speed, which is equivalent to the sub-carriage moving with the cable; The different cable winding situations include: three situations when laying out the cable and three situations when retracting the cable; The three situations of cable laying include: the reel start-up stage, the reel stable stage, and the reel stop stage. In the reel start-up stage: the sub-car can be regarded as uniformly accelerated motion. , , Indicates acceleration, and there are also two working conditions of the reel; The reel is in a stable stage: the vehicle can be regarded as moving at a uniform speed. , , , Indicates the real-time radius value of the reel, which is used to calculate the linear speed value at the outermost end. The reel speed increases slowly as the laying radius decreases. Reel stop phase: The vehicle can be considered as uniformly decelerated motion. , , two working conditions of the reel; The three situations when winding and rewinding the cable include: the reel start-up phase, the reel stable phase, and the reel stop phase. In the reel start-up phase: the sub-car can be regarded as uniformly accelerated motion. , , there are also two working conditions of the reel; The reel is in a stable stage: the vehicle can be regarded as moving at a uniform speed. , , , the reel speed decreases slowly as the laying radius increases slowly; Reel stop phase: The vehicle can be considered as uniformly decelerated motion. , , there are also two working conditions of the reel.

7. The method for controlling the synchronous movement of a vehicle and a winding cable according to claim 1, characterized in that: Method for calculating reel angular velocity acceleration based on reel speed information include: The reel speed information includes: real-time reel speed, real-time reel angle, and real-time reel angular velocity; Calculate the number of cable coils based on the real-time angle of the reel, and calculate the number of cable layers based on the number of cable coils and the preset number of coils per layer; The cable retracting radius is calculated based on the number of cable layers, the radius of the empty reel and the cable reel radius; The linear velocity is calculated based on the cable reeling radius and the real-time angular velocity of the reel. The target angular velocity is calculated based on the target linear velocity, and the angular velocity acceleration per unit time is obtained. The angular velocity acceleration is then used to generate the corresponding control parameters to correct the reel follow-up. The calculation formula of the reel real-time angular velocity ω is: ； Reel speed The calculation formula is: ； Speed ​​acceleration The calculation formula is: ； The calculation formula for the number of turns of the cable is: ； The calculation formula for the number of cable layers is: ； The calculation expression of the cable winding radius is: ； Among them, θ is the angle of the reel measured by the controller according to the encoder per unit time, ω is the angular velocity of the reel, is the reel speed, is the speed acceleration, is the unit time, N is the number of turns of the cable, N is an integer, N0 is the number of turns of each layer of the cable, is the number of cable layers, r0 is the radius of the reel when it is empty, and r1 is the cable radius.

8. The method for controlling the synchronous movement of a vehicle and a winding cable according to claim 1, characterized in that: The method for obtaining the target linear velocity value of the sub-car and the target acceleration value of the remote controller based on the real-time information of the remote controller is as follows: When the vehicle is moving and the cable is being wound synchronously, the target linear velocity value of the vehicle movement and the cable being wound synchronously is obtained by receiving the control signal of the current opening of the remote control handle. , thus predicting the handle pushing speed according to the sensitivity of the remote control handle, and obtaining the target acceleration value a of the remote control handle according to the handle pushing speed e .

9. The method for controlling the synchronous movement of a vehicle and a winding cable according to claim 8, characterized in that: The target acceleration value of the remote controller also includes obtaining the target reel speed. The process is as follows: According to the target acceleration value a e The target acceleration time of the sub-vehicle is obtained by combining the real-time speed of the sub-vehicle and the sub-vehicle. The calculation formula of the target acceleration time of the sub-vehicle is: ; Target acceleration a based on the vehicle's motion e , target acceleration time, calculate the target speed acceleration of the sub-vehicle driving wheel, where the calculation formula for the target speed acceleration of the sub-vehicle driving wheel is: , where is the target speed acceleration of the driving wheel; Based on the target speed acceleration of the driving wheel , calculate the target speed of the driving wheel, where the calculation formula of the target speed of the driving wheel is: , where is the target speed of the driving wheel, Drive wheel radius; The reel target speed acceleration is calculated based on the drive wheel target speed. The reel target speed acceleration calculation formula is: , where is the reel target speed acceleration; Based on the reel target speed acceleration, the reel target speed is calculated using the formula: , where is the target reel speed.

