Brake work monitoring method and application thereof in crane

Abstract

The invention discloses a brake work monitoring method and application thereof in a crane, and according to the scheme, a braking force estimation model of brake working current and braking force is ingeniously established, so that a brake can judge the braking state by monitoring the working current input of the brake; according to the scheme, the minimum current of the brake when braking is released is determined by combining a braking force estimation model according to the mathematical relationship between the electromagnetic force and the braking force generated when the electromagnetic disc brake works, current control over the brake is facilitated, the method can be applied to work monitoring of the electromagnetic disc brake in the crane, and the working efficiency of the crane is improved. Compared with a traditional method, the scheme does not need to change the internal structure of the brake, the technical transformation of the crane brake in use is more friendly and low in cost, the monitoring method of the scheme depends on working current monitoring of the brake and is easy to obtain, the current monitoring technology is mature and high in reliability, and the method is suitable for popularization and application. And the scheme has a relatively good popularization prospect.

Description

Technical Field

[0001] The invention relates to the fields of brake operation monitoring technology and crane brake monitoring technology, and in particular to a brake operation monitoring method and application thereof in a crane. Background Art

[0002] As a type of brake, electromagnetic disc brakes are widely used in various industrial machinery and transportation tools, such as cranes, escalators, wind turbines, etc. During operation, these brakes input working current to generate electromagnetic force in the brake components to control the contact between the friction pad and the brake disc, thereby achieving the function of braking or releasing the brake; that is, when the brake is not powered, the brake caliper relies on the spring to press the brake disc (wheel), and the brake friction pad and the brake disc (wheel) work to generate braking force. When the brake is powered, the electromagnetic force generated opens the brake caliper to separate the brake friction pad from the brake disc (wheel). If the spring pressing force is large, a large current needs to be input to open the brake caliper.

[0003] In the practical application of electromagnetic disc brakes, monitoring and calculating the braking force is crucial to ensure the safe operation of the equipment. In the prior art, the working state of the brake is usually judged by monitoring the working state of the braked object; and there are few documents that disclose the calculation of the braking force based on the collected working current of the brake. In addition, the braking force monitoring method of electromagnetic disc brakes in the prior art usually requires manual intervention, such as regular manual measurement of friction plate thickness and adjustment of the braking force model, which not only increases maintenance costs, but also easily leads to inaccurate data due to human factors. Therefore, how to simply, conveniently and reliably estimate the braking force of the brake through the working current of the brake to quickly judge the working state of the brake is a research topic with very positive and practical significance. Summary of the invention

[0004] In view of this, the object of the present invention is to provide a brake operation monitoring method which is reliable in implementation, flexible in application and has good reference results, and its application in a crane.

[0005] In order to achieve the above technical objectives, the technical solution adopted by the present invention is:

[0006] A brake operation monitoring method is used for monitoring the operation of an electromagnetic disc brake for power-off braking, comprising:

[0007] S01, collecting working current data and braking force data of the brake, and collecting them to form a brake working data set;

[0008] S02. constructing a mathematical relationship model between brake working current and braking force based on the brake working data set to generate a braking force estimation model;

[0009] S03, responding to the working start signal of the brake, monitoring the working current of the brake in real time to obtain current data;

[0010] S04, inputting the current data into a braking force evaluation model, and the braking force evaluation model outputs braking force estimation data or braking state information;

[0011] S05, monitoring the working state and working parameters of the brake object, and generating brake object monitoring information;

[0012] S06. Determine the expected state of the braking object according to the braking force estimation data or the braking state information, and then generate braking feedback information according to preset conditions in combination with the braking object monitoring information.

