A cable storage winch and a method for controlling cable winding and unwinding thereof

Abstract

The application discloses a cable storage winch, which is composed of a touch screen, a programmable controller, a first servo driver, a brake resistor, a first encoder, a first servo reduction motor, a cable storage reel, a cable, a first travel switch, a cable arranging guide roller, a cable arranging screw rod, a second travel switch, a second servo reduction motor, a second encoder and a second servo driver. The application also discloses a control method of the cable arranging device in the cable storage winch, which comprises a cable collecting control method and a cable releasing control method. The control parameters in the control method can be adjusted conveniently according to the calculation formula. The cable arranging device controlled by the control method can arrange the cables on the cable storage reel in order, and there is no cable arranging error accumulation in each layer.

Description

TECHNICAL FIELD

[0001] The present application relates to a cable storage winch and a control method for winding and unwinding the cable, in particular to a cable storage winch driven by a servo motor and a control method for winding and unwinding the cable. BACKGROUND

[0002] The cable storage winch has the functions of carrying and storing the cable, and can be used as a main carrying executive mechanism or as a component for storing the cable to be matched with a traction winch. The cable storage winch mainly comprises a cable storage reel and a cable arranging device, and the most important performance of the cable storage winch is the cable storage neatness. The cable is arranged in multiple layers on the cable storage reel, and the control of the cable arranging device is the key, i.e. a lead screw is needed to drive the cable arranging guide wheel to realize the reciprocating movement of the cable arranging guide wheel on the lead screw, and the driving mode of the lead screw includes a mechanical type and an independent driving type.

[0003] The mechanical type driving mode of the lead screw is that a chain transmission is adopted between the cable arranging lead screw and the cable storage reel, the cable storage reel is driven by a motor, and the bidirectional lead screw is driven to move by the chain transmission. The advantage of this mode is that the system is simple, and the cable arranging guide wheel can automatically reverse at both ends. However, the disadvantage is also obvious, mainly including the following points: 1) the cable arranging lead screw is a bidirectional screw, which increases the manufacturing difficulty and cost; 2) the single-toothed nut engaged with the bidirectional lead screw is easy to wear, and the cable arranging error is increased after multiple uses due to the wear, the cable is easy to be disordered, and the cable arranging guide wheel cannot be automatically reversed in severe cases; and 3) the manual adjustment process is very time-consuming and laborious after the cable is disordered.

[0004] The cable arranging device adopting the independent driving mode of the unidirectional lead screw can solve the disadvantages of the mechanical type driving mode. However, if a suitable control method is not adopted, the cable arranging device will also cause the cable to be disordered, especially the cable to be overlapped at the reversing positions at both ends. In addition, the reversing mode often uses travel switches or proximity switches to trigger the reversing, and the installation position of such sensors needs to be highly required and needs a large amount of debugging. During the reversing of the cable arranging guide wheel, the speed decreases from a certain value to 0 and then increases. In the general controller, the rising and falling slopes are set in advance, so that the initial speed is different, the falling time is not the same, and the displacement of the cable arranging guide wheel in this process is also different, which will increase the probability of the cable overlapping at the reversing positions at both ends, and thus the cable is easy to be disordered.

[0005] With the increase of the cable storage capacity and the number of cable storage layers, higher control requirements are needed for the cable arranging device adopting the independent driving mode of the unidirectional lead screw. The conventional method cannot meet the use requirements, and a new control method is the key to solve the problem. SUMMARY

[0006] The present application aims at the problems in the prior art, and provides a cable storage winch with excellent performance and convenient use and a cable winding and unwinding control method thereof.

[0007] To achieve the above object, the present application adopts the technical solution of:

[0008] A cable storage winch, characterized in that it comprises a touch screen, a programmable logic controller (PLC), a first servo driver, a braking resistor, a first encoder, a first servo reduction motor, a cable storage drum, a cable, a first travel switch, a cable arranging guide roller, a cable arranging lead screw, a second travel switch, a second servo reduction motor, a second encoder and a second servo driver.

[0009] Further preferably, the second encoder is a 26-bit absolute photoelectric encoder.

