Winch safe operation speed control system

Abstract

The invention discloses a winch safe operation speed control system, which comprises the defects that in the prior art, a single encoder has defects, the operation state of a skip car cannot be judged after the single encoder is damaged, and vicious production accidents such as skip car galloping are easily caused; a set of speed reducer is additionally arranged on the other side of the winch system, an encoder is additionally arranged at the tail of the speed reducer, and signals of the two encoders are connected into an input module; code values of the two encoders are converted to be consistent in the control system; the running position of the skip car is measured through an encoder in the up-down process of the skip car, the running position of a steel wire rope corresponds to the code value of the encoder and is converted into data, a high-speed running section, a medium-speed running section, a decelerating running section and a parking position point of the skip car are set, and back-and-forth running feeding of the skip car is achieved; and when the operation numerical values of the two encoders exceed 20 code values, the system judges that the winch is out of step in operation, and immediately sends an instruction to require the winch skip car system to stop operation.

Description

Technical Field

[0001] The invention belongs to the technical field of winch control, in particular to a winch safe operation speed control system. Background Art

[0002] Winches are widely used in industrial production, construction and other fields, and their safe operation is of vital importance. During the operation of traditional winches, various factors often lead to dangerous situations such as loss of step and runaway due to various factors, such as encoder failure and improper speed control. Once such problems occur, it will not only cause serious damage to the equipment itself, but also may cause safety accidents and threaten the lives of personnel. At the same time, it will also affect production efficiency and increase production costs. The current winch control system relies on a single encoder control, which has disadvantages: the connection between the equipment and the system is defective, and the running status of the material car cannot be judged after damage, which is easy to cause material car runaway, wire rope breakage and other vicious production accidents. Single encoder control has deficiencies in fault prediction, precise speed control and encoder status monitoring, and it is difficult to meet the needs of modern industry for safe and efficient production;

[0003] The present invention adopts a dual encoder redundant design. Even if one of the encoders fails, the other can continue to work, ensuring the monitoring of the system operation status, maintaining the stable operation of the system, and improving the reliability of the main winch feeding system. And through in-depth analysis of the encoder operation values, early warning is issued, so that the operator or the automation system has enough time to take measures to avoid the occurrence of serious accidents such as the material car running away and the wire rope breaking. Summary of the invention

[0004] The object of the present invention is to provide a winch safe operation speed control system to solve at least one of the above-mentioned prior art problems.

[0005] In a first aspect, the present invention provides a winch safe operation speed control system, comprising the following modules:

[0006] Safe operation detection module: add a reducer and an encoder on the other side of the main hoisting feeding system, convert the code values ​​of the two encoders in the control system, and compare the values ​​of the two encoders in real time to determine whether the hoisting system is out of step. If so, immediately issue a command to require the hoisting material car system to stop running;

[0007] Step-out prediction module: Analyze the encoder running value, obtain the running value curve by constructing an XY two-dimensional coordinate system, analyze the slope of the running value curve, obtain the predicted slope value, analyze the predicted slope value, and obtain the predicted running step-out time;

[0008] Stop operation prediction module: Analyze the real-time running speed and predicted running out-of-step time of the material car system to obtain the control acceleration; and transmit the calculated acceleration to the speed control unit, and control the speed of the material car through the speed control unit;

[0009] Calibration parameter acquisition module: analyze the running numerical curve of encoder A and the running numerical curve of encoder B to obtain the numerical characterization value and the change characterization value; perform data analysis on the numerical characterization value and the change characterization value to obtain the main and standby calibration values;

[0010] Calibration parameter analysis module: compares the master-slave calibration value with the master-slave calibration threshold, and determines whether the two encoders are operating normally based on the comparison result. If so, a normal signal is generated.

