A capstan grinding machine system based on permanent magnet synchronous motor

Abstract

The present invention discloses a capstan system based on a permanent magnet synchronous motor, and relates to the field of capstan systems for power transmission line construction. Existing capstans have many gears, and the gear shifting operation is relatively troublesome. The present invention includes a gear transmission, a permanent magnet synchronous servo motor, a motor driver, a main controller, a power battery pack, a wired control cable, and a handheld controller with a display screen. The main controller stores the relationship parameters between the current and torque of the permanent magnet synchronous servo motor in each speed section of acceleration and uniform speed, and the main controller reads the current to measure the load tension. The technical solution sets the maximum torque value for different speeds and accelerations of the capstan to ensure that the permanent magnet synchronous motor is not overloaded, thereby improving the safety of the capstan construction; the maximum working load tension value is preset through the handheld controller. When the load tension is greater than the preset maximum load tension value, the permanent magnet synchronous servo motor stops operating, and an overload prompt is displayed on the display screen of the handheld controller, further improving the safety of the capstan construction.

Description

Technical Field

[0001] The invention relates to the field of power transmission line construction capstan systems, and in particular to a capstan system based on a permanent magnet synchronous motor. Background Art

[0002] Capstans, also known as motorized capstans, are widely used in transmission line engineering tower assembly, line construction, and emergency repair operations. Existing capstans have the following problems: there are many gears, the gear shifting operation is cumbersome, and the transmission ratio of each gear is fixed, and the speed cannot be adjusted as needed; because the external load cannot be displayed at all times, and the maximum allowable load corresponding to each gear is different, overloading is prone to occur, resulting in low safety of the capstan. Summary of the invention

[0003] The technical problem to be solved and the technical task proposed by the present invention are to improve and perfect the existing technical solutions, and provide a capstan system based on a permanent magnet synchronous motor, so as to simplify the control of the capstan and improve the safety of the capstan construction. To this end, the present invention adopts the following technical solutions.

[0004] A capstan system based on a permanent magnet synchronous motor includes a gearbox, a permanent magnet synchronous servo motor, a motor driver, a main controller, a power battery pack, a wired control cable and a handheld controller with a display screen. The permanent magnet synchronous servo motor is connected to the grinding drum through the gearbox, the handheld controller is connected to the main controller, the power battery pack supplies power to the system, the main controller is connected to the motor driver, the motor driver is connected to the permanent magnet synchronous servo motor, and the main controller stores the relationship parameters between the current and torque of the permanent magnet synchronous servo motor in various working conditions of acceleration and uniform speed. The main controller reads the current, and finally obtains the correlation characteristics between the motor current and the load tension of the capstan through the current and torque relationship of the permanent magnet synchronous motor mathematical model through gear mechanical transmission, and uses the relevant algorithm to measure the load tension. According to the rated torque and overload characteristics of the permanent magnet synchronous motor at different speeds and accelerations, the maximum torque value is set for the different speeds and accelerations of the capstan to ensure that the permanent magnet synchronous motor is not overloaded, and the safety of the capstan construction is improved. The permanent magnet synchronous motor is adopted, which has a small volume and weight and is easy to carry.

[0005] As a preferred technical means: the maximum load tension value can be preset through the handheld controller according to actual work needs. When the load tension is greater than the preset maximum load tension value, the permanent magnet synchronous servo motor stops working and an overload prompt is displayed on the display screen of the handheld controller. The maximum load tension value can be set according to the actual situation on site, which is safer.

[0006] As a preferred technical means: the relationship between the current and torque of the permanent magnet synchronous servo motor is tested on a motor test bench, and the relationship between the current and torque at different speeds is tested and recorded to form a current-torque parameter characteristic table. This method can effectively realize the recording of current-torque parameter characteristic data and ensure the accuracy of torque.

[0007] As an optimal technical means: In each uniform working speed section, due to the different efficiencies of the motor in the low-speed section and the high-speed section, the relationship between the motor current and torque is slightly different. According to the test results of the motor test bench, different segmentation coefficients of the relationship between current and torque are obtained, and the load is set to F. For each uniform speed stage, Where η is the transmission efficiency, F V is the grinding rope tension under uniform speed conditions, r is the grinding drum radius + wire rope radius, n is the speed ratio, under the speed V condition, the torque, speed ratio and grinding drum radius are fixed constants, that is, the load of the grinding rope on the grinding drum that can be calculated is equal to the traction force, that is, Effectively realize the load tension calculation of each uniform speed section.

