A redundant adaptive cable arranging control method for ten-thousand-meter deep-sea winch

Abstract

The present application relates to a kind of redundancy adaptive cable arrangement control method of ten-thousand-meter deep sea winch, comprising the following steps: S1, cable is wound on storage cable reel by cable arrangement device;Start cable arrangement motor to drive cable arrangement device to move left and right, start reel motor to drive storage cable reel to rotate;S2, the actual pulse number s1 of storage cable encoder is acquired in real time, and the horizontal displacement S1 of storage cable is calculated, and input drive system;S3, the actual pulse number s2 of cable arrangement encoder is acquired in real time, and the horizontal displacement S2 of cable arrangement is calculated, and input drive system;S4, whether cable arrangement device triggers limit signal is judged, after triggering limit signal, cable arrangement motor stops operation and returns step S2, otherwise enter step S5;S5, calculate cable arrangement deflection angle value θ, and with maximum allowable deflection angle θ m When θ ≥ θ m , then carry out deflection angle redundancy control program, otherwise enter position closed-loop control.The present application has redundancy guarantee and adaptability, control precision is high, and control process is reliable.

Description

Technical Field

[0001] The present invention relates to the field of cable arrangement control of deep-sea winches, and in particular to a redundant adaptive cable arrangement control method for 10,000-meter deep-sea winches. Background Art

[0002] During deep-sea operations such as deep-water manned transport, deep-sea mining, and deep-sea sampling, the mother vessel relies on its onboard 10,000-meter deep-sea winch to tow and lower the equipment to a fixed position on the seafloor. During this process, 10,000 meters of cable must be neatly and tightly wound layer by layer around the winch's storage drum. Poor cable arrangement, such as overlapping or wedging, increases friction between the cables and shortens their service life. The ability to maintain a tight and orderly arrangement of the cables depends not only on the cable's inherent properties but also on the effective and accurate control of the cable arrangement mechanism.

[0003] However, the cable arrangement methods of the cable arrangement mechanisms in the prior art are not highly adaptable, and the control accuracy and reliability cannot be guaranteed. For example, CN109534202B designs a method and device for automatically arranging cables for a cable storage winch. This method determines the number of turns of the outermost cable on the cable storage winch and the equivalent number of turns of the cable arrangement mechanism by the number of turns of the cable storage winch under different retraction and extension states and the axial displacement of the cable arrangement mechanism. The cables are then retracted and arranged based on the comparison between the equivalent number of turns of the cable arrangement mechanism and the number of turns of the outermost cable on the cable storage winch. For example, the open-loop control method in CN109534202B cannot adjust the control according to the changes in the cable during the cable arrangement process, nor can it control the angle between the cable outlet end of the cable arrangement device and the cable storage drum. This makes it easy for the cables to become tangled, and the control accuracy and reliability cannot be guaranteed. Summary of the Invention

[0004] In response to the above-mentioned deficiencies in the prior art, the present invention provides a redundant adaptive cable arrangement control method for a 10,000-meter deep-sea winch. The cable arrangement control method has redundancy protection and adaptability, high control accuracy, and reliable control process.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A redundant adaptive cable arrangement control method for a 10,000-meter deep-sea winch, the cable arrangement control method comprising the following steps:

[0007] S1. Wind the cable onto the cable storage drum through the cable arranger; start the cable arranger motor to drive the cable arranger to move left and right, and start the drum motor to drive the cable storage drum to rotate;

[0008] S2, the displacement feedback adaptive controller obtains the actual pulse number s1 of the cable storage encoder connected to the drum motor in real time, calculates the cable storage horizontal displacement S1 of the cable storage drum's rope outlet point relative to the zero point, and inputs the cable storage horizontal displacement S1 into the drive system;

[0009] S3, the displacement feedback adaptive controller obtains the actual pulse number s2 of the cable encoder connected to the cable motor in real time, calculates the cable horizontal displacement S2 of the cable output point relative to the zero point, and inputs the cable horizontal displacement S2 into the drive system;

[0010] S4, the displacement feedback adaptive controller determines whether the cable arrangement device triggers the limit signal. After receiving the trigger limit signal, the displacement feedback adaptive controller controls the cable arrangement motor to stop running through the drive system and returns to step S2. Otherwise, it goes to step S5.