[0010] To achieve the above object, the present application adopts another technical solution of:

[0011] A cable winding and unwinding control method of a cable storage winch, comprising a cable winding control method and a cable unwinding control method, wherein,

[0012] I. The cable winding control method, assuming that the effective cable width inside the cable storage drum is L, the cable diameter is d, and the real-time rotating speed of the cable storage drum is n1, the control method when winding the cable comprises the following steps:

[0013] Step 1: PLC initialization, integrator zero, INT1=0, INT2=0, INT3=0;

[0014] Step 2: PLC detects whether the current operation instruction is a winding instruction, if yes, goes to the next step, if not, keeps detecting in this cycle;

[0015] Step 3: PLC collects the second encoder signal and converts it into the current actual linear displacement LF and the current actual linear velocity υF of the cable arranging guide roller;

[0016] Step 4: The PLC detects whether the current cable has an odd number of layers. If yes, proceed to the next step; otherwise, proceed to step 12.

[0017] Step 5: The PLC determines whether the current displacement LF of the cable guide wheel is less than (L-2d). If yes, proceed to the next step; otherwise, proceed to step 13.

[0018] Step 6: The PLC acquires the signal from the first encoder and sets the current linear speed of the cable guide wheel υR = d × n1 based on this signal.

[0019] Step 7: The PLC calculates the error between the set linear velocity υR of the cable guide wheel and the current actual linear velocity υF, and obtains the error result υE = υR - υF;

[0020] Step 8: The PLC performs a cumulative integration on the error υE to obtain the cumulative integration result INT1 = INT1 + υE;

[0021] Step 9: The PLC multiplies the cumulative integration result INT1 by the integration coefficient Ki1 to obtain the multiplication result M1 = INT1 × Ki1;

[0022] Step 10: The PLC multiplies the current actual linear velocity υF by the first feedback coefficient Kf1 to obtain the result of the second multiplication operation M2 = υF × Kf1;

[0023] Step 11: The PLC performs a subtraction operation on the result of the first multiplication operation M1 and the result of the second multiplication operation M2 to obtain the result of the first subtraction operation S1 = M1 - M2, and then proceeds to step 25.

[0024] Step 12: The PLC determines whether the current displacement LF of the cable guide wheel is greater than 2d. If yes, proceed to step 6; otherwise, proceed to step 14.

[0025] Step 13, PLC sets the cable guide wheel linear displacement value LR = Ld / 2;

[0026] Step 14: Set the PLC to set the cable guide wheel linear displacement value LR = d / 2;

[0027] Step 15: The PLC sets the linear displacement LR of the cable guide wheel and calculates the error between the actual linear displacement LF and the current displacement, obtaining the error result LE = LR - LF;

[0028] Step 16: The PLC performs a second cumulative integration on the error LE to obtain the second cumulative integration result INT2 = INT2 + LE;

[0029] Step 17: The PLC multiplies the second-order cumulative integral result INT2 by the second-order integral coefficient Ki2 to obtain the third-order multiplication result M3 = INT2 × Ki2;

[0030] Step 18: The PLC multiplies the current actual linear displacement LF by the secondary feedback coefficient Kf2 to obtain the result of the four multiplication operations, M4 = LF × Kf2.

[0031] Step 19: The PLC performs three subtraction operations on the result of the three multiplication operations M3 and the result of the four multiplication operations M4 to obtain the result of the three subtraction operations S3 = M3 - M4;

[0032] Step 20: The PLC performs a fourth subtraction operation on the result of the three subtraction operations S3 and the current actual linear velocity υF of the cable guide wheel, and obtains the result of the four subtraction operations S4 = S3 - υF;

[0033] Step 21: The PLC performs three cumulative integrations on the result S4 of the four subtraction operations to obtain the three cumulative integration result INT3 = INT3 + S4;

[0034] Step 22: The PLC multiplies the result of the three cumulative integrations, INT3, by the three integration coefficients, Ki3, to obtain the result of the five multiplications, M5 = INT3 × Ki3;

[0035] Step 23: The PLC multiplies the current actual linear velocity υF by the feedback coefficient Kf3 three times to obtain the result of the six multiplication operations M6 = υF × Kf3;

[0036] Step 24: The PLC performs five subtraction operations on the result of the five multiplication operations M5 and the result of the six multiplication operations M6 to obtain the result of the five subtraction operations S5 = M5 - M6;

[0037] Step 25: The PLC performs digital-to-analog conversion on the calculation result and returns to step 2;

[0038] Step 26: The analog control signal is output to the second servo driver for driving the second servo motor.

[0039] II. Cable Release Control Method: Assuming the effective rope width inside the cable storage drum is L, the cable diameter is d, and the real-time rotational speed of the cable storage drum is n1, the cable release control method includes the following steps:

[0040] Step 31: PLC initialization, integrator cleared, INT1=0, INT2=0, INT3=0;

[0041] Step 32: The PLC checks whether the current operation instruction is a cable release instruction. If yes, it proceeds to the next step; otherwise, it loops through the check.

