Control device and control method of crawler tractor for power transmission line construction

Abstract

The invention relates to the technical field of engineering machinery, and discloses a control device and a control method for a crawler tractor in power transmission line construction, and the control method comprises the following steps: in the walking process of the crawler tractor, obtaining traction behavior data of the crawler tractor, and obtaining a traction behavior value according to the traction behavior data; presetting a traction behavior threshold value, and comparing the traction behavior value with the traction behavior threshold value; if the traction behavior value is greater than or equal to the traction behavior threshold value, generating a traction abnormal signal; if the traction behavior value is smaller than the traction behavior threshold value, a traction normal signal is generated; and when the abnormal signal is received, the crawler belt is controlled to stop walking, and when the normal traction signal is obtained, the crawler belt is controlled to keep walking. Multi-dimensional recognition of the traction machine from the body state of the traction machine and the external state of the traction wire is achieved, and regulation and control of crawler belt control are completed according to the state of the traction machine; therefore, cooperative control of traction and crawler walking is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a control device and a control method for a crawler tractor for power transmission line construction. Background Art

[0002] In the transmission line tensioning operation, the traction machines or capstans currently used are mainly towed type. With the further improvement of the requirements for mechanization and automation in power grid construction, miniaturization and self-propelled construction equipment has become a trend. The current technical solutions are mostly to install a crawler chassis under the equipment, and it is necessary to add a crawler control part on the basis of the original traction machine control device. Due to compatibility issues, especially in the upgrading and transformation of old equipment, it is difficult to add a crawler control function to the original control device, resulting in a situation where one device has two remote controllers, one controlling the movement of the crawler and the other controlling the construction operation.

[0003] In order to solve this problem, the present invention proposes a crawler traction machine control device and a control method for coordinated control of the walking control of the crawler equipment and the construction operation of the traction machine. Summary of the invention

[0004] The purpose of the present invention can be achieved by the following technical solutions:

[0005] A method for controlling a crawler tractor for power transmission line construction comprises the following steps:

[0006] During the walking process of the crawler tractor, traction behavior data of the crawler tractor is obtained, and a traction behavior value is obtained according to the traction behavior data;

[0007] Preset a traction behavior threshold, and compare the traction behavior value with the traction behavior threshold;

[0008] If the traction behavior value is greater than or equal to the traction behavior threshold, a traction abnormality signal is generated;

[0009] If the traction behavior value is less than the traction behavior threshold, a traction normal signal is generated;

[0010] When an abnormal signal is received, the crawler belt is controlled to stop moving, and when a normal traction signal is received, the crawler belt is controlled to keep moving.

[0011] As a further solution of the present invention: the traction behavior data includes a traction line state value, a traction steady state value and a traction external state value;

[0012] The pulling line state value is recorded as Qi

[0013] The traction steady-state value is recorded as Fi;

[0014] The traction external state value is recorded as Pi;

[0015] By formula The traction behavior value QFP of the crawler traction machine during walking is calculated, where a1, a2, and a3 are all preset proportional coefficients.

[0016] As a further solution of the present invention: the process of obtaining the traction line state value is:

[0017] Obtaining the traction time period corresponding to the traction start time of the transmission line and the current time, and dividing the traction time period into a number of traction sub-time periods;

[0018] Obtain the traction force corresponding to the middle moment of each traction period, and record it as the traction time force;

[0019] The traction time forces of all traction time periods are integrated to obtain a traction time force group.

[0020] As a further solution of the present invention: the standard deviation α of the traction force group of the traction machine is calculated according to the standard deviation calculation formula;

[0021] Obtain the maximum value in the traction force group of the traction machine and mark it as Qmax;

[0022] Get the minimum value in the traction force group of the traction machine and mark it as Qmin;

[0023] The traction variable pitch value Qf of the traction machine is calculated using the formula Qf=(Qmax-Qmin) / Qy, where Qy is the rated traction force of the traction machine when it is working;

[0024] Then through the formula Get the traction line state value Qi of the traction machine during the traction time period.