[0011] S5, the displacement feedback adaptive controller calculates the cable deflection value θ through the actual pulse number s3 of the cable angle encoder, and compares the cable deflection value θ with the maximum allowable deflection angle θ. m For comparison, when θ≥θ m When , the displacement feedback adaptive controller performs the angle redundancy control procedure, otherwise it enters the position closed-loop control.

[0012] Furthermore, in step S2, the calculation formula of the cable storage horizontal displacement S1 is:

[0013] When the number of cable layers on the cable storage drum is an odd number, the horizontal displacement of the cable storage drum is S1 = l*m / k;

[0014] When the number of cable layers on the cable storage drum is an even number, the horizontal displacement of the cable storage drum is S1 = l*(sm) / k;

[0015] Among them, the cable intercept is l; the number of pulses for one rotation of the cable storage drum is k; the number of pulses required to fully lay the cable on each layer of the cable storage drum is s; when the current layer of the cable is an odd number of layers, the number of pulses for the cable already laid on the current layer is m.

[0016] Furthermore, in step S3, the calculation formula of the horizontal displacement S2 of the cable arrangement is:

[0017] When the number of cable layers on the cable arranger is an odd number, the horizontal displacement of the cable arranger is S2 = l*m' / k';

[0018] When the number of cable layers on the cable arrangement is an even number, the horizontal displacement of the cable arrangement S2 = l*(s'-m') / k';

[0019] Among them, the cable intercept is l; the number of pulses for the cable arranger to rotate one circle is k'; the number of pulses required for the cable arranger to lay the cable on each layer is s'; when the current layer of the cable is an odd layer, the number of pulses for the cable laid on the current layer is m'.

[0020] Furthermore, in step S5, the deflection angle redundancy control procedure is as follows:

[0021] When the displacement feedback adaptive controller determines that the cable arrangement angle θ is a positive angle, the displacement feedback adaptive controller controls the cable arrangement motor to rotate in the reverse direction at a predetermined maximum speed through the drive system, drives the cable arrangement device to move in the reverse direction quickly to a preset position, and repeats S2 to S5;

[0022] When the displacement feedback adaptive controller determines that the cable arrangement angle θ is a negative angle, the displacement feedback adaptive controller controls the cable arrangement motor to rotate forward at a preset maximum speed through the drive system, drives the cable arrangement device to move forward quickly to a preset position, and repeats steps 2 to 5.

[0023] Furthermore, in step S5, the position closed-loop control process is as follows:

[0024] The drive system uses the cable storage horizontal displacement S1 and the cable arrangement horizontal displacement S2 to obtain the horizontal displacement difference ΔS, and inputs ΔS into the displacement feedback adaptive controller. The displacement feedback adaptive controller determines the control signal for the cable arrangement motor and the drum motor according to ΔS, and the drive system drives the cable arrangement motor and the drum motor to move according to the control signal.

[0025] Furthermore, the displacement feedback adaptive controller adopts fuzzy PID method to perform position closed-loop control.

[0026] Furthermore, in step S5 , according to the actual pulse number s3 of the cable angle encoder and the pulse number w of one rotation of the cable angle encoder, the cable deflection angle value θ=2π*s3 / w-π.

[0027] Furthermore, in step S4, the limit signal is sent by the cable arranger triggering the right limit switch and the left limit switch of the cable arranger.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] The redundant adaptive cable arrangement control method for a 10,000-meter deep-sea winch of the present invention has redundancy protection and adaptability, high control accuracy, and a reliable control process.