[0011] In a second aspect, the present invention provides a method for controlling the safe operation speed of a winch, comprising the following steps:

[0012] Step 1: Add a reducer and an encoder on the other side of the main hoisting feeding system, convert the code values ​​of the two encoders in the control system, and compare the values ​​of the two encoders in real time to determine whether the hoisting system is out of step. If so, immediately issue a command to require the hoisting material car system to stop running;

[0013] Step 2: Analyze the encoder running value, obtain the running value curve by constructing an XY two-dimensional coordinate system, analyze the slope of the running value curve, obtain the predicted slope value, analyze the predicted slope value, and obtain the predicted running out-of-step time;

[0014] Step 3: Analyze the real-time running speed and predicted running out-of-step time of the material car system to obtain the control acceleration; and transmit the calculated acceleration to the speed control unit, and control the speed of the material car through the speed control unit;

[0015] Step 4: Analyze the running numerical curve of encoder A and the running numerical curve of encoder B to obtain the numerical characterization value and the change characterization value; perform data analysis on the numerical characterization value and the change characterization value to obtain the main and standby calibration values;

[0016] Step 5: Compare the master-slave calibration value with the master-slave calibration threshold, and determine whether the two encoders are operating normally based on the comparison result. If so, generate a normal signal.

[0017] Beneficial effects of the present invention:

[0018] 1. The beneficial effects of the embodiments of the present invention are as follows: before the improvement, the system only relied on one encoder to measure the running position of the material cart. Once it was damaged, it was impossible to judge the running status of the material cart; after the improvement, the dual encoder redundant design, even if one of the encoders failed, the other could continue to work, to ensure the monitoring of the system running status, maintain the stable operation of the system, and greatly improve the reliability of the main winch feeding system; by coordinating the new encoder with the original encoder, dual monitoring of the running status of the winch system is achieved; when the running values ​​of the two encoders exceed 20 code values, it is judged that the system has lost step in operation, and an instruction is immediately issued to stop the operation of the winch material cart system, effectively avoiding the damage and loss to personnel and equipment caused by vicious production accidents such as the material cart running away and the wire rope breaking.

[0019] 2. The beneficial effects of the embodiments of the present invention are as follows: the out-of-step prediction module can accurately predict the out-of-step time of operation by deeply analyzing the encoder running values, constructing an XY two-dimensional coordinate system and analyzing the slope of the running value curve; before the encoder running value reaches the dangerous 20 code value deviation, that is, before the system has actually lost step, an early warning is issued, so that the operator or the automation system has enough time to take measures to avoid the occurrence of serious accidents such as the material car running away and the wire rope breaking, thereby further ensuring the safety of personnel and equipment; the stop operation prediction module comprehensively considers the real-time operating speed of the material car system and the predicted out-of-step time of operation, dynamically calculates the control acceleration and adjusts the material car speed in time; when it is predicted that out-of-step may occur and the time for the material car to arrive at the predetermined parking point is greater than the predicted out-of-step time, the material car speed is regulated in advance, thereby avoiding unnecessary emergency stops, ensuring the continuity of the production process, improving production efficiency, and reducing the loss of equipment caused by frequent emergency stops and starts.

[0020] 3. The beneficial effects of the embodiments of the present invention are as follows: the calibration parameter acquisition module obtains the numerical characterization value and the change characterization value by analyzing the operating numerical curves of encoder A and encoder B, and further calculates the primary and standby calibration values, so as to accurately quantify the degree of deviation of the code values ​​of the two encoders during operation; this enables the operator to understand the working status of the encoder in a timely manner. When the primary and standby calibration values ​​show that the operating code values ​​of the encoders deviate too much, measures can be taken in advance for maintenance or calibration, so as to avoid abnormal operation of the entire system due to encoder failure, thereby ensuring the long-term stable operation of the encoder. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0022] Figure 1It is a schematic diagram of the improvement of the winch system by a winch safety operation speed control system provided by the first embodiment of the present invention;

[0023] Figure 2 It is a flow chart of obtaining the predicted operation out-of-step time of a winch safety operation speed control system provided by the second embodiment of the present invention;

[0024] Figure 3 It is a flow chart of obtaining the main and standby calibration values ​​of a winch safety operation speed control system provided by the third embodiment of the present invention;

[0025] Figure 4 It is a step flow chart of a method for controlling the safe operation speed of a winch provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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 should fall within the scope of protection of the present invention.