[0025] As a further solution of the present invention: the process of obtaining the traction steady-state value is:

[0026] Obtaining the traction time period corresponding to the traction start time of the transmission line and the current time, and dividing the traction time period into a number of traction sub-time periods;

[0027] Obtain the maximum swing value corresponding to the entire length of the transmission line at the middle moment of each traction period;

[0028] Among them, the maximum swing value is the maximum distance between the transmission line and the center line of the transmission line during the overall swing of the transmission line;

[0029] The center line of the transmission line is the preset standard path during the traction process of the traction machine;

[0030] The maximum swing value at the middle moment of each traction period is integrated to obtain a swing value group of the traction period.

[0031] As a further solution of the present invention: the swing variance of the swing value group of the traction machine is calculated according to the variance calculation formula;

[0032] Then, each maximum swing value in the swing value group is compared with the swing standard value;

[0033] The traction sub-period corresponding to the maximum swing value being greater than or equal to the swing standard value is recorded as an abnormal sub-period;

[0034] The traction sub-period corresponding to the maximum swing value being less than the swing standard value is recorded as a normal sub-period;

[0035] Get the number of abnormal sub-periods;

[0036] The ratio of the number of abnormal sub-periods to the total number of traction sub-periods is calculated to obtain the abnormal sub-period ratio;

[0037] The traction steady-state value is obtained by multiplying the abnormal sub-hour ratio and the swing variance.

[0038] As a further solution of the present invention: the process of obtaining the traction external state value is:

[0039] Obtaining the traction time period corresponding to the traction start time of the transmission line and the current time, and dividing the traction time period into a number of traction sub-time periods;

[0040] Acquire the temperature data and vibration data of the traction machine at the middle moment of each traction period;

[0041] The temperature data of each traction period is calculated with the temperature standard data respectively, and the absolute value of the obtained difference is taken to obtain the temperature difference value;

[0042] The temperature difference values ​​of all traction periods are summed and averaged to obtain a temperature deviation value, and the temperature deviation value is ratio-calculated with the temperature standard data to obtain a temperature deviation ratio;

[0043] The vibration data of each traction period is respectively calculated with the vibration standard data, and the absolute value of the obtained difference is taken to obtain the vibration difference value;

[0044] The vibration difference values ​​of all traction periods are summed and averaged to obtain the vibration deviation value, and the vibration deviation value is ratio-calculated with the vibration standard data to obtain the vibration deviation ratio.

[0045] As a further solution of the present invention: the temperature deviation ratio and the vibration deviation ratio of the traction machine are weighted to obtain the traction external state value.

[0046] As a further solution of the present invention: a control device for a crawler tractor for power transmission line construction, comprising:

[0047] A data analysis module, which is used to obtain the traction behavior data of the crawler tractor during its movement, and obtain the traction behavior value according to the traction behavior data;

[0048] An analysis and selection module, wherein a traction behavior threshold is stored in the analysis and selection module, and the analysis and selection module is used for comparing the traction behavior value with the traction behavior threshold;

[0049] If the traction behavior value is greater than or equal to the traction behavior threshold, a traction abnormality signal is generated;

[0050] If the traction behavior value is less than the traction behavior threshold, a traction normal signal is generated;

[0051] The track control module controls the track to stop moving when receiving a traction abnormality signal, and controls the track to keep moving when receiving a traction normal signal.

[0052] Beneficial effects of the present invention: The present invention obtains the traction time period corresponding to the start time of traction of the transmission line and the current time, divides the traction time period into several traction sub-time periods, and obtains the traction line state value of the traction machine in the traction time period, the traction steady-state value of the traction machine in the traction time period, and the traction external state value of the traction machine in the traction time period, thereby realizing multi-dimensional identification of the traction machine from the main state of the traction machine and the external state of the traction line, and completing the regulation of the crawler control according to the state of the traction machine, thereby realizing the coordinated control of traction and crawler walking. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The present invention will be further described below in conjunction with the accompanying drawings.