[0008] As an optimal technical means: for each acceleration stage, assuming the angular acceleration of the motor is M, the acceleration of the grinding rope can be obtained Motor traction force F a , load F, and obtain the motor torque T by reading the motor current table a , calculate the traction force It can be calculated Where F is the real-time load in the acceleration stage, T a is the motor output torque obtained from the current-torque parameter characteristic table, η is the transmission efficiency, r is the grinding drum radius + grinding rope radius, n is the transmission speed ratio, M is the motor acceleration, and g is the gravity acceleration. Effectively realize the load tension calculation of each acceleration section.

[0009] As the preferred technical means: the handheld controller is connected to the main controller by wired and wireless methods, and adopts a wired / wireless dual-mode automatic switching control method. The wired communication adopts CAN bus communication, and the wireless communication adopts spread spectrum communication. The wired / wireless dual-mode automatic switching control method makes the control operation simpler and more convenient; the wired communication adopts CAN bus, which has the advantages of real-time communication and reliability, and can complete the functions of the physical layer and data link layer of the communication system. It uses CANH and CANL differential transmission methods and has strong anti-interference ability. The CAN bus control protocol also includes heartbeat frames. If CAN bus communication is abnormal during operation, including CAN communication interruption caused by artificial unplugging of the cable or external force breaking, the main controller can send a stop command to stop the motor at the first time, and start the motor brake to stop the grinding drum, thereby avoiding accidents; the wireless communication adopts spread spectrum communication, which is 3-5 times longer than the traditional wireless radio frequency communication distance at the same power consumption. At the same time, the lower wireless power consumption can reduce radio pollution and interference, and facilitate the operation of high-altitude operations.

[0010] As the preferred technical means: the wireless control mode is preset with multiple frequencies. The main controller selects the frequency through the knob switch, and the handheld remote controller sets the frequency through the keyboard and display. When the main controller and the handheld remote controller are at the same frequency, remote control operation is realized. When there are multiple capstans at a construction site, wireless remote control of multiple capstans can be realized by setting different frequencies.

[0011] As the preferred technical means: the wired / wireless dual-mode automatic switching control mode is to automatically give priority to the wired control mode when wired communication is available. If wired communication cannot be established, wireless search is selected and wireless communication is established to enter the wireless control mode. If both wired and wireless communication cannot be established, the system returns to the standby state and restarts wired and wireless detection. The automatic switching method is simple and reliable.

[0012] As the preferred technical means: in the wired control mode, the CAN bus adopts full-speed control instructions and full-speed status query mode, real-time status detection occupies 100kbps bandwidth, real-time reading of permanent magnet synchronous servo motor current parameters and motor temperature parameters once every 10ms, and intermittent reading of battery power once every 10ms; real-time control data occupies 20kbps bandwidth, adopts the highest priority, and sends the motion instructions of the permanent magnet synchronous servo motor. It can effectively realize wired control.

[0013] As the preferred technical means: in wireless control mode, real-time status detection occupies 10kbps bandwidth, real-time reading of permanent magnet synchronous servo motor current parameters and motor temperature parameters every 100ms, and intermittent reading of battery power every 15s; real-time control data occupies 20kbps bandwidth, with high priority, to send motion instructions for permanent magnet synchronous servo motors. Wireless control can be effectively realized.

[0014] As the preferred technical means: the handheld controller can display real-time tension, real-time rope grinding speed, unlimited frequency band and wired / wireless control mode, and the maximum load tension can be preset through the handheld controller. It is convenient to monitor data intuitively and improve the convenience of control operation.

[0015] Beneficial effects: By adopting a permanent magnet synchronous motor, the current and torque relationship of the permanent magnet synchronous motor mathematical model, and through gear mechanical transmission, the correlation characteristics between the motor current and the load tension of the capstan are finally obtained, and the load tension is calculated by using a related algorithm. According to the rated torque and overload characteristics of the permanent magnet synchronous motor at different speeds and accelerations, the maximum torque value is set for different speeds and accelerations of the capstan to ensure that the permanent magnet synchronous motor is not overloaded, thereby improving the safety of the capstan construction. The maximum working load tension value is preset through the handheld controller. When the load tension is greater than the preset maximum load tension value, the permanent magnet synchronous servo motor stops operating and prompts overload on the display screen of the handheld controller, greatly improving the safety of the capstan construction. Achieve stepless speed regulation and effectively simplify the control operation of the capstan. Adopting a permanent magnet synchronous motor, it is small in size and weight and easy to carry. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a connection schematic diagram of the present invention.

[0017] Figure 2 It is a schematic diagram of the stages of the capstan motion process in the present invention.

[0018] Figure 3 It is a schematic diagram of the relationship between current and torque in the present invention.