[0027] Embodiment 1

[0028] like Figure 1 As shown, a winch safe operation speed control system provided by an embodiment of the present invention specifically includes the following modules:

[0029] Safe operation detection module: add a reducer and an encoder on the other side of the main hoisting feeding system, convert the code values ​​of the two encoders in the control system, and compare the values ​​of the two encoders in real time to determine whether the hoisting system is out of step. If so, immediately issue a command to require the hoisting material car system to stop running;

[0030] In the existing main hoisting feeding system, the left and right material carts pull the wire rope for feeding through the hoisting drum; an 18:1 reducer is installed on one side of the main hoisting feeding system, and an encoder is installed at the tail of the reducer; the encoder is used to measure the running position of the material cart during the up and down process, and the running position of the wire rope corresponds to the encoder code value, which is converted into data to set the material cart's high-speed running section, medium-speed running section, deceleration running section, and parking position point, so as to realize the back and forth running of the material cart for feeding; only one encoder is installed in the existing main hoisting feeding system. If the encoder is damaged, it cannot judge the running status of the material cart, which is easy to cause serious production accidents such as the material cart flying and the wire rope breaking;

[0031] The present invention improves the original main hoisting feeding system, adds a set of 18:1 reducer on the other side of the main hoisting feeding system, adds an encoder at the tail of the reducer, connects the signal of the added encoder and the signal of the original encoder in the main hoisting feeding system to the input module; converts the code values ​​of the two encoders in the control system, and converts the code values ​​of the two encoders into the running distance of the material vehicle by corresponding the wire rope capacity to a certain data code value;

[0032] The values ​​of the two encoders are converted and compared in real time. When the running values ​​of the two encoders exceed 20 code values, the system determines that the winch is out of step and immediately issues a command to stop the winch system.

[0033] The beneficial effects of the embodiments of the present invention are as follows: the original system relies on only one encoder to measure the running position of the material cart, and once it is damaged, it is impossible to judge the running status of the material cart; after the improvement, the dual encoder redundant design, even if one of the encoders fails, the other can continue to work, to ensure the monitoring of the system running status, maintain the stable operation of the system, and greatly improve the reliability of the main winch feeding system; by cooperating with the new encoder and the original encoder, dual monitoring of the running status of the winch system is realized; when the running values ​​of the two encoders exceed 20 code values, it is judged that the system has a loss of step in operation, and an instruction is immediately issued to stop the operation of the winch material cart system, effectively avoiding the damage and loss to personnel and equipment caused by vicious production accidents such as material cart runaway and wire rope breaking.

[0034] Embodiment 2

[0035] like Figure 2 As shown, a winch safe operation speed control system provided by an embodiment of the present invention specifically includes the following modules:

[0036] Step-out prediction module: Analyze the encoder running value, obtain the running value curve by constructing an XY two-dimensional coordinate system, analyze the slope of the running value curve, obtain the predicted slope value, analyze the predicted slope value, and obtain the predicted running step-out time;

[0037] In some embodiments, the encoder operating value is obtained and compared with the encoder operating value standard range, and the comparison process is as follows:

[0038] If the encoder operating value does not deviate from the encoder operating value standard range, an operating signal is generated;

[0039] If the encoder operating value deviates from the encoder operating value standard range, an analysis signal is generated;

[0040] The time when the analysis signal is generated is recorded as t1;

[0041] Based on the analysis signal, the encoder running value is compared with the numerical warning value. The comparison process is as follows:

[0042] If the encoder running value is less than the numerical warning value, a monitoring signal is generated;

[0043] If the encoder operation value is greater than or equal to the value warning value, a prediction signal is generated; based on the prediction signal, the time when the encoder operation value exceeds 20 code values ​​is predicted;

[0044] The time for generating the prediction signal is recorded as t2;

[0045] The time period between t1 and t2 is recorded as the analysis period;

[0046] With time as the X-axis and the encoder running value as the Y-axis, an XY two-dimensional coordinate system is constructed; in the XY two-dimensional coordinate system, the encoder running values ​​of the analysis period are marked and connected to obtain the encoder running value curve; with the encoder running value 20 code value as the Y value, a straight line parallel to the X-axis is drawn, which is recorded as the running out-of-step straight line;

[0047] Divide the running value curve into n sub-curves, obtain the slope of each sub-curve, and record the slope of each sub-curve as k1, k2, k3, ..., kn in chronological order;

[0048] Divide the n sub-curves into two sections according to the time sequence, which are respectively recorded as the close sub-interval and the distant sub-interval;

[0049] It should be noted that the time interval between the close subinterval and the real time is smaller than the time interval between the far subinterval and the real time; the slope of the far subinterval is k1, k2, ..., km; the slope of the close subinterval is k(m+1), k(m+2), ..., kn;

[0050] It should be noted that the time interval between the close subinterval and the real time is smaller than the time interval between the far subinterval and the real time. In the process of predicting that the encoder runs for more than 20 code value times, the weight of the close subinterval parameter is greater than the weight of the far subinterval parameter.