[0054] Figure 1 It is a flow chart of a method for controlling a crawler traction machine for power transmission line construction according to an embodiment of the present invention;

[0055] Figure 2 The present invention is a flowchart of a control system for a crawler traction machine for power transmission line construction according to an embodiment of the present invention. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] Example 1

[0058] See also Figure 1As shown, the present invention is a control method for a crawler traction machine for power transmission line construction, comprising the following steps:

[0059] During the walking process of the crawler tractor, traction behavior data of the crawler tractor is obtained, and a traction behavior value is obtained according to the traction behavior data;

[0060] Preset a traction behavior threshold, and compare the traction behavior value with the traction behavior threshold;

[0061] If the traction behavior value is greater than or equal to the traction behavior threshold, a traction abnormality signal is generated;

[0062] If the traction behavior value is less than the traction behavior threshold, a traction normal signal is generated;

[0063] When an abnormal signal is received, the crawler belt is controlled to stop moving, and when a normal traction signal is received, the crawler belt is controlled to keep moving.

[0064] The traction behavior data include traction line state value, traction steady state value and traction external state value;

[0065] The process of obtaining the traction line state value is as follows:

[0066] Obtaining the traction time period corresponding to the traction start time of the transmission line and the current time, and dividing the traction time period into a number of traction sub-time periods;

[0067] Obtain the traction force corresponding to the middle moment of each traction period, and record it as the traction time force;

[0068] Integrate the traction time forces of all traction time periods to obtain a traction time force group;

[0069] The standard deviation α of the traction force group of the traction machine is calculated according to the standard deviation calculation formula;

[0070] Obtain the maximum value in the traction force group of the traction machine and mark it as Qmax;

[0071] Get the minimum value in the traction force group of the traction machine and mark it as Qmin;

[0072] The traction variable pitch value Qf of the traction machine is calculated using the formula Qf=(Qmax-Qmin) / Qy, where Qy is the rated traction force of the traction machine when it is working;

[0073] Then through the formula The traction line state value Qi of the traction machine in the traction time period is obtained, wherein b1 and b2 are both preset proportional coefficients, and b1 and b2 are both greater than zero.

[0074] The process of obtaining the traction steady-state value is:

[0075] Obtaining the traction time period corresponding to the traction start time of the transmission line and the current time, and dividing the traction time period into a number of traction sub-time periods;

[0076] Obtain the maximum swing value corresponding to the entire length of the transmission line at the middle moment of each traction period;

[0077] Among them, the maximum swing value is the maximum distance between the transmission line and the center line of the transmission line during the overall swing of the transmission line;

[0078] The center line of the transmission line is the preset standard path during the traction process of the traction machine;

[0079] Integrate the maximum swing value at the middle moment of each traction period to obtain a swing value group of the traction period;

[0080] The swing variance of the swing value group of the traction machine is calculated according to the variance calculation formula;

[0081] Then, each maximum swing value in the swing value group is compared with the swing standard value;

[0082] The traction sub-period corresponding to the maximum swing value being greater than or equal to the swing standard value is recorded as an abnormal sub-period;

[0083] The traction sub-period corresponding to the maximum swing value being less than the swing standard value is recorded as a normal sub-period;

[0084] Get the number of abnormal sub-periods;

[0085] The ratio of the number of abnormal sub-periods to the total number of traction sub-periods is calculated to obtain the abnormal sub-period ratio;

[0086] The product of the abnormal sub-hour ratio and the swing variance is calculated to obtain the traction steady-state value, which is recorded as Fi.