[0042] Step 33: The PLC acquires the signal from the second encoder and converts it into the current actual linear displacement LF and the current actual linear velocity υF of the cable guide wheel;

[0043] Step 34: The PLC detects whether the current cable has an odd number of layers. If yes, proceed to the next step; otherwise, proceed to step 42.

[0044] Step 35: The PLC determines whether the current displacement LF of the cable guide wheel is greater than 2d. If yes, proceed to the next step; otherwise, proceed to step 43.

[0045] Step 36: The PLC acquires the signal from the first encoder and sets the current linear speed of the cable guide wheel υR = d × n1 based on this signal.

[0046] Step 37: The PLC calculates the error between the set linear velocity υR of the cable guide wheel and the current actual linear velocity υF, and obtains the error result υE = υR - υF;

[0047] Step 38: The PLC performs a cumulative integration on the error υE to obtain the cumulative integration result INT1 = INT1 + υE;

[0048] Step 39: The PLC multiplies the cumulative integration result INT1 by the integration coefficient Ki1 to obtain the multiplication result M1 = INT1 × Ki1;

[0049] Step 40: The PLC multiplies the current actual linear velocity υF by the first feedback coefficient Kf1 to obtain the result of the second multiplication operation M2 = υF × Kf1;

[0050] Step 41: The PLC performs a subtraction operation on the result of the first multiplication operation M1 and the result of the second multiplication operation M2 to obtain the result of the first subtraction operation S1 = M1 - M2, and then proceeds to step 55.

[0051] Step 42: The PLC determines whether the current displacement LF of the cable guide wheel is less than (L-2d). If yes, proceed to step 36; otherwise, proceed to step 44.

[0052] Step 43, PLC sets the cable guide wheel linear displacement value LR = Ld / 2;

[0053] Step 44: Set the PLC to set the cable guide wheel linear displacement value LR = d / 2;

[0054] Step 45: The PLC sets the linear displacement LR of the cable guide wheel and calculates the error between the actual linear displacement LF and the current displacement, obtaining the error result LE = LR - LF;

[0055] Step 46: The PLC performs a second cumulative integration on the error LE to obtain the second cumulative integration result INT2 = INT2 + LE;

[0056] Step 47: The PLC multiplies the second-order cumulative integral result INT2 by the second-order integral coefficient Ki2 to obtain the third-order multiplication result M3 = INT2 × Ki2;

[0057] Step 48: The PLC multiplies the current actual linear displacement LF by the secondary feedback coefficient Kf2 to obtain the result of the four multiplication operations, M4 = LF × Kf2;

[0058] Step 49: The PLC performs three subtraction operations on the result of the three multiplication operations M3 and the result of the four multiplication operations M4 to obtain the result of the three subtraction operations S3 = M3 - M4;

[0059] Step 50: The PLC performs a fourth subtraction operation on the result S3 of the three subtraction operations and the current actual linear velocity υF of the cable guide wheel, and obtains the result S4 = S3 - υF.

[0060] Step 51: The PLC performs three cumulative integrations on the result S4 of the four subtraction operations to obtain the three cumulative integration result INT3 = INT3 + S4.

[0061] Step 52: The PLC multiplies the three-time cumulative integration result INT3 by the three-time integration coefficient Ki3 to obtain the result of the five-time multiplication operation M5 = INT3 × Ki3;

[0062] Step 53: The PLC multiplies the current actual linear velocity υF by the feedback coefficient Kf3 three times to obtain the result of the six multiplication operations M6 = υF × Kf3;

[0063] Step 54: The PLC performs five subtraction operations on the result of the five multiplication operations M5 and the result of the six multiplication operations M6 to obtain the result of the five subtraction operations S5 = M5 - M6.

[0064] Step 55: The PLC performs digital-to-analog conversion on the calculation result and returns to step 32;

[0065] Step 56: The analog control signal is output to the second servo driver for driving the second servo motor.

