Adaptive torque gate control method for winch

Abstract

The present invention discloses a winch adaptive torque gate control method, which relates to the technical field of winch torque gate control. Different steps are respectively executed when the winch control system receives a winch start signal and a winch stop signal; and after the winch is started, different steps are respectively executed when the winch control system receives a winch fault signal, a system fault signal, an emergency brake signal and a winch speed value; and the current load value of the winch is monitored in real time, and compared with the current load value and a preset load value threshold. Within different load value ranges, the output target value of the PID function is modified to the corresponding acceleration value; the PID adjustment output value is automatically corrected according to the load value, and the acceleration is kept constant at the acceleration value; it is ensured that the winch performs adaptive torque gate control in different states, thereby greatly improving the operation safety of the equipment.

Description

Technical Field

[0001] The invention belongs to the field of winches and relates to a torque gate control technology, in particular to a self-adaptive torque gate control method for a winch. Background Art

[0002] At present, the safety braking method used by domestic winches is mostly constant torque two-stage braking, that is, the total braking torque required by a winch is divided into two stages for braking. When the first stage braking is implemented, the system generates a deceleration that complies with the mine safety regulations to ensure the safe, stable and reliable parking of the entire hoisting system. Then the second stage braking torque is fully applied to meet the maximum braking torque requirements of the "Safety Regulations" and keep the hoisting system safely in a static state, that is, constant torque braking control;

[0003] Main shaft winches are mostly operated in the upward lifting mode, while auxiliary shaft winches have widely varying loads and operating conditions, including full-load lowering, full-load upward lifting, and light-load conditions. Consequently, constant-torque secondary braking often results in excessive deceleration during emergency braking. For multi-rope winches, excessive deceleration can cause the rope to slip beyond the anti-slip limit. For single-rope winches, this increases the risk of rope breakage, endangering equipment and personnel. Therefore, a gate control system that can adapt to the varying conditions of the winch is needed.

[0004] Therefore, an adaptive torque gate control method for winch is proposed. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a winch adaptive torque gate control method, which performs different steps when the winch control system receives a winch start signal and a winch stop signal; and after the winch is started, performs different steps when the winch control system receives a winch fault signal, a system fault signal, an emergency brake signal, and a winch speed value; and monitors the current load value of the winch in real time, compares the current load value with a preset load value threshold, and modifies the output target value of the PID function to a corresponding acceleration value within different load value ranges; automatically corrects the PID adjustment output value according to the load value, and keeps the acceleration constant at the acceleration value; ensures that the winch performs adaptive torque gate control in different states, greatly improving the operating safety of the equipment.

[0006] To achieve the above object, according to an embodiment of the first aspect of the present invention, a method for adaptive torque gate control of a winch is proposed, comprising the following steps:

[0007] Step 1: When the winch starts, a start signal is sent to the winch control system; the winch control system starts the oil pump motor and then increases the proportional relief valve coil voltage to the maximum value;

[0008] Step 2: During the operation of the winch, the winch control system adopts different adaptive deceleration and braking processes according to the different information received;

[0009] Step 3: When the winch stops, a stop signal is sent to the winch control system; the winch control system reduces the voltage of the proportional relief valve coil to the minimum value to gradually reduce the gate disc oil pressure; then stops the oil pump motor until the residual pressure is reduced and the brake is applied;

[0010] The function of starting the oil pump is to allow the oil pumped out by the oil pump to enter the oil cylinder; the function of increasing the voltage of the proportional relief valve coil to the maximum value is to increase the oil pressure of the brake disc and open the brake;

[0011] The different information received by the hoist control system includes a hoist fault signal, a system fault signal, a current load value of the hoist, a hoist emergency brake signal, and a hoist speed value;

[0012] The winch control system has different execution modes for different information, including the following modes:

[0013] Method 1: When the winch control system receives the winch fault signal, it cuts off the power supply to the oil pump motor and the proportional relief valve coil, causing the system oil pressure to drop;

[0014] Method 2: When the winch control system receives a system fault signal, it executes the secondary braking process;

[0015] The secondary braking process includes the following steps:

[0016] Step S1: Start the secondary brake solenoid valve group to put the stored energy pressure into the brake disc to maintain the secondary brake oil pressure value;

[0017] Step S2: Waiting for the time delay relay signal. If the time delay relay signal is detected, the oil return solenoid valve is activated to return the oil in the hydraulic cylinder through the solenoid valve and the brake is brought into full braking state.