[0051] Get the slope away from the subinterval as k1, k2, ..., km;

[0052] Sum and average k1, k2, ..., km to get the mean slope Ka of the distance interval;

[0053] Similarly, obtain the mean slope Kb of similar intervals;

[0054] The data of the mean slope Ka of the distant interval and the mean slope Kb of the close interval are processed, and the predicted slope value Kc is obtained using the formula Kc=a1*Ka+a2*Kb; where a2 is the weight coefficient of the slope parameter of the close sub-interval, a1 is the weight coefficient of the slope parameter of the distant sub-interval, and a1 is less than a2;

[0055] In the XY two-dimensional coordinate system, the running value curve is extended with the real-time running value of the encoder as the starting point and the predicted slope value Kc as the slope;

[0056] Obtain the time corresponding to the intersection of the extended line of the operation value curve and the operation out-of-step straight line, and record it as the predicted operation out-of-step time t3;

[0057] Stop operation prediction module: Analyze the real-time running speed and predicted running out-of-step time of the material car system to obtain the control acceleration; and transmit the calculated acceleration to the speed control unit, and control the speed of the material car through the speed control unit;

[0058] Obtain the real-time running speed v1 of the material car system and the time t4 when the material car reaches the predetermined parking position;

[0059] Compare t3 and t4. If t3 is greater than or equal to t4, generate a running signal. Based on the running signal, do not perform any operation.

[0060] If t3 is less than t4, a deceleration signal is generated, and the running speed of the material vehicle is regulated based on the deceleration signal;

[0061] By analyzing the real-time running speed v1 of the material car system and the time t3 corresponding to the intersection of the extended line of the running value curve and the running out-of-step straight line, the regulated acceleration s is obtained, where s=v1 / t3;

[0062] The calculated acceleration is transmitted to the speed control unit, and the speed of the material vehicle is controlled by the speed control unit, so that the material vehicle stops running in time when the encoder running value reaches 20 code value;

[0063] The beneficial effects of the embodiments of the present invention are as follows: the out-of-step prediction module can accurately predict the out-of-step time of operation by deeply analyzing the encoder running values, constructing an XY two-dimensional coordinate system and analyzing the slope of the running value curve; before the encoder running value reaches the dangerous 20 code value deviation, that is, before the system has actually lost step, an early warning is issued, so that the operator or the automation system has enough time to take measures to avoid the occurrence of serious accidents such as the material car running away and the wire rope breaking, thereby further ensuring the safety of personnel and equipment; the stop operation prediction module comprehensively considers the real-time operating speed of the material car system and the predicted out-of-step time of operation, dynamically calculates the control acceleration and adjusts the material car speed in time; when it is predicted that out-of-step may occur and the time for the material car to arrive at the predetermined parking point is greater than the predicted out-of-step time, the material car speed is regulated in advance, avoiding unnecessary emergency stops, ensuring the continuity of the production process, improving production efficiency, and reducing the loss of equipment caused by frequent emergency stops and starts.

[0064] Embodiment 3

[0065] like Figure 3 As shown, a winch safe operation speed control system provided by an embodiment of the present invention specifically includes the following modules:

[0066] Calibration parameter acquisition module: analyze the running numerical curve of encoder A and the running numerical curve of encoder B to obtain the numerical characterization value and the change characterization value; perform data analysis on the numerical characterization value and the change characterization value to obtain the main and standby calibration values;

[0067] Two encoders are used as one main and one backup. The main encoder is recorded as encoder A and the backup encoder is recorded as encoder B. When one encoder fails, the other encoder is immediately switched to use. When the two encoders are backup for each other, the mutual calibration function is realized.