[0066] The first integral coefficient K mentioned above i1 Primary feedback coefficient K f1 The coefficients of the second integral, K i2 Secondary feedback coefficient K f2 The coefficient of the third integral, K i3 Third feedback coefficient K f3 The initial tuning values ​​are obtained by calculating using the following formulas:

[0067]

[0068]

[0069]

[0070]

[0071]

[0072]

[0073] In the formula, J is the equivalent moment of inertia of the second servo geared motor, the cable guide wheel, and the cable lead screw, and M... max The maximum voltage that the second servo driver can output within its linear range, L is the effective rope width inside the cable storage drum, B is the equivalent damping coefficient of the second servo geared motor, cable guide wheel, and cable lead screw, d is the cable diameter, and n is the maximum voltage that the second servo driver can output within its linear range. 1,ml The maximum rotational speed of the cable storage drum required by the design.

[0074] Preferably, the cable storage winch stops operating when the first limit switch or the second limit switch is triggered.

[0075] The advantages and beneficial effects of this invention are:

[0076] (1) The present invention is an improved control method for a conventional screw-driven cable storage winch control device, with limited cost increase;

[0077] (2) The control parameters included in the control method of the present invention all have calculation formulas to follow, and the parameter adjustment is convenient;

[0078] (3) The cable laying device controlled by the control method of the present invention can make the cable orderly arranged on the cable storage drum, and there is no accumulation of cable laying error in each layer. Attached Figure Description

[0079] Figure 1 This is a structural diagram of the cable storage winch control device of the present invention;

[0080] Figure 2 This is a flowchart of the cable take-up control method of the cable laying device in the cable storage winch control device of the present invention;

[0081] Figure 3 This is a flowchart of the cable laying control method of the cable laying device in the cable storage winch control device of the present invention. Detailed Implementation

[0082] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0083] like Figure 1The diagram shows the configuration of the cable storage winch of the present invention, which consists of a touch screen 100, a programmable logic controller 101, a first servo driver 102, a braking resistor 104, a first encoder 103, a first servo geared motor 105, a cable storage drum 106, a cable 107, a first limit switch 108, a cable guide wheel 109, a cable guide screw 110, a second limit switch 111, a second servo geared motor 112, a second encoder 113, and a second servo driver 114. The component consisting of the cable guide wheel 109, the cable guide screw 110, the second servo geared motor 112, the second encoder 113, the first limit switch 108, and the second limit switch 111 is called the cable laying device. The touchscreen 100 is connected to a programmable logic controller (PLC) 101, which in turn is connected to a first servo driver 102 and a second servo driver 114. The first servo driver 102 is sequentially connected to a first servo geared motor 105 and the left end of a cable reel 106. The first servo driver 102 is also connected to a braking resistor 104. The first servo geared motor 105 has a built-in first encoder 103. The second servo driver 114 is sequentially connected to a second servo geared motor 112 and a cable guide screw 110. The second servo geared motor 112 has a built-in second encoder 113. The cable guide screw 110 is connected to a cable guide wheel 109 via a nut. A first limit switch 108 is installed on the right side of the cable guide screw 110, and a second limit switch 111 is installed on the left side. The cable 107 is fixed and wound several times on the cable reel 106, then vertically enters the cable guide wheel 109, and exits after winding a quarter turn. The second encoder 113 is a 26-bit absolute photoelectric encoder.

[0084] like Figure 2 The diagram shows a flowchart of the cable take-up control method in a cable storage winch according to the present invention. The steps of the cable take-up control method are as follows:

[0085] Step 1: PLC initialization, integrator cleared, INT1=0, INT2=0, INT3=0;

[0086] Step 2: The PLC checks whether the current operation command is a cable rewind command. If yes, proceed to the next step; otherwise, repeat the check in this loop.

[0087] Step 3: The PLC acquires the signal from the second encoder and converts it into the current actual linear displacement LF and the current actual linear velocity υF of the cable guide wheel;

[0088] Step 4: The PLC detects whether the current cable has an odd number of layers. If yes, proceed to the next step; otherwise, proceed to step 12.

[0089] Step 5: The PLC determines whether the current displacement LF of the cable guide wheel is less than (L-2d). If yes, proceed to the next step; otherwise, proceed to step 13.

[0090] Step 6: The PLC acquires the signal from the first encoder and sets the current linear speed of the cable guide wheel υR = d × n1 based on this signal.

[0091] Step 7: The PLC calculates the error between the set linear velocity υR of the cable guide wheel and the current actual linear velocity υF, and obtains the error result υE = υR - υF;

[0092] Step 8: The PLC performs a cumulative integration on the error υE to obtain the cumulative integration result INT1 = INT1 + υE;

[0093] Step 9: The PLC multiplies the cumulative integration result INT1 by the integration coefficient Ki1 to obtain the multiplication result M1 = INT1 × Ki1;

[0094] Step 10: The PLC multiplies the current actual linear velocity υF by the first feedback coefficient Kf1 to obtain the result of the second multiplication operation M2 = υF × Kf1;

[0095] Step 11: The PLC performs a subtraction operation on the result of the first multiplication operation M1 and the result of the second multiplication operation M2 to obtain the result of the first subtraction operation S1 = M1 - M2, and then proceeds to step 25.