10. The method for controlling the synchronous movement of a vehicle and a winding cable according to claim 9, characterized in that: The reel target speed has an upper limit value of the speed. Based on the upper limit value of the reel speed, the reel target speed is preset under two working conditions: If the reel target speed Less than or equal to the upper limit of the reel speed , then the target speed of the driving wheel is equal to the target speed of the reel ; If the reel target speed Greater than the upper limit of the reel speed , then the target speed of the driving wheel, the target speed of the reel, and the upper limit of the reel speed are equal .

11. The method for controlling the synchronous movement of a vehicle and a winding cable according to claim 1, characterized in that: It also includes the motion error generated by the sub-car during actual motion, and accumulates the motion error in chronological order. Therefore, it is necessary to monitor in real time whether the sub-car driving wheel speed and the reel speed meet the original target acceleration time, select to update the target acceleration time, and select to compensate for the reel or sub-car driving wheel speed change under the updated target acceleration time. The compensation speed change method is: The preset monitoring time is ,like At the moment, if the sub-car meets the target speed of the driving wheel and the real-time speed acceleration of the reel is less than the target speed acceleration of the reel, the reel will continue to accelerate and the sub-car driving wheel will perform a compensatory speed change. The required compensatory speed acceleration and corresponding speed change time of the sub-car driving wheel are calculated according to the target speed of the driving wheel, the original target acceleration time, the updated target acceleration time, and the current speed acceleration of the reel, so as to ensure that the movement speed of the sub-car and the reel scaling speed are at the new target time. Equal speed; The original target acceleration time is the time it takes to accelerate from the currently scheduled target acceleration to the target speed. The updated target acceleration time is the new target acceleration time generated when the reel acceleration changes and the original target acceleration time cannot accelerate to the target speed. The sub-vehicle must accelerate to the target speed at the new target acceleration time. like At the moment when the reel meets the reel target speed and the sub-car driving wheel speed real-time speed acceleration is less than the driving wheel target speed acceleration, the sub-car driving wheel speed continues to accelerate and the reel performs compensatory speed change; at this time, the reel acceleration performance needs to be considered; if the reel compensation speed acceleration is less than the upper limit speed acceleration, the speed is changed according to the compensation speed acceleration; if the reel compensation speed acceleration is greater than or equal to the upper limit speed acceleration, the speed is changed according to the upper limit speed acceleration, and the movement time of different compensation speed change stages is adjusted accordingly to ensure that the sub-car and the reel are within the updated target acceleration time The speed is equal; If the reel compensation speed acceleration is greater than or equal to the upper limit speed acceleration and the compensation time Exceeded updated target acceleration time When the speed of the sub-vehicle driving wheel meets the target speed of the driving wheel and the real-time speed acceleration of the reel is less than the target speed acceleration of the reel, the speed change of the new stage is continued; It also includes monitoring the cable winding oil circuit pressure during the compensatory speed change of the reel or the sub-vehicle driving wheel speed; if the oil circuit pressure does not exceed the upper limit of the asynchronous threshold, the speed change is allowed to continue, otherwise the speed change is stopped and an alarm is prompted, allowing the operator to use the synchronization coordinator on the remote control for manual synchronization control.

12. The method for controlling the synchronous movement of a vehicle and a winding cable according to claim 1, characterized in that: The remote controller is used to control the vehicle to move forward and backward and to lay and reel in the cable; The encoder measures the reel rotation angle for calculating the reel angular velocity; The proximity switch is used to measure the speed of the driving wheel of the sub-vehicle; The reeling pressure sensor is used to measure the oil circuit pressure when the cable is reeled in; The laying pressure sensor is used to measure the oil circuit pressure during cable laying; The display is used to output alarm information to remind operators to cooperate; The vehicle speed sensor is used to obtain the real-time speed of the sub-vehicle; The controller is used to receive data collected by multiple sensors, calculate corresponding control parameter values ​​based on the data of the multiple sensors, and send alarm information to the display.

13. The method for controlling the synchronous movement of a vehicle and a winding cable according to claim 1, characterized in that: The information acquisition unit is used to obtain the real-time speed of the sub-vehicle, the reel speed information, the real-time pressure value of the oil circuit, and the real-time information of the remote control handle; The calculation unit is used to calculate the corresponding control parameters according to the real-time speed of the sub-vehicle, the reel speed information, the real-time pressure value of the oil circuit, and the remote control handle information; The control module is used to preset the pressure asynchronous threshold in the calculation unit and send alarm information to the display alarm module, as well as send control parameters to the corresponding hydraulic valves and motors; The display alarm module is used to output alarm information to the operator; The human-computer interaction module is used to manually control the target linear speed of the sub-vehicle through the remote control handle and send real-time information of the remote control handle to the information collection unit.

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