[0013] As a possible implementation mode, further, the brake of the present solution uses a spring as a force source to provide braking force, and the spring drives the friction plate to act with the brake disc to generate a clamping braking force. When the brake is energized, the electromagnetic force generated by the energization counteracts the clamping braking force to reduce the braking force; step S01 includes:

[0014] S011. Use a brake, simulate its application scenario and application object, install the brake on the test bench, install a current sensor in the power supply circuit of the brake to collect the working current of the brake when it is working, and install a force sensor on the friction pad or brake disc of the brake to measure the braking force generated by the brake on the brake disc;

[0015] S012, set the initial working current of the brake to zero, then gradually increase the current, and at the same time, record the braking force measured by the force sensor and its corresponding current value under each working current to form a data set (I i , F i ), where I i is the current value measured by the current sensor, F i is the braking force measured by the force sensor;

[0016] S013, the data group (I i , F i ) are collected to form a brake working data set.

[0017] As a preferred implementation option, preferably, this solution S02 includes:

[0018] S021, based on linearization processing, set the braking force to F m , and its mathematical relationship model with the brake working current I is defined as follows:

[0019] F m = k·I n

[0020] Among them, F m is the braking force value, I is the brake working current value, which is less than or equal to I min , I min is the minimum working current value when the brake is released, k is the proportional coefficient, and n is the exponential parameter;

[0021] S022, braking force F m The mathematical relationship model with the brake working current I is logarithmically transformed, and then the mathematical relationship is linearized to obtain the following formula model:

[0022] ln(F m )=ln(k)+m·ln(I)

[0023] Let y = ln(F m ), x = ln(I), slope a = n, intercept b = ln(k), and the following formula is obtained:

[0024] y=b+a·x

[0025] The linear regression method is used to fit the data set (I i , F i ), solve for the slope a and the intercept b;

[0026] By converting the parameters, the formula definition of parameter k is obtained as follows:

[0027] k=e b

[0028] Substitute the proportional coefficient k and exponential parameter n obtained based on the brake working data set into the braking force F m The braking force estimation model is obtained from the mathematical relationship model with the brake working current I.

[0029] As a preferred implementation option, preferably, this solution S02 also includes:

[0030] S023, according to the braking force F m The mathematical relationship model with the brake working current I determines the minimum current when the brake is released, which includes:

[0031] The braking force value when the brake working current is zero is set as the initial braking force F c , that is, the clamping braking force value of the brake in the power-off state;

[0032] The electromagnetic force generated by the brake when it is energized is used to counteract the clamping braking force to reduce the braking force. Therefore, before the brake is released, the electromagnetic force F can be defined as c,I Braking force F m and initial braking force Fc The mathematical relationship is as follows:

[0033] F m =F c -F c,I

[0034] Among them, F c,I is the electromagnetic force when the brake working current is I, F m is the braking force when the brake working current is I;

[0035] Assume that the electromagnetic force F c,I Equal to the initial braking force F c When or electromagnetic force F c,I Equal to the braking force F m When , the brake is considered to be released, and the following formula can be obtained:

[0036]

[0037] Among them, F c is the braking force value when the braking force working current is 0, that is, the initial braking force, I min is the minimum working current value when the brake is released, k and n are proportional coefficient and exponential parameter respectively, which are related to the braking force F m The proportional coefficient and exponential parameter values ​​in the mathematical relationship model of the brake working current I are consistent;

[0038] Based on the brake working data set, by substituting the initial braking force F c , the minimum working current value I when the brake is released can be obtained by solving min .

[0039] As a preferred implementation option, preferably, the present solution S011 further includes: recording the thickness of the friction plate of the brake and comparing it with the data set (I i , F i ) association;

[0040] In S022, a linear regression method is used to fit the data set (I i , F i ), the data sets with different friction plate thicknesses are fitted to obtain the values ​​of the slope a and the intercept b under different friction plate thicknesses;

[0041] Finally, the proportional coefficient k and exponential parameter n obtained based on the brake working data set are substituted into the braking force F m In the mathematical relationship model with the brake working current I, the braking force estimation model under different friction plate thickness conditions is obtained;

[0042] In S03, after responding to the brake operation start signal, the thickness of the brake friction plate is estimated by the sensor;

[0043] In S04, when the current data is input into the braking force evaluation model, the braking force F corresponding to or with the highest matching degree is retrieved from the braking force estimation model according to the thickness of the friction plate. m Mathematical relationship model with the brake working current I.