[0030] The present invention is a dual redundant control method with position closed-loop control as the first-level active compensation and angle redundant control as the second-level active compensation. The redundant control design of the present invention can ensure that the cable is always perpendicular to the cable storage drum when entering and exiting the cable storage drum from the cable arranger, and make real-time redundant active compensation for the complex position deviations occurring during the cable arrangement process, and ultimately achieve the winch's 10,000-meter cable to be efficiently, tightly, and neatly arranged layer by layer on the cable storage drum, reducing the continuous friction between the cables, increasing the service life of the cables, and ensuring that the 10,000-meter winch can operate uninterruptedly.

[0031] The present invention adopts the fuzzy PID method to perform position closed-loop control through a displacement feedback adaptive controller. By utilizing the adaptability and strong robustness of the fuzzy PID method, the control parameters can be adaptively adjusted according to the deviation size in the cable arrangement process, the change in cable diameter caused by load traction, etc., so that the cable arranger can compensate for the position deviation as quickly as possible, ensure that the cables entering and exiting the cable arranger are perpendicular to the cable storage drum, and ensure the cable arrangement effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 Schematic diagram of the automatic cable arrangement device for a winch that realizes the redundant adaptive cable arrangement control method for a 10,000-meter deep-sea winch according to the present invention;

[0033] Figure 2 This is a flow chart of the redundant adaptive cable arrangement control method for a 10,000-meter deep-sea winch according to the present invention;

[0034] Figure 3 This is a block diagram of the automatic cable arrangement control of the winch of the present invention.

[0035] Among them: 1-cable arranger, 2-cable storage drum, 3-cable storage encoder, 4-cable angle encoder, 5-cable right limit switch, 6-cable left limit switch, 7-cable motor, 8-cable encoder, 9-drum motor. DETAILED DESCRIPTION

[0036] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following embodiments are only used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0037] Terms such as "upper," "lower," "left," "right," "inner," "outer," "front," "back," "head," and "tail" in this application are based on the directions or positions shown in the accompanying drawings. The corresponding positions may vary depending on the drawings, and should not be construed as limiting the scope of protection.

[0038] In the present invention, the terms "installed," "connected," "connected," "connected," "fixed," etc. should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, integral connection, mechanical connection, electrical connection, or mutual communication. They may be directly connected or indirectly connected through an intermediate medium. They may refer to internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0039] This embodiment describes a redundant adaptive cable arrangement control method for a 10,000-meter deep-sea winch, which is suitable for controlling a cable arrangement device to assist a cable storage drum in retracting and releasing a cable, such as a cable on a 10,000-meter deep-sea winch.

[0040] As Figure 1 shown, the equipment required to implement the cable control method includes a cable arranging device 1, a cable storage reel 2, a cable storage encoder 3, a cable arranging angle encoder 4, a cable arranging right limit switch 5, a cable arranging left limit switch 6, a cable arranging motor 7, a cable arranging encoder 8, and a reel motor 9.

[0041] The cable of the 10,000-meter winch is wound on the cable storage reel 2 through the cable arranging device 1. The cable arranging device 1 is arranged on a roller screw below or beside the cable storage reel 2, and the cable arranging motor 7 drives the roller screw to rotate to drive the cable arranging device 1 to move left and right along the roller screw. The cable arranging left limit switch 6 and the cable arranging right limit switch 5 are arranged at the left and right ends of the roller screw, respectively, to limit the left and right movement of the cable arranging device 1, and the cable arranging device 1 stops moving forward when it reaches the limit position preset by the cable arranging left limit switch 6 or the cable arranging right limit switch 5 under the control of the drive system. The cable arranging encoder 8 is arranged at the end of the roller screw to measure the number of rotation pulses and speed of the roller screw.

[0042] The cable arranging angle encoder 4 is installed on the central shaft of the rotating pulley of the cable arranging device 1 to measure the angle of the cable entering or leaving the cable storage reel 2 from the cable arranging device 1 (i.e., the angle between the cable and the direction perpendicular to the cable storage reel 2).