[0096] Step 12: The PLC determines whether the current displacement LF of the cable guide wheel is greater than 2d. If yes, proceed to step 6; otherwise, proceed to step 14.

[0097] Step 13, PLC sets the cable guide wheel linear displacement value LR = Ld / 2;

[0098] Step 14: Set the PLC to set the cable guide wheel linear displacement value LR = d / 2;

[0099] Step 15: The PLC sets the linear displacement LR of the cable guide wheel and calculates the error between the actual linear displacement LF and the current displacement, obtaining the error result LE = LR - LF;

[0100] Step 16: The PLC performs a second cumulative integration on the error LE to obtain the second cumulative integration result INT2 = INT2 + LE;

[0101] Step 17: The PLC multiplies the second-order cumulative integral result INT2 by the second-order integral coefficient Ki2 to obtain the third-order multiplication result M3 = INT2 × Ki2;

[0102] Step 18: The PLC multiplies the current actual linear displacement LF by the secondary feedback coefficient Kf2 to obtain the result of the four multiplication operations, M4 = LF × Kf2.

[0103] Step 19: The PLC performs three subtraction operations on the result of the three multiplication operations M3 and the result of the four multiplication operations M4 to obtain the result of the three subtraction operations S3 = M3 - M4;

[0104] Step 20: The PLC performs a fourth subtraction operation on the result of the three subtraction operations S3 and the current actual linear velocity υF of the cable guide wheel, and obtains the result of the four subtraction operations S4 = S3 - υF;

[0105] Step 21: The PLC performs three cumulative integrations on the result S4 of the four subtraction operations to obtain the three cumulative integration result INT3 = INT3 + S4;

[0106] Step 22: The PLC multiplies the result of the three cumulative integrations, INT3, by the three integration coefficients, Ki3, to obtain the result of the five multiplications, M5 = INT3 × Ki3;

[0107] Step 23: The PLC multiplies the current actual linear velocity υF by the feedback coefficient Kf3 three times to obtain the result of the six multiplication operations M6 = υF × Kf3;

[0108] Step 24: The PLC performs five subtraction operations on the result of the five multiplication operations M5 and the result of the six multiplication operations M6 to obtain the result of the five subtraction operations S5 = M5 - M6;

[0109] Step 25: The PLC performs digital-to-analog conversion on the calculation result and returns to step 2;

[0110] Step 26: The analog control signal is output to the second servo driver for driving the second servo motor.

[0111] In the above steps, L is the effective rope width inside the cable storage drum, d is the cable diameter, and n1 is the real-time rotational speed of the cable storage drum.

[0112] like Figure 3 The diagram shows a flowchart of the cable release control method in a cable storage winch according to the present invention. The steps of the cable release control method are as follows:

[0113] Step 31: PLC initialization, integrator cleared, INT1=0, INT2=0, INT3=0;

[0114] Step 32: The PLC checks whether the current operation instruction is a cable release instruction. If yes, it proceeds to the next step; otherwise, it loops through the check.

[0115] Step 33: The PLC acquires the signal from the second encoder and converts it into the current actual linear displacement LF and the current actual linear velocity υF of the cable guide wheel;

[0116] Step 34: The PLC detects whether the current cable has an odd number of layers. If yes, proceed to the next step; otherwise, proceed to step 42.

[0117] Step 35: The PLC determines whether the current displacement LF of the cable guide wheel is greater than 2d. If yes, proceed to the next step; otherwise, proceed to step 43.

[0118] Step 36: The PLC acquires the signal from the first encoder and sets the current linear speed of the cable guide wheel υR = d × n1 based on this signal.

[0119] Step 37: The PLC calculates the error between the set linear velocity υR of the cable guide wheel and the current actual linear velocity υF, and obtains the error result υE = υR - υF;

[0120] Step 38: The PLC performs a cumulative integration on the error υE to obtain the cumulative integration result INT1 = INT1 + υE;

[0121] Step 39: The PLC multiplies the cumulative integration result INT1 by the integration coefficient Ki1 to obtain the multiplication result M1 = INT1 × Ki1;

[0122] Step 40: The PLC multiplies the current actual linear velocity υF by the first feedback coefficient Kf1 to obtain the result of the second multiplication operation M2 = υF × Kf1;

[0123] Step 41: The PLC performs a subtraction operation on the result of the first multiplication operation M1 and the result of the second multiplication operation M2 to obtain the result of the first subtraction operation S1 = M1 - M2, and then proceeds to step 55.