[0044] As a preferred implementation option, preferably, in the present solution S03, when responding to the brake's working start signal and monitoring the brake's working current in real time, each recorded current data is associated with its recording time;

[0045] S04, inputting the current data into a braking force evaluation model, and the braking force evaluation model outputs braking force estimation data or braking state information including:

[0046] Input current data. When the working current in the current data is less than the minimum working current value I when the brake is released min , substitute it into the following formula to calculate the braking force estimation data, and the output braking is the braking status information:

[0047] F m = k·I n

[0048] Among them, F m is the braking force value, which is set as the braking force estimation data, I is the brake working current value, which is less than or equal to I min ;

[0049] When the working current in the current data is greater than or equal to the minimum working current value I when the brake is released min When , the output releases the brake as the brake status information;

[0050] In S05, the braking object monitoring information includes working state information of whether the braking object is in a braking state or a braking release state.

[0051] As a preferred implementation option, preferably, this solution S06 includes:

[0052] S061, determining the estimated state of the braking object according to the braking force estimation data or the braking state information, which includes a braking state or a brake release state;

[0053] S062. Determine whether the braking object is in a braking state or a braking release state according to the braking object monitoring information, and set it as a reference state;

[0054] S063, comparing the predicted state of the braking object with the reference state,

[0055] When the reference state is consistent with the predicted state of the braking object, the reference state or the predicted state of the braking object is output as braking feedback information;

[0056] When the reference state is inconsistent with the predicted state of the braking object, brake state abnormality information is generated, and it is output as braking feedback information together with the reference state and the predicted state of the braking object.

[0057] Based on the above, the present invention also provides a brake operation monitoring system, which includes:

[0058] A reference data acquisition unit is used to collect the working current data and braking force data of the brake, and collect them to form a brake working data set;

[0059] A model building unit, used to build a mathematical relationship model between the brake working current and the braking force based on the brake working data set, and generate a braking force estimation model;

[0060] A working current monitoring unit is used to respond to a working start signal of the brake, monitor the working current of the brake in real time, and obtain current data;

[0061] A data scheduling unit, used for inputting current data into a braking force evaluation model, and the braking force evaluation model outputs braking force estimation data or braking state information;

[0062] A brake monitoring unit, used to monitor the working state and working parameters of the brake object and generate brake object monitoring information;

[0063] The information generating unit is used to determine the expected state of the braking object according to the braking force estimation data or the braking state information, and then generate the braking feedback information according to the preset conditions in combination with the braking object monitoring information.

[0064] Based on the above, the present invention also provides a crane brake operation control method, which is applied with the above brake operation monitoring method; it also includes:

[0065] A01, respond to the crane's work start signal, collect parameters of the working environment of the crane brake, and generate environmental monitoring data;

[0066] A02, responds to the brake control signal sent by the crane, combines the environmental monitoring data, and inputs a preset working current into the brake.

[0067] As a preferred implementation option, preferably, this solution also includes:

[0068] A03. Respond to the brake control signal sent by the crane and obtain the time point T when the brake control signal is sent. 制动信号At the same time, the action response of the brake is monitored, and the time point T when the brake takes action after the working current is input is recorded. 制动动作 , and then calculate the time point T 制动信号 At time point T 制动动作 The difference between 延迟 :

[0069] T 延迟 =T 制动动作 -T 制动信号

[0070] T 延迟 With the preset allowable delay T 容许延迟 For comparison, when T 延迟 Greater than the preset allowable delay T 容许延迟 When the brake response abnormality information is generated, it is output.