[0043] One end of the central shaft of the cable storage reel 2 is connected to the reel motor 9, and the cable storage reel 2 is driven to rotate forward and backward by the reel motor 9. The cable storage encoder 3 is installed on the other end of the central shaft of the cable storage reel 2 to measure the number of rotation pulses and speed of the cable storage reel 2.

[0044] The cable storage encoder 3, the cable arranging angle encoder 4, the cable arranging right limit switch 5, the cable arranging left limit switch 6, and the cable arranging encoder 8 are connected to the displacement feedback adaptive controller, and the drive system drives the forward and backward rotation of the cable arranging motor 7 and the reel motor 9 according to the displacement signal fed back by the displacement feedback adaptive controller.

[0045] The 10,000-meter deep-sea winch redundant adaptive cable control method of the embodiment, as shown in Figure 2 and Figure 3 , includes the following steps:

[0046] 1. The cable of the 10,000-meter winch is wound on the cable storage reel 2 through the cable arranging device 1, and the drive system starts the cable storage encoder 3, the cable arranging angle encoder 4, the cable arranging right limit switch 5, the cable arranging left limit switch 6, the cable arranging motor 7, the cable arranging encoder 8, and the reel motor 9, and the cable arranging device 1 and the cable storage reel 2 rotate synchronously.

[0047] 2. The displacement feedback adaptive controller obtains the actual pulse number s1 of the cable storage encoder 3 in real time, and calculates the cable storage horizontal displacement S1 of the cable outlet point of the cable storage drum 2 relative to the zero point (in this embodiment, the leftmost end of the cable storage position of the cable storage drum 2 is taken as the zero point) as the input target value of the drive system;

[0048] Assume that the cable intercept is l, the number of pulses for one rotation of the cable storage drum 2 is k, and the number of pulses required for each layer of the cable storage drum 2 to be fully covered with cable is s. If the current layer is an odd layer, and the number of pulses for the cable already laid in the current layer is m, then the horizontal cable displacement of the cable outlet point of the cable storage drum 2 relative to the zero point is S1 = l*m / k; if the current layer is an even layer, then the horizontal cable displacement of the cable outlet point of the cable storage drum 2 relative to the zero point is S1 = l*(sm) / k.

[0049] 3. The displacement feedback adaptive controller obtains the actual pulse number s2 of the cable encoder 8 in real time, calculates the horizontal displacement S2 of the cable output point of the cable spool 1 relative to the zero point, and uses it as the feedback value of the drive system. The calculation method of S2 is the same as that of S1.

[0050] Assume that the cable intercept is l, the number of pulses for one rotation of the cable reel 1 is k', and the number of pulses required for the cable reel 1 to fully lay the cable on each layer is s'. If the current layer is an odd layer, the number of pulses for the cable laid on the current layer is m', then the horizontal displacement of the cable storage point of the cable reel 1 relative to the zero point is S2 = l*m' / k'; if the current layer is an even layer, then the horizontal displacement of the cable storage point of the cable reel 1 relative to the zero point is S2 = l*(s'-m') / k'.

[0051] 4. The displacement feedback adaptive controller determines whether the cable arranger 1 triggers the right limit switch 5 or the left limit switch 6. If a right or left limit triggering signal is received, the drive system controls the cable arranger motor 7 to stop running and returns to step 2. Otherwise, the process goes to step 5.

[0052] 5. The displacement feedback adaptive controller calculates the cable deflection value θ in real time through the actual pulse number s3 of the cable angle encoder 4 at the cable outlet end of the cable 1, and compares the deflection value θ with the maximum allowable deflection angle θ. m For comparison, when θ≥θ m When , the displacement feedback adaptive controller performs the angle redundancy control procedure, that is, enters step 7, otherwise it enters the position closed-loop control, that is, step 6;

[0053] According to the actual pulse number s3 of the cable angle encoder 4 and the pulse number w of the cable angle encoder 4 during one rotation, the cable deflection angle value θ=2π*s3 / w-π can be obtained;

[0054] 6. The drive system uses the horizontal displacement S1 of the storage cable and the horizontal displacement S2 of the cable arrangement to obtain the horizontal displacement difference ΔS, and inputs ΔS into the displacement feedback adaptive controller. The displacement feedback adaptive controller determines the control signal for the power system based on ΔS, and inputs the control signal to the drive system. The drive system drives the power system (i.e., the cable arrangement motor 7 and the drum motor 9) according to the control signal.