[0087] The process of obtaining the traction external state value is:

[0088] Obtaining the traction time period corresponding to the traction start time of the transmission line and the current time, and dividing the traction time period into a number of traction sub-time periods;

[0089] Acquire the temperature data and vibration data of the traction machine at the middle moment of each traction period;

[0090] The temperature data is obtained by the optical fiber temperature sensor arranged on the tractor housing;

[0091] The vibration data is obtained by the optical fiber vibration sensor arranged on the tractor housing;

[0092] The temperature data of each traction period is calculated with the temperature standard data respectively, and the absolute value of the obtained difference is taken to obtain the temperature difference value;

[0093] The temperature difference values ​​of all traction periods are summed and averaged to obtain the temperature deviation value, and the temperature deviation value is compared with the temperature standard data to obtain the temperature deviation ratio, which is recorded as Wp;

[0094] The vibration data of each traction period is respectively calculated with the vibration standard data, and the absolute value of the obtained difference is taken to obtain the vibration difference value;

[0095] The vibration difference values ​​of all traction periods are summed and averaged to obtain the vibration deviation value, and the vibration deviation value is ratio-calculated with the vibration standard data to obtain the vibration deviation ratio, which is recorded as Zp;

[0096] The obtained temperature deviation ratio and vibration deviation ratio of the traction machine are weighted, and the weight ratio of the obtained temperature deviation ratio Wp is assigned to k1; the weight ratio of the obtained vibration deviation ratio Zp is assigned to k2; wherein, k1+k2=1, k2>k1>0;

[0097] The traction external state value Pi is obtained according to the formula Pi=Wp*k1+Zp*k2.

[0098] By formula The traction behavior value QFP of the crawler traction machine during walking is calculated, where a1, a2, and a3 are all preset proportional coefficients.

[0099] From the above formula for obtaining the traction behavior value of the crawler tractor during its walking process, it can be seen that the larger the traction line state value of the tractor in the traction time period, the greater the change in traction force in the traction time period. As the traction time and distance change suddenly, the larger the traction behavior value is.

[0100] The larger the traction steady-state value of the traction machine in the traction time period, the greater the swing of the transmission line in the traction time period, and the more unstable the swing with the traction time and distance, the larger the traction behavior value obtained;

[0101] The larger the traction external state value of the traction machine during the traction time period, the more abnormal the state of the traction machine is during the traction time period. As the abnormality of the traction time and distance becomes more serious, the larger the traction behavior value is.

[0102] Example 2

[0103] See also Figure 2 The present invention is a control device for a crawler traction machine for power transmission line construction, comprising:

[0104] A data analysis module, which is used to obtain the traction behavior data of the crawler tractor during its movement, and obtain the traction behavior value according to the traction behavior data;

[0105] An analysis and selection module, wherein a traction behavior threshold is stored in the analysis and selection module, and the analysis and selection module is used for comparing the traction behavior value with the traction behavior threshold;

[0106] If the traction behavior value is greater than or equal to the traction behavior threshold, a traction abnormality signal is generated;

[0107] If the traction behavior value is less than the traction behavior threshold, a traction normal signal is generated;

[0108] The track control module controls the track to stop moving when receiving a traction abnormality signal, and controls the track to keep moving when receiving a traction normal signal.

[0109] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A method for controlling a crawler tractor for power transmission line construction, characterized in that: The method comprises the following steps: During the walking process of the crawler tractor, traction behavior data of the crawler tractor is obtained, and a traction behavior value is obtained according to the traction behavior data; Preset a traction behavior threshold, and compare the traction behavior value with the traction behavior threshold; If the traction behavior value is greater than or equal to the traction behavior threshold, a traction abnormality signal is generated; If the traction behavior value is less than the traction behavior threshold, a traction normal signal is generated; When an abnormal signal is received, the crawler belt is controlled to stop moving, and when a normal traction signal is received, the crawler belt is controlled to keep moving.

2. A method for controlling a crawler tractor for power transmission line construction according to claim 1, characterized in that: The traction behavior data include traction line state value, traction steady state value and traction external state value; The pulling line state value is recorded as Qi The traction steady-state value is recorded as F i; The traction external state value is recorded as Pi; By formula The traction behavior value QFP of the crawler traction machine during walking is calculated, where a1, a2, and a3 are all preset proportional coefficients.

3. A method for controlling a crawler tractor for power transmission line construction according to claim 2, characterized in that: The process of obtaining the traction line state value is as follows: Obtaining the traction time period corresponding to the traction start time of the transmission line and the current time, and dividing the traction time period into a number of traction sub-time periods; Obtain the traction force corresponding to the middle moment of each traction period, and record it as the traction time force; The traction time forces of all traction time periods are integrated to obtain a traction time force group.