[0071] By adopting the above technical scheme, the present invention has the following beneficial effects compared with the prior art: the present scheme cleverly establishes a data set of working current data and braking force data of the brake, and then further constructs a mathematical relationship model of the working current and braking force of the brake based on the data, which is used as a braking force estimation model, so that when the brake is used for crane operation, the braking state can be judged by monitoring the working current input of the brake. In addition, the present scheme determines the minimum current of the brake when the brake is released by combining the braking force estimation model with the mathematical relationship between the electromagnetic force and the braking force generated when the electromagnetic disc brake is working, which helps to control the current of the brake, and at the same time, judges whether the brake is in a braking or brake release state according to its working current. The method of the present scheme can be applied to the working monitoring of the electromagnetic disc brake in the crane. Compared with the traditional brake braking force monitoring method, the present scheme does not need to change the internal structure of the brake, and is more friendly and low-cost to the technical transformation of the brake of the crane in use. Moreover, the monitoring method of the present scheme relies on the working current monitoring of the brake, which is easy to obtain, and the current monitoring technology is mature, highly reliable, and easy to operate, so that the present scheme has a good promotion prospect. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0073] Figure 1 This is a brief implementation flow chart of the monitoring method of this program;

[0074] Figure 2This is a brief unit module connection diagram of the monitoring system of this scheme. DETAILED DESCRIPTION

[0075] The present invention will be further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present invention, but are not intended to limit the scope of the present invention. Similarly, the following examples are only partial embodiments of the present invention rather than all embodiments, and all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present invention.

[0076] like Figure 1 As shown, the present embodiment provides a brake operation monitoring method for monitoring the operation of an electromagnetic disc brake for power-off braking, which includes:

[0077] S01, collecting working current data and braking force data of the brake, and collecting them to form a brake working data set;

[0078] S02. constructing a mathematical relationship model between brake working current and braking force based on the brake working data set to generate a braking force estimation model;

[0079] S03, responding to the working start signal of the brake, monitoring the working current of the brake in real time to obtain current data;

[0080] S04, inputting the current data into a braking force evaluation model, and the braking force evaluation model outputs braking force estimation data or braking state information;

[0081] S05, monitoring the working state and working parameters of the brake object, and generating brake object monitoring information;

[0082] S06. Determine the expected state of the braking object according to the braking force estimation data or the braking state information, and then generate braking feedback information according to preset conditions in combination with the braking object monitoring information.

[0083] Among them, as a possible implementation mode, further, the brake described in this scheme uses a spring as a force source to provide braking force, and the spring drives the friction plate and the brake disc to generate a clamping braking force. When the brake is energized, the electromagnetic force generated by the energization counteracts the clamping braking force to reduce the braking force.

[0084] In terms of data collection and recording, step S01 of this solution includes:

[0085] S011. Use a brake, simulate its application scenario and application object, install the brake on the test bench, install a current sensor in the power supply circuit of the brake to collect the working current of the brake when it is working, and install a force sensor on the friction pad or brake disc of the brake to measure the braking force generated by the brake on the brake disc;

[0086] S012, set the initial working current of the brake to zero, then gradually increase the current, and at the same time, record the braking force measured by the force sensor and its corresponding current value under each working current to form a data set (I i , F i ), where I i is the current value measured by the current sensor, F i is the braking force measured by the force sensor;

[0087] S013, the data group (I i , F i ) are collected to form a brake working data set.

[0088] In terms of constructing a mathematical model, as a preferred implementation option, preferably, this solution S02 includes:

[0089] S021, based on linearization processing, set the braking force to F m , and its mathematical relationship model with the brake working current I is defined as follows:

[0090] F m = k·I n

[0091] Among them, F m is the braking force value, I is the brake working current value, which is less than or equal to I min , I min is the minimum working current value when the brake is released, k is the proportional coefficient, and n is the exponential parameter;

[0092] S022, braking force F m The mathematical relationship model with the brake working current I is logarithmically transformed, and then the mathematical relationship is linearized to obtain the following formula model:

[0093] ln(F m )=ln(k)+n·ln(I)

[0094] Let y = ln(F m ), x = ln(I), slope a = n, intercept b = ln(k), and the following formula is obtained:

[0095] y=b+a·x

[0096] The linear regression method is used to fit the data set (I i , F i ), solve for the slope a and the intercept b;

[0097] By converting the parameters, the formula definition of parameter k is obtained as follows:

[0098] k=e b

[0099] Substitute the proportional coefficient k and exponential parameter n obtained based on the brake working data set into the braking force F m The braking force estimation model is obtained from the mathematical relationship model with the brake working current I.