[0055] The displacement feedback adaptive controller uses the fuzzy PID method to perform position closed-loop control and determine the control signal for the power system. The fuzzy rule tables of the fuzzy PID method are shown in Table 1, Table 2, and Table 3.

[0056] Table 1ΔK P Fuzzy rule table

[0057]

[0058] Table 2ΔK I Fuzzy rule table

[0059]

[0060]

[0061] Table 3ΔK D Fuzzy rule table

[0062]

[0063] The position closed-loop control of the displacement feedback adaptive controller utilizes the adaptability and strong robustness of the fuzzy PID method, and can adaptively adjust the control parameters according to the deviation size during the cable arrangement process, the change in cable diameter caused by load traction, etc.

[0064] 7. The displacement feedback adaptive controller determines whether the cable deflection angle θ is a positive deflection angle (a right deflection angle centered on the axis of the cable drum 2, which is always perpendicular to the cable drum 2 when the cable enters and exits the cable drum 2 from the cable drum 1) or a negative deflection angle (a left deflection angle centered on the axis of the cable drum 2, which is always perpendicular to the cable drum 2 when the cable enters and exits the cable drum 2 from the cable drum 1); if it is a positive deflection angle, the displacement feedback adaptive controller controls the cable motor 7 to rotate in the reverse direction at a predetermined maximum speed through the drive system, drives the cable drum 1 to move rapidly in the reverse direction to the preset position, and repeats steps 2 to 5; otherwise, the displacement feedback adaptive controller controls the cable motor 7 to rotate in the forward direction at a predetermined maximum speed through the drive system, drives the cable drum 1 to move rapidly in the forward direction to the preset position, and repeats steps 2 to 5. In this embodiment, the preset position to which the cable drum 1 moves rapidly is the position where the cable drum 1 moves at the maximum speed to a position where the cable deflection angle θ is less than the maximum allowable deflection angle θ m location.

[0065] Although the principles of the present invention have been described in detail above in conjunction with the preferred embodiments of the present invention, those skilled in the art should understand that the above embodiments are merely illustrative of the present invention and are not intended to limit the scope of the present invention. The details in the embodiments do not constitute a limitation on the scope of the present invention. Without departing from the spirit and scope of the present invention, any obvious changes such as equivalent transformations and simple substitutions based on the technical solution of the present invention fall within the scope of protection of the present invention.