4. A method for controlling a crawler tractor for power transmission line construction according to claim 3, characterized in that: The standard deviation α of the traction force group of the traction machine is calculated according to the standard deviation calculation formula; Obtain the maximum value in the traction force group of the traction machine and mark it as Qmax; Get the minimum value in the traction force group of the traction machine and mark it as Qmin; The traction variable pitch value Qf of the traction machine is calculated using the formula Qf=(Qmax-Qmin) / Qy, where Qy is the rated traction force of the traction machine when it is working; Then through the formula Get the traction line state value Qi of the traction machine during the traction time period.

5. A method for controlling a crawler tractor for power transmission line construction according to claim 2, characterized in that: The process of obtaining the traction steady-state value is: Obtaining the traction time period corresponding to the traction start time of the transmission line and the current time, and dividing the traction time period into a number of traction sub-time periods; Obtain the maximum swing value corresponding to the entire length of the transmission line at the middle moment of each traction period; Among them, the maximum swing value is the maximum distance between the transmission line and the center line of the transmission line during the overall swing of the transmission line; The center line of the transmission line is the preset standard path during the traction process of the traction machine; The maximum swing value at the middle moment of each traction period is integrated to obtain a swing value group of the traction period.

6. A method for controlling a crawler tractor for power transmission line construction according to claim 5, characterized in that: The swing variance of the swing value group of the traction machine is calculated according to the variance calculation formula; Then, each maximum swing value in the swing value group is compared with the swing standard value; The traction sub-period corresponding to the maximum swing value being greater than or equal to the swing standard value is recorded as an abnormal sub-period; The traction sub-period corresponding to the maximum swing value being less than the swing standard value is recorded as a normal sub-period; Get the number of abnormal sub-periods; The ratio of the number of abnormal sub-periods to the total number of traction sub-periods is calculated to obtain the abnormal sub-period ratio; The traction steady-state value is obtained by multiplying the abnormal sub-hour ratio and the swing variance.

7. A method for controlling a crawler tractor for power transmission line construction according to claim 1, characterized in that: The process of obtaining the traction external state value is: Obtaining the traction time period corresponding to the traction start time of the transmission line and the current time, and dividing the traction time period into a number of traction sub-time periods; Acquire the temperature data and vibration data of the traction machine at the middle moment of each traction period; The temperature data of each traction period is calculated with the temperature standard data respectively, and the absolute value of the obtained difference is taken to obtain the temperature difference value; The temperature difference values ​​of all traction periods are summed and averaged to obtain a temperature deviation value, and the temperature deviation value is ratio-calculated with the temperature standard data to obtain a temperature deviation ratio; The vibration data of each traction period is respectively calculated with the vibration standard data, and the absolute value of the obtained difference is taken to obtain the vibration difference value; The vibration difference values ​​of all traction periods are summed and averaged to obtain the vibration deviation value, and the vibration deviation value is ratio-calculated with the vibration standard data to obtain the vibration deviation ratio.

8. A method for controlling a crawler tractor for power transmission line construction according to claim 7, characterized in that: The temperature deviation ratio and vibration deviation ratio of the traction machine are weighted to obtain the traction external state value.

9. A control device for a crawler tractor for power transmission line construction, characterized in that: include: A data analysis module, which is used to obtain the traction behavior data of the crawler tractor during its movement, and obtain the traction behavior value according to the traction behavior data; An analysis and selection module, wherein a traction behavior threshold is stored in the analysis and selection module, and the analysis and selection module is used for comparing the traction behavior value with the traction behavior threshold; If the traction behavior value is greater than or equal to the traction behavior threshold, a traction abnormality signal is generated; If the traction behavior value is less than the traction behavior threshold, a traction normal signal is generated; The track control module controls the track to stop moving when receiving a traction abnormality signal, and controls the track to keep moving when receiving a traction normal signal.

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