[0100] As an example, assume that the data set shown in Table 1 below is obtained through experiments (only part of the example data is shown):

[0101] Table 1

[0102] CurrentI(A) <![CDATA[Braking force F m (N)]]> 1.0 2.0 2.0 4.1 3.0 8.5 4.0 16.2 5.0 25.8

[0103] Linearize the data in Table 1 and then calculate ln(I), ln(F m ), the results are shown in Table 2:

[0104] Table 2

[0105]

[0106]

[0107] Use the least squares method to solve ln(I), ln(F m ) linear regression, we get slope a≈2.028, intercept b≈0.693; thus we get n=2.028, k=e 0.693 =2.0.

[0108] The model formula obtained is:

[0109] F m =2·I 2.028

[0110] In order to facilitate the judgment of the braking condition of the brake, as a better implementation option, preferably, this solution S02 also includes:

[0111] S023, according to the braking force F m The mathematical relationship model with the brake working current I determines the minimum current when the brake is released, which includes:

[0112] The braking force value when the brake working current is zero is set as the initial braking force F c , that is, the clamping braking force value of the brake in the power-off state;

[0113] The electromagnetic force generated by the brake when it is energized is used to counteract the clamping braking force to reduce the braking force. Therefore, before the brake is released, the electromagnetic force F can be defined as c,I Braking force F m and initial braking force F c The mathematical relationship is as follows:

[0114] F m =F c -F c,I

[0115] Among them, F c,I is the electromagnetic force when the brake working current is I, F m is the braking force when the brake working current is I;

[0116] Assume that the electromagnetic force F c,I Equal to the initial braking force F c When or electromagnetic force F c,I Equal to the braking force F m When , the brake is considered to be released, and the following formula can be obtained:

[0117]

[0118] Among them, F c is the braking force value when the braking force working current is 0, that is, the initial braking force, I min is the minimum working current value when the brake is released, k and n are proportional coefficient and exponential parameter respectively, which are related to the braking force F m The proportional coefficient and exponential parameter values ​​in the mathematical relationship model of the brake working current I are consistent;

[0119] Based on the brake working data set, by substituting the initial braking force F c , the minimum working current value I when the brake is released can be obtained by solving min .

[0120] Since the brake will cause the friction plate to wear out during use, and the thickness of the friction plate changes after the wear, a larger electromagnetic force is needed to overcome the spring deformation during braking. In order to improve the adaptability of the model, as a preferred implementation option, preferably, the present solution S011 also includes: recording the thickness of the friction plate of the brake and comparing it with the data set (I i , F i ) association;

[0121] In S022, a linear regression method is used to fit the data set (I i , F i ), the data sets with different friction plate thicknesses are fitted to obtain the values ​​of the slope a and the intercept b under different friction plate thicknesses;

[0122] Finally, the proportional coefficient k and exponential parameter n obtained based on the brake working data set are substituted into the braking force F m In the mathematical relationship model between the brake working current I and the braking force estimation model under different friction plate thicknesses is obtained.

[0123] In S03, after responding to the brake's working start signal, the thickness of the brake's friction pad is also estimated through a sensor; wherein the thickness of the friction pad can be estimated by a contact or non-contact sensor, such as a commercially available brake pad wear sensor or a sensing contact arranged in the thickness direction of the friction pad, etc.

[0124] Based on the above, in the present solution S04, when the current data is input into the braking force evaluation model, the braking force F corresponding to or with the highest matching degree is retrieved from the braking force estimation model according to the thickness of the friction plate. m Mathematical relationship model with the brake working current I.