[0019] Figure 4 It is a schematic diagram of the characteristic curve of the permanent magnet synchronous motor of the present invention.

[0020] Figure 5 It is a schematic diagram of wired / wireless dual-mode control switching in the present invention.

[0021] Figure 6 It is a schematic diagram of the wired control mode in the present invention.

[0022] Figure 7 It is a schematic diagram of the wireless control mode in the present invention.

[0023] Figure 1 In: 1. Gearbox; 2. Permanent magnet synchronous servo motor; 3. Motor driver; 4. Main controller; 5. Power battery pack; 6. Handheld controller; 7. Grinding cylinder. DETAILED DESCRIPTION

[0024] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings.

[0025] like Figure 1 As shown, a permanent magnet synchronous motor-based capstan grinding system includes a gear box 1, a permanent magnet synchronous servo motor 2, a motor driver 3, a main controller 4, a power battery pack 5, a wired control cable and a handheld controller 6 with a display screen. The permanent magnet synchronous servo motor 2 is connected to the grinding drum 7 through the gear box 1, the handheld controller 6 is connected to the main controller 4, the power battery pack 5 supplies power to the system, the main controller 4 is connected to the motor driver 3, the motor driver 3 is connected to the permanent magnet synchronous servo motor 2, and the main controller 4 stores the relationship parameters of the current and torque of the permanent magnet synchronous servo motor 2 in various working speed sections of acceleration and uniform speed. The main controller 4 reads the current and uses different algorithms to calculate the load tension, and the maximum working load tension value can be preset according to actual working needs through the handheld controller 6.

[0026] In order to improve safety, the main controller 4 can preset the maximum load tension value according to actual working needs through the handheld controller 6. When the load tension is greater than the preset maximum load tension value, the permanent magnet synchronous servo motor 2 stops working and prompts overload on the display screen of the handheld controller 6. The maximum load tension value is less than the maximum torque tension of the motor, which is safer.

[0027] In order to realize the recording of current-torque parameter characteristic data, the relationship parameters between current and torque of the permanent magnet synchronous servo motor 2 are tested on a motor test bench, and the relationship curve between current and torque at different speeds is tested and recorded to form a current-torque parameter characteristic table. This method can effectively realize the recording of current-torque parameter characteristic data.

[0028] like Figure 2 As shown, according to different stages of capstan operation, different calculation methods are used to obtain the relationship between current and capstan load wire rope traction force.

[0029] In order to realize the load tension calculation of each uniform speed section, the load is set to F, and the uniform speed stage B and D sections are analyzed. Since the efficiency of the motor is different in the low speed section and the high speed section, the relationship between the motor current and torque is slightly different. According to the test result data of the motor test bench, the different segmentation coefficients of the current and torque relationship are obtained, and the load is set to F. For each uniform speed stage, Where η is the transmission efficiency, F V is the grinding rope tension under uniform speed conditions, r is the grinding drum radius + wire rope radius, n is the speed ratio, according to Figure 3 The relationship diagram between the current and torque of the motor shown in the figure shows that the torque, speed ratio and radius of the grinding drum 7 under the speed V condition are fixed constants, and the load of the grinding rope on the grinding drum 7 that can be calculated is equal to the traction force, that is, The load tension calculation of each uniform speed section is effectively realized, which is convenient for comparison with the maximum load tension stored internally to achieve safe working conditions.

[0030] In order to calculate the load tension in each acceleration section, the acceleration section A and section C are analyzed. Assuming the angular acceleration of the motor is M, the acceleration of the grinding rope can be obtained. Motor traction force F a , load F, and obtain the motor torque T by reading the motor current table a , calculate the traction force It can be calculated Where F is the real-time load in the acceleration stage, T a is the motor output torque obtained from the current-torque parameter characteristic table, η is the transmission efficiency, r is the radius of the grinding drum + the radius of the grinding rope, n is the transmission speed ratio, M is the motor acceleration, and g is the gravity acceleration. It effectively realizes the load tension calculation of each acceleration section, which is convenient for comparison with the maximum load tension stored internally to achieve safe working conditions.

[0031] Figure 4 The figure shows the rated torque and overload characteristics of the permanent magnet synchronous servo motor 2 at different speeds. Taking a capstan with a rated value of 10 kN and a rated torque of 7.5 N*m as an example, according to its characteristics, the maximum torque value is set for different speeds of the capstan to ensure that the permanent magnet synchronous motor is not overloaded.