Claims

1. A redundant adaptive cable arrangement control method for a 10,000-meter deep-sea winch, characterized in that: The cable arrangement control method comprises the following steps: S1. Wind the cable onto the cable storage drum (2) through the cable arrangement device (1); start the cable arrangement motor (7) to drive the cable arrangement device (1) to move left and right, and start the drum motor (9) to drive the cable storage drum (2) to rotate; S2, a displacement feedback adaptive controller obtains in real time the actual pulse number s1 of the cable storage encoder (3) connected to the drum motor (9), calculates the cable storage horizontal displacement S1 of the cable outlet point of the cable storage drum (2) relative to the zero point, and inputs the cable storage horizontal displacement S1 into the drive system; The calculation formula for the horizontal displacement S1 of the storage cable is: When the number of cable layers on the cable storage drum (2) is an odd number, the horizontal displacement of the cable storage drum is S1 = l*m / k; When the number of cable layers on the cable storage drum (2) is an even number, the horizontal displacement of the cable storage drum S1 = l*(sm) / k; Wherein, the cable intercept is l; the number of pulses for one rotation of the cable storage drum (2) is k; the number of pulses required for each layer of the cable storage drum (2) to be fully covered with cable is s; when the current layer of the cable is an odd number of layers, the number of pulses for the cable already laid in the current layer is m; S3, the displacement feedback adaptive controller obtains the actual pulse number s2 of the cable arrangement encoder (8) connected to the cable arrangement motor (7) in real time, calculates the cable arrangement horizontal displacement S2 of the cable outlet point of the cable arrangement device (1) relative to the zero point, and inputs the cable arrangement horizontal displacement S2 into the drive system; The calculation formula for the horizontal displacement S2 of the cable arrangement is: When the number of cable layers on the cable arrangement device (1) is an odd number, the horizontal displacement of the cable arrangement is S2 = l*m' / k'; When the number of cable layers on the cable arrangement device (1) is an even number, the horizontal displacement of the cable arrangement is S2 = l*(s'-m') / k'; Wherein, the cable intercept is l; the number of pulses for the cable arranger (1) to rotate one circle is k'; the number of pulses required for the cable arranger (1) to lay the cable on each layer is s'; when the current layer of the cable is an odd number of layers, the number of pulses for the cable laid on the current layer is m'; S4, the displacement feedback adaptive controller determines whether the cable arrangement device (1) triggers a limit signal. After receiving the trigger limit signal, the displacement feedback adaptive controller controls the cable arrangement motor (7) to stop running through the drive system and returns to step S2, otherwise it enters step S5; S5, the displacement feedback adaptive controller calculates the cable deflection value θ through the actual pulse number s3 of the cable angle encoder (4), and compares the cable deflection value θ with the maximum allowable deflection angle θ m For comparison, when θ≥θ m When , the displacement feedback adaptive controller performs the angle redundancy control procedure, otherwise it enters the position closed-loop control; The position closed-loop control process is as follows: The drive system uses the cable storage horizontal displacement S1 and the cable arrangement horizontal displacement S2 to obtain a horizontal displacement difference ΔS, and inputs the ΔS into a displacement feedback adaptive controller. The displacement feedback adaptive controller determines control signals for the cable arrangement motor (7) and the drum motor (9) according to the ΔS, and the drive system drives the cable arrangement motor (7) and the drum motor (9) to move according to the control signals.

2. The redundant adaptive cable arrangement control method for a 10,000-meter deep-sea winch according to claim 1 is characterized in that: In step S5, the deflection angle redundancy control procedure is as follows: When the displacement feedback adaptive controller determines that the cable arrangement angle θ is a positive angle, the displacement feedback adaptive controller controls the cable arrangement motor (7) to rotate in the reverse direction at a predetermined maximum speed through the driving system, drives the cable arrangement device (1) to move in the reverse direction quickly to a preset position, and repeats S2 to S5; When the displacement feedback adaptive controller determines that the cable arrangement deflection angle θ is a negative deflection angle, the displacement feedback adaptive controller controls the cable arrangement motor (7) to rotate in the forward direction at a preset maximum speed through the drive system, drives the cable arrangement device (1) to move forward quickly to a preset position, and repeats steps 2 to 5.

3. The redundant adaptive cable arrangement control method for a 10,000-meter deep-sea winch according to claim 1 is characterized in that: The displacement feedback adaptive controller uses fuzzy PID method to perform position closed-loop control.

4. The redundant adaptive cable arrangement control method for a 10,000-meter deep-sea winch according to claim 1 is characterized in that: In step S5, according to the actual pulse number s3 of the cable angle encoder (4) and the pulse number w of the cable angle encoder (4) during one rotation, the cable deflection angle value θ=2π*s3 / w-π.

5. The redundant adaptive cable arrangement control method for a 10,000-meter deep-sea winch according to claim 1 is characterized in that: In step S4, the limit signal is sent by the cable arranger (1) by triggering the cable arrange right limit switch (5) and the cable arrange left limit switch (6).

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