[0124] Step 42: The PLC determines whether the current displacement LF of the cable guide wheel is less than (L-2d). If yes, proceed to step 36; otherwise, proceed to step 44.

[0125] Step 43, PLC sets the cable guide wheel linear displacement value LR = Ld / 2;

[0126] Step 44: Set the PLC to set the cable guide wheel linear displacement value LR = d / 2;

[0127] Step 45: The PLC sets the linear displacement LR of the cable guide wheel and calculates the error between the actual linear displacement LF and the current displacement, obtaining the error result LE = LR - LF;

[0128] Step 46: The PLC performs a second cumulative integration on the error LE to obtain the second cumulative integration result INT2 = INT2 + LE;

[0129] Step 47: The PLC multiplies the second-order cumulative integral result INT2 by the second-order integral coefficient Ki2 to obtain the third-order multiplication result M3 = INT2 × Ki2;

[0130] Step 48: The PLC multiplies the current actual linear displacement LF by the secondary feedback coefficient Kf2 to obtain the result of the four multiplication operations, M4 = LF × Kf2;

[0131] Step 49: The PLC performs three subtraction operations on the result of the three multiplication operations M3 and the result of the four multiplication operations M4 to obtain the result of the three subtraction operations S3 = M3 - M4;

[0132] Step 50: The PLC performs a fourth subtraction operation on the result S3 of the three subtraction operations and the current actual linear velocity υF of the cable guide wheel, and obtains the result S4 = S3 - υF.

[0133] Step 51: The PLC performs three cumulative integrations on the result S4 of the four subtraction operations to obtain the three cumulative integration result INT3 = INT3 + S4.

[0134] Step 52: The PLC multiplies the three-time cumulative integration result INT3 by the three-time integration coefficient Ki3 to obtain the result of the five-time multiplication operation M5 = INT3 × Ki3;

[0135] Step 53: The PLC multiplies the current actual linear velocity υF by the feedback coefficient Kf3 three times to obtain the result of the six multiplication operations M6 = υF × Kf3;

[0136] Step 54: The PLC performs five subtraction operations on the result of the five multiplication operations M5 and the result of the six multiplication operations M6 to obtain the result of the five subtraction operations S5 = M5 - M6.

[0137] Step 55: The PLC performs digital-to-analog conversion on the calculation result and returns to step 32;

[0138] Step 56: The analog control signal is output to the second servo driver for driving the second servo motor.

[0139] In the above steps, L is the effective rope width inside the cable storage drum, d is the cable diameter, and n1 is the real-time rotational speed of the cable storage drum.

[0140] The above description is merely a preferred embodiment of the present invention. Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, any person skilled in the art can make various corresponding equivalent changes and modifications based on the present invention, all of which should fall within the protection scope of the appended claims.