[0018] Method 3: The hoist control system pre-sets the load lower limit L, load upper limit H, acceleration lower value AL, acceleration median value AM, and acceleration upper value AH based on actual experience; when the hoist control system receives the current load value of the hoist, it determines the relationship between the current load value and the load lower limit L, load upper limit H, and load median value M. In a preferred embodiment, the following methods are included:

[0019] If the current load value is less than the load lower limit L, the output target value of the PID function is modified to the acceleration upper value AH, so as to automatically correct the PID adjustment output value according to the load value and keep the acceleration constant at the acceleration upper value AH;

[0020] If the load lower limit L ≤ current load value ≤ set load upper limit H, then modify the output target value of the PID function to the acceleration median AM, so as to automatically correct the PID adjustment output value according to the load value and keep the acceleration constant at the acceleration median AM;

[0021] If the current load value is greater than the upper limit H of the load value, the output target value of the PID function is modified to the lower acceleration value AL, so as to automatically correct the PID adjustment output value according to the load value and keep the acceleration constant at the lower acceleration value AL;

[0022] Method 4: After the winch control system receives the emergency brake signal, it starts the oil return solenoid valve, so that the oil in the hydraulic cylinder returns through the solenoid valve, and the brake reaches the full braking state;

[0023] Method 5: The winch control system pre-sets the winch speed threshold V; when the winch control system receives the winch speed value, if the speed is less than the speed threshold V, it activates the oil return solenoid valve, allowing the oil in the hydraulic cylinder to return through the solenoid valve, and the brake reaches the full braking state;

[0024] Among them, the role of the PID function adjustment is that the winch control system automatically adjusts the proportional directional valve coil voltage according to the PID function. Under the action of the proportional directional valve coil, the system pressure changes with the proportional directional valve given signal, so that the acceleration remains constant until the system stops safely.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] The present invention executes different steps respectively when the winch control system receives a winch start signal and a winch stop signal; and after the winch is started, different steps are executed respectively when the winch control system receives a winch fault signal, a system fault signal, an emergency brake signal and a winch speed value; and monitors the current load value of the winch in real time, compares the current load value with a preset load value threshold, and modifies the output target value of the PID function to a corresponding acceleration value within different load value ranges; automatically corrects the PID adjustment output value according to the load value, and keeps the acceleration constant at the acceleration value; ensures that the winch performs adaptive torque gate control in different states, thereby greatly improving the operating safety of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the present invention. DETAILED DESCRIPTION

[0028] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0029] like Figure 1 As shown, the winch adaptive torque gate control method includes the following steps:

[0030] Step 1: When the winch starts, a start signal is sent to the winch control system; the winch control system starts the oil pump motor and then increases the proportional relief valve coil voltage to the maximum value;

[0031] Step 2: During the operation of the winch, the winch control system adopts different adaptive deceleration and braking processes according to the different information received;

[0032] Step 3: When the winch stops, a stop signal is sent to the winch control system; the winch control system reduces the voltage of the proportional relief valve coil to the minimum value to gradually reduce the gate disc oil pressure; then stops the oil pump motor until the residual pressure is reduced and the brake is applied;

[0033] The function of starting the oil pump is to allow the oil pumped out by the oil pump to enter the oil cylinder; the function of increasing the voltage of the proportional relief valve coil to the maximum value is to increase the oil pressure of the brake disc and open the brake;

[0034] The different information received by the hoist control system includes a hoist fault signal, a system fault signal, a current load value of the hoist, a hoist emergency brake signal, and a hoist speed value;

[0035] In a preferred embodiment, the winch control system performs different operations for different information; specifically, the following operations are included:

[0036] Method 1: When the winch control system receives the winch fault signal, it cuts off the power supply to the oil pump motor and the proportional relief valve coil, causing the system oil pressure to drop;

[0037] Method 2: When the winch control system receives a system fault signal, it executes the secondary braking process;

[0038] In a preferred embodiment, the secondary braking process includes the following steps:

[0039] Step S1: Start the secondary brake solenoid valve group to put the stored energy pressure into the brake disc to maintain the secondary brake oil pressure value;

[0040] Step S2: Waiting for the time delay relay signal. If the time delay relay signal is detected, the oil return solenoid valve is activated to return the oil in the hydraulic cylinder through the solenoid valve and the brake is brought into full braking state.