[0125] In order to better correlate and compare the data acquired in real time, as a preferred implementation option, preferably, in the present solution S03, when responding to the working start signal of the brake and monitoring the working current of the brake in real time, each recorded current data is correspondingly associated with the time of recording;

[0126] In the present solution S04, the current data is input into the braking force evaluation model, and the braking force evaluation model outputs the braking force estimation data or the braking state information including:

[0127] Input current data. When the working current in the current data is less than the minimum working current value I when the brake is released min , substitute it into the following formula to calculate the braking force estimation data, and the output braking is the braking status information:

[0128] F m = k·I n

[0129] Among them, F m is the braking force value, which is set as the braking force estimation data, I is the brake working current value, which is less than or equal to I min ;

[0130] When the working current in the current data is greater than or equal to the minimum working current value I when the brake is released minWhen the brake is released, the output is the brake status information.

[0131] Based on the above, in the present solution S05, the braking object monitoring information includes working state information of whether the braking object is in a braking state or a braking release state.

[0132] In addition, in the present solution S05, the data obtained by monitoring the working parameters of the brake object can be reused to determine whether there is a braking intervention by the speed state of the brake object at different time points.

[0133] On the basis of the above, as a better implementation option, preferably, this solution S06 includes:

[0134] S061, determining the estimated state of the braking object according to the braking force estimation data or the braking state information, which includes a braking state or a brake release state;

[0135] S062. Determine whether the braking object is in a braking state or a braking release state according to the braking object monitoring information, and set it as a reference state;

[0136] S063, comparing the predicted state of the braking object with the reference state,

[0137] When the reference state is consistent with the predicted state of the braking object, the reference state or the predicted state of the braking object is output as braking feedback information;

[0138] When the reference state is inconsistent with the predicted state of the braking object, brake state abnormality information is generated, and it is output as braking feedback information together with the reference state and the predicted state of the braking object.

[0139] Based on the above, the brake operation monitoring method of this solution can be applied to the crane brake operation control method. In addition to the above method steps, the crane brake operation control method also includes:

[0140] A01, respond to the crane's work start signal, collect parameters of the working environment of the crane brake, and generate environmental monitoring data;

[0141] A02, responding to the brake control signal sent by the crane and combining the environmental monitoring data, inputting a preset working current into the brake;

[0142] A03. Respond to the brake control signal sent by the crane and obtain the time point T when the brake control signal is sent. 制动信号 At the same time, the action response of the brake is monitored, and the time point T when the brake takes action after the working current is input is recorded. 制动动作 , and then calculate the time point T 制动信号 At time point T 制动动作 The difference between延迟 :

[0143] T 延迟 =T 制动动作 -T 制动信号

[0144] T 延迟 With the preset allowable delay T 容许延迟 For comparison, when T 延迟 Greater than the preset allowable delay T 容许延迟 When the brake response abnormality information is generated, it is output.

[0145] Taking the working environment as an example, when the brakes of a crane are in rainy or humid environments, the intrusion of water will cause the friction coefficient between the brake pads to decrease. At this time, the minimum working current for releasing the brake can be increased by a certain coefficient to improve the braking effect.

[0146] Combination Figure 2 As shown, based on the above, this embodiment also provides a brake operation monitoring system, which includes:

[0147] A reference data acquisition unit is used to collect the working current data and braking force data of the brake, and collect them to form a brake working data set;

[0148] A model building unit, used to build a mathematical relationship model between the brake working current and the braking force based on the brake working data set, and generate a braking force estimation model;

[0149] A working current monitoring unit is used to respond to a working start signal of the brake, monitor the working current of the brake in real time, and obtain current data;

[0150] A data scheduling unit, used for inputting current data into a braking force evaluation model, and the braking force evaluation model outputs braking force estimation data or braking state information;

[0151] A brake monitoring unit, used to monitor the working state and working parameters of the brake object and generate brake object monitoring information;

[0152] The information generating unit is used to determine the expected state of the braking object according to the braking force estimation data or the braking state information, and then generate the braking feedback information according to the preset conditions in combination with the braking object monitoring information.