Claims

1. A method of controlling the paying out and taking up of a cable of a cable storage winch, characterized in that The application relates to a cable winding control method and a cable unwinding control method. I. The cable winding control method is characterized in that the effective cable width inside a cable storage reel is L, the cable diameter is d, the real-time rotating speed of the cable storage reel is n1, and the control method comprises the following steps: Step 1: PLC initialization, integrator zero, INT1=0, INT2=0, INT3=0; Step 2: PLC detects whether the current operation instruction is a winding instruction, if yes, the next step is entered, if not, the detection is repeated; Step 3: PLC collects the second encoder signal and converts it into the current actual line displacement LF and the current actual line speed VF of the cable arranging guide wheel; Step 4: PLC detects whether the current cable is an odd layer, if yes, the next step is entered, if not, step 12 is entered; Step 5: PLC judges whether the current displacement LF of the cable arranging guide wheel is less than (L-2d), if yes, the next step is entered, if not, step 13 is entered; Step 6: PLC collects the first encoder signal and sets the current cable arranging guide wheel line speed VR=d*n1; Step 7: PLC takes the error of the cable arranging guide wheel line speed VR and the current actual line speed VF, and obtains the error result VE=VR-VF; Step 8: PLC performs first cumulative integration on the error VE, and obtains the first cumulative integration result INT1=INT1+VE; Step 9: PLC multiplies the first cumulative integration result INT1 by a first integration coefficient Ki1, and obtains the first multiplication result M1=INT1*Ki1; Step 10: PLC multiplies the current actual line speed VF by a first feedback coefficient Kf1, and obtains the second multiplication result M2=VF*Kf1; Step 11: PLC performs first subtraction operation on the first multiplication result M1 and the second multiplication result M2, and obtains the first subtraction result S1=M1-M2, and then step 25 is entered; Step 12: PLC judges whether the current displacement LF of the cable arranging guide wheel is greater than 2d, if yes, step 6 is entered, if not, step 14 is entered; Step 13: PLC sets the cable arranging guide wheel line displacement value LR=L-d / 2; Step 14: PLC sets the cable arranging guide wheel line displacement value LR=d / 2; Step 15: PLC takes the error of the cable arranging guide wheel line displacement LR and the current actual line displacement LF, and obtains the error result LE=LR-LF; Step 16: PLC performs second cumulative integration on the error LE, and obtains the second cumulative integration result INT2=INT2+LE; Step 17: PLC multiplies the second cumulative integration result INT2 by a second integration coefficient Ki2, and obtains the third multiplication result M3=INT2*Ki2; Step 18: PLC multiplies the current actual line displacement LF by a second feedback coefficient Kf2, and obtains the fourth multiplication result M4=LF*Kf2; Step 19: PLC performs third subtraction operation on the third multiplication result M3 and the fourth multiplication result M4, and obtains the third subtraction result S3=M3-M4; ​ Step 20, the PLC carries out four times subtraction operation on the three times subtraction operation result S3 and the current actual linear speed υF of the cable arranging guide wheel, and obtains a four times subtraction operation result S4=S3-υF; Step 21, the PLC carries out three times cumulative integration on the four times subtraction operation result S4, and obtains a three times cumulative integration result INT3=INT3+S4; Step 22, the PLC multiplies the three times cumulative integration result INT3 by a three times integration coefficient Ki3, and obtains a five times multiplication operation result M5=INT3×Ki3; Step 23, the PLC multiplies the current actual linear speed υF by a three times feedback coefficient Kf3, and obtains a six times multiplication operation result M6=υF×Kf3; Step 24, the PLC carries out five times subtraction operation on the five times multiplication operation result M5 and the six times multiplication operation result M6, and obtains a five times subtraction operation result S5=M5-M6; Step 25, the PLC carries out digital quantity / analogue quantity conversion on the operation result, and returns to step 2; Step 26, the analogue quantity control signal is output to the second servo driver, and is used for driving the second servo motor; II. A cable releasing control method, wherein the effective cable width inside the cable storage reel is L, the cable diameter is d, and the real-time rotating speed of the cable storage reel is n1. The control method when releasing the cable comprises the following steps: Step 31, the PLC is initialized, and the integrator is cleared, INT1=0, INT2=0, INT3=0; Step 32, the PLC detects whether the current operation instruction is a cable releasing instruction, if yes, the next step is entered; if no, the detection is circularly carried out; Step 33, the PLC collects the second encoder signal, and converts the second encoder signal into the current actual linear displacement LF and the current actual linear speed υF of the cable arranging guide wheel; Step 34, the PLC detects whether the current cable is an odd layer, if yes, the next step is entered; if no, step 42 is entered; Step 35, the PLC judges whether the current displacement LF of the cable arranging guide wheel is greater than 2d, if yes, the next step is entered; if no, step 43 is entered; Step 36, the PLC collects the first encoder signal, and sets the current linear speed υR of the cable arranging guide wheel as d×n1 according to the first encoder signal; Step 37, the PLC takes the error of the linear speed υR of the cable arranging guide wheel and the current actual linear speed υF, and obtains an error result υE=υR-υF; Step 38, the PLC carries out one time cumulative integration on the error υE, and obtains a one time cumulative integration result INT1=INT1+υE; Step 39, the PLC multiplies the one time cumulative integration result INT1 by a one time integration coefficient Ki1, and obtains a one time multiplication operation result M1=INT1×Ki1; Step 40, the PLC multiplies the current actual linear speed υF by a one time feedback coefficient Kf1, and obtains a two times multiplication operation result M2=υF×Kf1; Step 41, the PLC carries out one time subtraction operation on the one time multiplication operation result M1 and the two times multiplication operation result M2, and obtains a one time subtraction operation result S1=M1-M2, and then step 55 is entered; Step 42, the PLC judges whether the current displacement LF of the cable arranging guide wheel is less than (L-2d), if yes, step 36 is entered; if no, step 44 is entered; Step 43, PLC sets the line displacement value LR of the cable arranging guide roller as LR=L-d / 2; Step 44, PLC sets the line displacement value LR of the cable arranging guide roller as LR=d / 2; Step 45, PLC takes the error between the line displacement LR of the cable arranging guide roller and the current actual line displacement LF, and obtains the error result LE=LR-LF; Step 46, PLC performs secondary accumulation integration on the error LE, and obtains the secondary accumulation integration result INT2=INT2+LE; Step 47, PLC multiplies the secondary accumulation integration result INT2 by the secondary integral coefficient Ki2, and obtains the third multiplication operation result M3=INT2×Ki2; Step 48, PLC multiplies the current actual line displacement LF by the secondary feedback coefficient Kf2, and obtains the fourth multiplication operation result M4=LF×Kf2; Step 49, PLC performs third subtraction operation on the third multiplication operation result M3 and the fourth multiplication operation result M4, and obtains the third subtraction operation result S3=M3-M4; Step 50, PLC performs fourth subtraction operation on the third subtraction operation result S3 and the current actual line velocity υF of the cable arranging guide roller, and obtains the fourth subtraction operation result S4=S3-υF; Step 51, PLC performs third accumulation integration on the fourth subtraction operation result S4, and obtains the third accumulation integration result INT3=INT3+S4; Step 52, PLC multiplies the third accumulation integration result INT3 by the third integral coefficient Ki3, and obtains the fifth multiplication operation result M5=INT3×Ki3; Step 53, PLC multiplies the current actual line velocity υF by the third feedback coefficient Kf3, and obtains the sixth multiplication operation result M6=υF×Kf3; Step 54, PLC performs fifth subtraction operation on the fifth multiplication operation result M5 and the sixth multiplication operation result M6, and obtains the fifth subtraction operation result S5=M5-M6; Step 55, PLC performs digital-analog conversion on the operation result, and returns to step 32; Step 56, the analog control signal is output to the second servo driver, and is used for driving the second servo motor.