[0041] Method 3: The hoist control system pre-sets the load lower limit L, load upper limit H, acceleration lower value AL, acceleration median value AM, and acceleration upper value AH based on actual experience; when the hoist control system receives the current load value of the hoist, it determines the relationship between the current load value and the load lower limit L, load upper limit H, and load median value M. In a preferred embodiment, the following methods are included:

[0042] If the current load value is less than the load lower limit L, the output target value of the PID function is modified to the acceleration upper value AH, so as to automatically correct the PID adjustment output value according to the load value and keep the acceleration constant at the acceleration upper value AH;

[0043] If the load lower limit L ≤ current load value ≤ set load upper limit H, then modify the output target value of the PID function to the acceleration median AM, so as to automatically correct the PID adjustment output value according to the load value and keep the acceleration constant at the acceleration median AM;

[0044] If the current load value is greater than the upper limit H of the load value, the output target value of the PID function is modified to the lower acceleration value AL, so as to automatically correct the PID adjustment output value according to the load value and keep the acceleration constant at the lower acceleration value AL;

[0045] Method 4: After the winch control system receives the emergency brake signal, it starts the oil return solenoid valve, so that the oil in the hydraulic cylinder returns through the solenoid valve, and the brake reaches the full braking state;

[0046] Method 5: The winch control system pre-sets the winch speed threshold V; when the winch control system receives the winch speed value, if the speed is less than the speed threshold V, it starts the oil return solenoid valve, so that the oil in the hydraulic cylinder returns through the solenoid valve, and the brake reaches the full braking state.

[0047] Among them, the role of the PID function adjustment is that the winch control system automatically adjusts the proportional directional valve coil voltage according to the PID function. Under the action of the proportional directional valve coil, the system pressure changes with the proportional directional valve given signal, so that the acceleration remains constant until the system stops safely.

[0048] The above embodiments are only used to illustrate the technical method of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. The winch adaptive torque gate control method is characterized by: The following steps are involved: Step 1: When the winch starts, a start signal is sent to the winch control system; the winch control system starts the oil pump motor and then increases the proportional relief valve coil voltage to the maximum value; Step 2: During the operation of the winch, the winch control system adopts different adaptive deceleration and braking processes according to the different information received; Step 3: When the winch stops, a stop signal is sent to the winch control system; the winch control system reduces the voltage of the proportional relief valve coil to the minimum value to gradually reduce the gate disc oil pressure; then stops the oil pump motor until the residual pressure is reduced and the brake is applied; When the winch control system receives a system fault signal, it executes the secondary braking process; The secondary braking process includes the following steps: Step S1: Start the secondary brake solenoid valve group to put the stored energy pressure into the brake disc to maintain the secondary brake oil pressure value; Step S2: Wait for the time delay relay signal. If the time delay relay signal is detected, the oil return solenoid valve is started to return the oil in the hydraulic cylinder through the solenoid valve and the brake reaches the full braking state.

2. The winch adaptive torque gate control method according to claim 1, characterized in that: The different information received by the hoist control system includes a hoist fault signal, a system fault signal, a current load value of the hoist, a hoist emergency brake signal, and a hoist speed value.

3. The winch adaptive torque gate control method according to claim 2, characterized in that: When the winch control system receives the winch fault signal, it cuts off the power supply to the oil pump motor and the power supply to the proportional relief valve coil, causing the system oil pressure to drop.

4. The winch adaptive torque gate control method according to claim 2, characterized in that: The hoist control system pre-sets the load lower limit L, load upper limit H, acceleration lower value AL, acceleration median value AM, and acceleration upper value AH based on actual experience. When the hoist control system receives the current load value of the hoist, it determines the relationship between the current load value and the load lower limit L, load upper limit H, and load median value M. The following methods are included: If the current load value is less than the load lower limit L, the output target value of the PID function is modified to the acceleration upper value AH, so as to automatically correct the PID adjustment output value according to the load value and keep the acceleration constant at the acceleration upper value AH; If the load lower limit L ≤ current load value ≤ set load upper limit H, then modify the output target value of the PID function to the acceleration median AM, so as to automatically correct the PID adjustment output value according to the load value and keep the acceleration constant at the acceleration median AM; If the current load value is greater than the upper limit H of the load value, the output target value of the PID function is modified to the lower acceleration value AL, so as to automatically correct the PID adjustment output value according to the load value and keep the acceleration constant at the lower acceleration value AL.

5. The winch adaptive torque gate control method according to claim 2, characterized in that: After the winch control system receives the emergency brake signal, it starts the oil return solenoid valve, allowing the oil in the hydraulic cylinder to return through the solenoid valve, and the brake reaches the full braking state.

6. The winch adaptive torque gate control method according to claim 1, characterized in that: The winch control system pre-sets the winch speed threshold V; when the winch control system receives the winch speed value, if the speed is less than the speed threshold V, the oil return solenoid valve is started to return the oil in the hydraulic cylinder through the solenoid valve, and the brake reaches the full braking state.

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