[0153] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0154] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0155] The above descriptions are only some embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any equivalent device or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A brake operation monitoring method for monitoring the operation of an electromagnetic disc brake for power-off braking, characterized in that: It includes: S01, collecting working current data and braking force data of the brake, and collecting them to form a brake working data set; S02. constructing a mathematical relationship model between brake working current and braking force based on the brake working data set to generate a braking force estimation model; S03, responding to the working start signal of the brake, monitoring the working current of the brake in real time to obtain current data; S04, inputting the current data into a braking force evaluation model, and the braking force evaluation model outputs braking force estimation data or braking state information; S05, monitoring the working state and working parameters of the brake object, and generating brake object monitoring information; S06. Determine the expected state of the braking object according to the braking force estimation data or the braking state information, and then generate braking feedback information according to preset conditions in combination with the braking object monitoring information.

2. The brake operation monitoring method according to claim 1, characterized in that: The brake uses a spring as a force source to provide braking force, and the spring drives the friction plate to act with the brake disc to generate a clamping braking force. When the brake is energized, the electromagnetic force generated by the energization counteracts the clamping braking force to reduce the braking force; step S01 includes: S011. Use a brake, simulate its application scenario and application object, install the brake on the test bench, install a current sensor in the power supply circuit of the brake to collect the working current of the brake when it is working, and install a force sensor on the friction pad or brake disc of the brake to measure the braking force generated by the brake on the brake disc; S012, set the initial working current of the brake to zero, then gradually increase the current, and at the same time, record the braking force measured by the force sensor and its corresponding current value under each working current to form a data set (I i , F i ), where I i is the current value measured by the current sensor, F i is the braking force measured by the force sensor; S013, the data group (I i , F i ) are collected to form a brake working data set.

3. The brake operation monitoring method according to claim 2, characterized in that: S02 includes: S021, based on linearization processing, set the braking force to F m , and its mathematical relationship model with the brake working current I is defined as follows: F m =k·I n Among them, F m is the braking force value, I is the brake working current value, which is less than or equal to I min , I min is the minimum working current value when the brake is released, k is the proportional coefficient, and n is the exponential parameter; S022, braking force F m The mathematical relationship model with the brake working current I is logarithmically transformed, and then the mathematical relationship is linearized to obtain the following formula model: ln(F m )=ln(k)+n·ln(I) Let y = ln(F m ), x = ln(I), slope a = n, intercept b = ln(k), and the following formula is obtained: y=b+a·x Use linear regression method to fit the data set (Ii, F i ), solve for the slope a and the intercept b; By converting the parameters, the formula definition of parameter k is obtained as follows: k=e b Substitute the proportional coefficient k and exponential parameter n obtained based on the brake working data set into the braking force F m The braking force estimation model is obtained from the mathematical relationship model with the brake working current I.

4. The brake operation monitoring method according to claim 3, characterized in that: S02 also includes: S023, according to the braking force F m The mathematical relationship model with the brake working current I determines the minimum current when the brake is released, which includes: The braking force value when the brake working current is zero is set as the initial braking force F c , that is, the clamping braking force value of the brake in the power-off state; The electromagnetic force generated by the brake when it is energized is used to counteract the clamping braking force to reduce the braking force. Therefore, before the brake is released, the electromagnetic force F can be defined as c，I Braking force F m and initial braking force F c The mathematical relationship is as follows: F m =F c -F c,I Among them, F c，I is the electromagnetic force when the brake working current is I, F m is the braking force when the brake working current is I; Assume that the electromagnetic force F c，I Equal to the initial braking force F c When or electromagnetic force F c，I Equal to the braking force F m When , the brake is considered to be released, and the following formula can be obtained: Among them, F c is the braking force value when the braking force working current is 0, that is, the initial braking force, I min is the minimum working current value when the brake is released, k and n are proportional coefficient and exponential parameter respectively, which are related to the braking force F m The proportional coefficient and exponential parameter values ​​in the mathematical relationship model of the brake working current I are consistent; Based on the brake working data set, by substituting the initial braking force F c , the minimum working current value I when the brake is released can be obtained by solving min .