2. The method of claim 1, wherein, said once integrated coefficient K i1 is calculated as an initial setting value using the following equation: where J is the equivalent moment of inertia of the second servo-reducer, the cable guide pulley, the cable guide screw, M max is the maximum voltage that the second servo driver is able to deliver in the linear range, d is the cable diameter, n 1,ml is the maximum speed of the cable storage reel required by the design.

3. The method of claim 1, wherein, said primary feedback coefficient K f1 is calculated as its initial setting value using the following equation: where J is the equivalent moment of inertia of the second servo-reducer, the cable guide pulley, the cable guide screw, M max is the maximum voltage that the second servo driver can deliver in linear range, B is the equivalent damping coefficient of the second servo-reducer, the cable guide pulley, the cable guide screw, d is the cable diameter, n 1,ml is the maximum speed of the cable storage reel required by the design.

4. The method of claim 1, wherein, The secondary integration coefficient K i2 is calculated as an initial setting value using the following equation: where J is the equivalent moment of inertia of the second servo motor, the cable guide pulley, and the cable screw, M max is the maximum voltage that the second servo driver can output in the linear range, and L is the effective cable width inside the cable storage reel.

5. The method of claim 1, wherein, The secondary feedback coefficient K i1 is calculated as its initial setting value using the following equation: where J is the equivalent moment of inertia of the second servo motor, the cable guide pulley, and the cable screw, M max is the maximum voltage that the second servo driver can output in the linear range, and L is the effective cable width inside the cable storage reel.

6. The method of claim 1, wherein, The third integral coefficient K i3 is calculated as its initial setting value using the formula where M max is the maximum voltage that the second servo drive is capable of delivering in linear range, and L is the effective width of the cable storage drum inside.

7. The method of claim 1, wherein, said once integrated coefficient K f3 is calculated as an initial setting value using the following equation: where J is the equivalent moment of inertia of the second servo motor, the cable guide pulley, and the cable guide screw, M max is the maximum voltage that the second servo driver can output in the linear range, L is the effective width of the inside of the cable storage reel, and B is the equivalent damping coefficient of the second servo motor, the cable guide pulley, and the cable guide screw.

8. The method of claim 1, wherein, When the first travel switch or the second travel switch is triggered, the cable storage winch stops running.

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