[0068] Obtaining the running value curve of encoder A and the running value curve of encoder B during the analysis period; dividing the running value curve of encoder A and the running value curve of encoder B into equal parts, respectively, obtaining the encoder code value of each equally divided point of the running value curve of encoder A and the running value curve of encoder B, and recording them as the equally divided point code value;

[0069] Differences between the code values ​​of the equally divided points of encoder A and the code values ​​of the corresponding equally divided points of encoder B are used to obtain the primary and standby code value differences;

[0070] The primary and backup code value difference is compared with the primary and backup code value difference threshold, and the period in which the primary and backup code value difference is greater than or equal to the primary and backup code value difference threshold is recorded as an out-of-bounds period;

[0071] The period when the difference between the primary and standby code values ​​is less than the primary and standby code value difference threshold is recorded as the normal operation period;

[0072] Obtain the duration of the out-of-bounds period, and perform ratio processing on the duration of the out-of-bounds period and the duration of the analysis period to obtain a numerical representation value, which is marked as SZ;

[0073] Mark and connect the primary and backup code value differences in the XY two-dimensional coordinate system to obtain a primary and backup code value difference curve;

[0074] Divide the main and standby code value difference curves into a plurality of code value difference sub-curves, and obtain the slope of each code value difference sub-curve;

[0075] It should be noted that the slope of each sub-curve of the main-standby code value difference curve represents the rate of change of the difference between the running code value of encoder A and the running code value of encoder B;

[0076] Compare the slope of each code value difference sub-curve with the slope threshold, and mark the code value difference sub-curve whose slope is greater than the slope threshold as a critical sub-curve;

[0077] Get the number of critical sub-curves and compare it with the total number of code value sub-curves to get the critical number ratio, marked as SL;

[0078] Obtain the slope values ​​of all critical sub-curves, sum and average them to obtain the critical slope mean; perform ratio processing on the critical slope mean and the slope threshold to obtain the critical slope ratio, which is marked as XL;

[0079] The critical number ratio SL and the critical slope ratio XL are analyzed and the formula is used Obtain a change characterization value BH, wherein a1 and a2 are preset proportional coefficients, and a1 and a2 are not zero;

[0080] It should be noted that the change characterization value BH reflects the change of the primary and backup code value difference. The larger the change characterization value BH is, the greater the change fluctuation of the primary and backup code value difference is.

[0081] The numerical representation value SZ and the change representation value BH are analyzed and the formula is used. Obtain the master-slave calibration value JZ, where b1 and b2 are preset proportional coefficients, and b1 and b2 are not zero;

[0082] It should be noted that the master-slave calibration value JZ indicates the degree of deviation of the code value when encoder A and encoder B are running; the larger the master-slave calibration value JZ is, the greater the degree of deviation of the code value when encoder A and encoder B are running;

[0083] Calibration parameter analysis module: compares the master-slave calibration value with the master-slave calibration threshold, and determines whether the two encoders are operating normally based on the comparison result. If so, a normal signal is generated;

[0084] The master-slave calibration value is compared with the master-slave calibration threshold. The comparison process is as follows:

[0085] If the master-slave calibration value is greater than or equal to the master-slave calibration threshold, a calibration signal is generated;

[0086] If the master-slave calibration value is less than the master-slave calibration threshold, a normal signal is generated;

[0087] Based on the calibration signal, calibrate encoder A and encoder B to monitor whether the encoder is faulty;

[0088] Based on normal signals, no action is taken;

[0089] The beneficial effects of the embodiments of the present invention are as follows: the calibration parameter acquisition module obtains the numerical characterization value and the change characterization value by analyzing the operating numerical curves of encoder A and encoder B, and further calculates the primary and standby calibration values, so as to accurately quantify the degree of deviation of the code values ​​of the two encoders during operation; this enables the operator to understand the working status of the encoder in a timely manner. When the primary and standby calibration values ​​show that the operating code values ​​of the encoders deviate too much, measures can be taken in advance for maintenance or calibration, so as to avoid abnormal operation of the entire system due to encoder failure, thereby ensuring the long-term stable operation of the encoder.