[0032] In order to make the operation control simpler and more convenient, the handheld controller 6 is connected to the main controller 4 by wired and wireless methods, and adopts a wired / wireless dual-mode automatic switching control method. The wired communication adopts CAN bus communication, and the wireless communication adopts spread spectrum LoRa communication. The wired / wireless dual-mode automatic switching control method makes the control operation simpler and more convenient; the wired CAN bus has the advantages of real-time communication and reliability, and can complete the functions of the physical layer and data link layer of the communication system. The CANH and CANL differential transmission methods are used, and it has strong anti-interference ability. The CAN bus control protocol also includes heartbeat frames. If CAN bus communication is abnormal during operation, including CAN communication interruption caused by artificial unplugging of the cable or external force breaking, the main controller 4 can send a stop command to stop the motor at the first time, and start the motor brake to stop the grinding drum 7, thereby avoiding accidents; the wireless adopts spread spectrum communication, which is 3-5 times larger than the traditional wireless radio frequency communication distance at the same power consumption. At the same time, the lower wireless power consumption can reduce radio pollution and interference, and facilitate the operation of high-altitude operations.

[0033] In order to realize wireless control of multiple capstans, the wireless control mode is preset with 10 frequency points. The main controller 4 selects the frequency point through the knob switch, and the handheld remote controller sets the frequency point through the keyboard and display screen. When the main controller 4 and the handheld remote controller are at the same frequency point, remote control operation is realized. When there are multiple capstans at a construction site, wireless remote control of up to 10 capstans can be realized at one place by setting different frequency points.

[0034] In order to achieve simple and reliable automatic switching control, such as Figure 5 As shown in the figure, the wired / wireless dual-mode automatic switching control mode is that when wired communication is available, the wired control mode is automatically selected first. When wired communication cannot be established, wireless search is selected and wireless communication is established to enter the wireless control mode. If both wired and wireless communication cannot be established, the system returns to the standby state and restarts wired and wireless detection. The automatic switching mode is simple and reliable.

[0035] In order to effectively implement wired control, such as Figure 6 As shown in the figure, in the wired control mode, the CAN bus adopts full-speed control instructions and full-speed status query mode, real-time status detection occupies 100kbps bandwidth, real-time reading of permanent magnet synchronous servo motor 2 current parameters and motor temperature parameters once every 10ms, and intermittent reading of battery power once every 10ms; real-time control data occupies 20kbps bandwidth, adopts the highest priority, and sends the motion instructions of permanent magnet synchronous servo motor 2. It can effectively realize wired control.

[0036] In order to effectively implement wireless control, such as Figure 7 As shown in the figure, in wireless control mode, real-time status detection occupies 10kbps bandwidth, real-time reading of permanent magnet synchronous servo motor 2 current parameters and motor temperature parameters every 100ms, and intermittent reading of battery power every 15s; real-time control data occupies 20kbps bandwidth, with high priority, to send motion instructions of permanent magnet synchronous servo motor 2. Wireless control can be effectively realized.

[0037] In order to facilitate intuitive monitoring of data, the handheld controller 6 can display real-time tension, real-time speed of grinding rope, infinite frequency band and wired / wireless control mode, and the maximum load tension can be preset through the handheld controller 6. It is convenient to intuitively monitor data and improve the convenience of control operation.

[0038] By adopting a permanent magnet synchronous motor, the current and torque relationship of the permanent magnet synchronous motor mathematical model, and the mechanical transmission of gears, the correlation characteristics between the motor current and the load tension of the capstan are finally obtained, and the load tension is calculated by using a related algorithm. According to the rated torque and overload characteristics of the permanent magnet synchronous motor at different speeds and accelerations, the maximum torque value is set for different speeds and accelerations of the capstan to ensure that the permanent magnet synchronous motor is not overloaded and improve the safety of the capstan construction. The maximum working load tension value is preset through the handheld controller. When the load tension is greater than the preset maximum load tension value, the permanent magnet synchronous servo motor stops operating and prompts overload on the display screen of the handheld controller, which greatly improves the safety of the capstan construction. Achieve stepless speed regulation and effectively simplify the control operation of the capstan.

[0039] above Figure 1-7The permanent magnet synchronous motor-based capstan system shown is a specific embodiment of the present invention, which has embodied the outstanding substantial features and significant progress of the present invention. According to actual use needs and under the guidance of the present invention, equivalent modifications in shape, structure, etc. can be made to it, which are all within the protection scope of this scheme.