5. The brake operation monitoring method according to claim 4, characterized in that: S011 also includes: recording the thickness of the friction plate of the brake and comparing it with the data set (Ii, F i ) association; In S022, a linear regression method is used to fit the data set (Ii, F i ), the data sets with different friction plate thicknesses are fitted to obtain the values ​​of the slope a and the intercept b under different friction plate thicknesses; Finally, the proportional coefficient k and exponential parameter n obtained based on the brake working data set are substituted into the braking force F m In the mathematical relationship model with the brake working current I, the braking force estimation model under different friction plate thickness conditions is obtained; In S03, after responding to the brake operation start signal, the thickness of the brake friction plate is estimated by the sensor; In S04, when the current data is input into the braking force evaluation model, the braking force F corresponding to or with the highest matching degree is retrieved from the braking force estimation model according to the thickness of the friction plate. m Mathematical relationship model with the brake working current I.

6. The brake operation monitoring method according to claim 4 or 5, characterized in that: In S03, in response to the brake operation start signal, when the brake operation current is monitored in real time, each recorded current data is associated with the corresponding recording time; In S04, the current data is input into the braking force evaluation model, and the braking force evaluation model outputs braking force estimation data or braking state information including: Input current data. When the working current in the current data is less than the minimum working current value I when the brake is released min , substitute it into the following formula to calculate the braking force estimation data, and the output braking is the braking status information: F m =k·I n Among them, F m is the braking force value, which is set as the braking force estimation data, I is the brake working current value, which is less than or equal to I min ; When the working current in the current data is greater than or equal to the minimum working current value I when the brake is released min When , the output is brake release as the brake status information; In S05, the braking object monitoring information includes working state information of whether the braking object is in a braking state or a braking release state.

7. The brake operation monitoring method according to claim 6, characterized in that: S06 includes: S061, determining the estimated state of the braking object according to the braking force estimation data or the braking state information, which includes a braking state or a brake release state; S062. Determine whether the braking object is in a braking state or a braking release state according to the braking object monitoring information, and set it as a reference state; S063, comparing the predicted state of the braking object with the reference state, When the reference state is consistent with the predicted state of the braking object, the reference state or the predicted state of the braking object is output as braking feedback information; When the reference state is inconsistent with the predicted state of the braking object, brake state abnormality information is generated, and it is output as braking feedback information together with the reference state and the predicted state of the braking object.

8. A brake operation monitoring system, characterized in that: It includes: A reference data acquisition unit is used to collect the working current data and braking force data of the brake, and collect them to form a brake working data set; A model building unit, used to build a mathematical relationship model between the brake working current and the braking force based on the brake working data set, and generate a braking force estimation model; A working current monitoring unit is used to respond to a working start signal of the brake, monitor the working current of the brake in real time, and obtain current data; A data scheduling unit, used for inputting current data into a braking force evaluation model, and the braking force evaluation model outputs braking force estimation data or braking state information; A brake monitoring unit, used to monitor the working state and working parameters of the brake object and generate brake object monitoring information; The information generating unit is used to determine the expected state of the braking object according to the braking force estimation data or the braking state information, and then generate the braking feedback information according to the preset conditions in combination with the braking object monitoring information.

9. A crane brake operation control method, characterized in that: It is applied with the brake operation monitoring method as claimed in any one of claims 1 to 8; It also includes: A01, respond to the crane's work start signal, collect parameters of the working environment of the crane brake, and generate environmental monitoring data; A02, responds to the brake control signal sent by the crane, combines the environmental monitoring data, and inputs a preset working current into the brake.

10. The crane brake operation control method according to claim 9, characterized in that: It also includes: A03. Respond to the brake control signal sent by the crane and obtain the time point T when the brake control signal is sent. 制动信号 At the same time, the action response of the brake is monitored, and the time point T when the brake takes action after the working current is input is recorded. 制动动作 , and then calculate the time point T 制动信号 At time point T 制动动作 The difference between 延迟 : T 延迟 =T 制动动作 -T 制动信号 T 延迟 With the preset allowable delay T 容许延迟 For comparison, when T 延迟 Greater than the preset allowable delay T 容许延迟 When the brake response abnormality information is generated, it is output.

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