Claims

1. A capstan grinding machine system based on a permanent magnet synchronous motor, characterized in that: The system comprises a gearbox (1), a permanent magnet synchronous servo motor (2), a motor driver (3), a main controller (4), a power battery pack (5), a wired control cable and a handheld controller (6) provided with a display screen, wherein the permanent magnet synchronous servo motor (2) is connected to a grinding drum (7) through the gearbox (1), the handheld controller (6) is connected to the main controller (4), the power battery pack (5) supplies power to the system, the main controller (4) is connected to the motor driver (3), the motor driver (3) is connected to the permanent magnet synchronous servo motor (2), and the main controller (4) stores the relationship parameters between the current and the torque of the permanent magnet synchronous servo motor (2) in various working speed sections of acceleration and uniform speed. The main controller (4) reads the current and uses different algorithms to measure the load tension, and the handheld controller (6) can preset the maximum working load tension value according to actual working needs; The relationship parameters between the current and torque of the permanent magnet synchronous servo motor (2) are tested on a motor test bench, and the relationship curve between the current and torque at different speeds is tested and recorded to form a current-torque parameter characteristic table; In each uniform working speed section, due to the different efficiencies of the motor in the low-speed section and the high-speed section, the relationship between the motor current and torque is slightly different. According to the test results of the motor test bench, different segmentation coefficients of the current and torque relationship are obtained, and the load is set to F. For each uniform speed stage, ,in is the transmission efficiency, is the grinding rope tension under uniform speed conditions, r is the grinding drum (7) radius + wire rope radius, n is the speed ratio, under the speed V condition, the torque, speed ratio and grinding drum (7) radius are fixed constants, and the load of the grinding rope on the grinding drum (7) that can be calculated is equal to the traction force, that is, F= .

2. A capstan grinding machine system based on a permanent magnet synchronous motor according to claim 1, characterized in that: The main controller (4) can preset a maximum working load tension value according to actual working needs through the handheld controller (6); when the load tension is greater than the preset maximum load tension value, the permanent magnet synchronous servo motor (2) stops operating and an overload indication is displayed on the display screen of the handheld controller (6).

3. The permanent magnet synchronous motor-based capstan system according to claim 1, characterized in that: For each acceleration stage, assuming the angular acceleration of the motor is M, the acceleration of the grinding rope can be obtained as a = , the traction force of the motor , load F, and obtain the motor torque by reading the motor current table , calculate the traction force - F = , we can calculate F = *( )=( )×( )=( )×( ), where F is the real-time load in the acceleration phase, is the motor output torque obtained from the current-torque parameter characteristic table, is the transmission efficiency, r is the radius of the grinding drum (7) + the radius of the grinding rope, n is the transmission speed ratio, M is the motor acceleration, and g is the gravity acceleration.

4. The permanent magnet synchronous motor-based capstan grinding machine system according to claim 1, characterized in that: The handheld controller (6) is connected to the main controller (4) via wired and wireless modes, and adopts a wired / wireless dual-mode automatic switching control mode, wherein the wired mode adopts CAN bus communication and the wireless mode adopts spread spectrum communication.

5. A capstan grinding machine system based on a permanent magnet synchronous motor according to claim 4, characterized in that: The wireless control mode is preset with multiple frequency points. The main controller (4) selects the frequency point through a knob switch, and the handheld remote controller sets the frequency point through a keyboard and a display screen. When the main controller (4) and the handheld remote controller are at the same frequency point, remote control operation is achieved.

6. A capstan grinding machine system based on a permanent magnet synchronous motor according to claim 4, characterized in that: The wired / wireless dual-mode automatic switching control method is that when wired communication is available, the wired control mode is automatically selected first. Under the premise that wired communication cannot be established, wireless search is selected and wireless communication is established to enter the wireless control mode. If both wired and wireless communication cannot be established, it returns to the standby state and restarts wired and wireless detection.

7. A capstan grinding machine system based on a permanent magnet synchronous motor according to claim 6, characterized in that: In the wired control mode, the CAN bus adopts full-speed control instructions and full-speed status query mode. The real-time status detection occupies 100kbps bandwidth, and the current parameters and motor temperature parameters of the permanent magnet synchronous servo motor (2) are read in real time every 10ms, and the battery power is read at intervals every 10ms; the real-time control data occupies 20kbps bandwidth, adopts the highest priority, and sends the motion instructions of the permanent magnet synchronous servo motor (2).

8. The permanent magnet synchronous motor-based capstan grinding machine system according to claim 6, characterized in that: In wireless control mode, real-time status detection occupies 10kbps bandwidth, and the current parameters and motor temperature parameters of the permanent magnet synchronous servo motor (2) are read in real time every 100ms, and the battery power is read at intervals of 15s; real-time control data occupies 20kbps bandwidth, adopts high priority, and sends the motion instructions of the permanent magnet synchronous servo motor (2).

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