[0090] Embodiment 4

[0091] like Figure 4 As shown, a method for controlling the safe operation speed of a winch provided by an embodiment of the present invention specifically comprises the following steps:

[0092] Step 1: Add a reducer and an encoder on the other side of the main hoisting feeding system, convert the code values ​​of the two encoders in the control system, and compare the values ​​of the two encoders in real time to determine whether the hoisting system is out of step. If so, immediately issue a command to require the hoisting material car system to stop running;

[0093] Step 2: Analyze the encoder running value, obtain the running value curve by constructing an XY two-dimensional coordinate system, analyze the slope of the running value curve, obtain the predicted slope value, analyze the predicted slope value, and obtain the predicted running out-of-step time;

[0094] Step 3: Analyze the real-time running speed and predicted running out-of-step time of the material car system to obtain the control acceleration; and transmit the calculated acceleration to the speed control unit, and control the speed of the material car through the speed control unit;

[0095] Step 4: Analyze the running numerical curve of encoder A and the running numerical curve of encoder B to obtain the numerical characterization value and the change characterization value; perform data analysis on the numerical characterization value and the change characterization value to obtain the main and standby calibration values;

[0096] Step 5: Compare the master-slave calibration value with the master-slave calibration threshold, and determine whether the two encoders are operating normally based on the comparison result. If so, generate a normal signal.

[0097] 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 winch safe operation speed control system, characterized in that: Includes the following modules: Safe operation detection module: add a reducer and an encoder on the other side of the main hoisting feeding system, convert the code values ​​of the two encoders in the control system, and compare the values ​​of the two encoders in real time to determine whether the hoisting system is out of step. If so, immediately issue a command to require the hoisting material car system to stop running; Step-out prediction module: Analyze the encoder running value, obtain the running value curve by constructing an XY two-dimensional coordinate system, analyze the slope of the running value curve, obtain the predicted slope value, analyze the predicted slope value, and obtain the predicted running step-out time; Stop operation prediction module: analyze the real-time running speed and predicted running out-of-step time of the material car system to obtain the control acceleration; The calculated acceleration is transmitted to the speed control unit, and the speed of the material vehicle is controlled by the speed control unit; Calibration parameter acquisition module: analyze the running numerical curve of encoder A and the running numerical curve of encoder B to obtain the numerical characterization value and the change characterization value; perform data analysis on the numerical characterization value and the change characterization value to obtain the main and standby calibration values; Calibration parameter analysis module: compares the master-slave calibration value with the master-slave calibration threshold, and determines whether the two encoders are operating normally based on the comparison result. If so, a normal signal is generated.

2. A winch safe operation speed control system according to claim 1, characterized in that: The process of judging whether the hoisting system is out of step is as follows: Improvements were made to the original main hoisting feeding system. An 18:1 reducer was also added to the other side of the main hoisting feeding system. An encoder was added to the tail of the reducer. The signals of the added encoder and the signals of the original encoder in the main hoisting feeding system were connected to the input module. The code values ​​of the two encoders were converted in the control system. By corresponding the wire rope capacity to a certain data code value, the code values ​​of the two encoders were converted into the running distance of the material vehicle. The values ​​of the two encoders are converted and compared in real time. When the running values ​​of the two encoders exceed 20 code values, the system determines that the winch operation is out of step and immediately issues a command to require the winch material car system to stop running.

3. A winch safe operation speed control system according to claim 1, characterized in that: The method for obtaining the predicted out-of-step time is as follows: In the XY two-dimensional coordinate system, the running value curve is extended with the real-time running value of the encoder as the starting point and the predicted slope value Kc as the slope; The time corresponding to the intersection of the extended line of the running value curve and the running out-of-step straight line is obtained, and recorded as the predicted running out-of-step time.

4. A winch safe operation speed control system according to claim 3, characterized in that: The predicted slope value is obtained as follows: The data of the mean slope Ka of the distant interval and the mean slope Kb of the close interval are processed, and the predicted slope value Kc is obtained using the formula Kc=a1*Ka+a2*Kb; where a2 is the weight coefficient of the slope parameter of the close sub-interval, a1 is the weight coefficient of the slope parameter of the distant sub-interval, and a1 is less than a2.

5. A winch safe operation speed control system according to claim 4, characterized in that: The method for obtaining the mean value Ka of the slope of the distant interval and the mean value Kb of the slope of the close interval is: Construct an XY two-dimensional coordinate system, and mark and connect the encoder operation values ​​of the analysis period in the XY two-dimensional coordinate system to obtain an encoder operation value curve; Draw a straight line parallel to the X axis with the encoder running value 20 as the Y value, which is recorded as the running out-of-step straight line; Divide the running value curve into n sub-curves, obtain the slope of each sub-curve, and record the slope of each sub-curve as k1, k2, k3, ..., kn in chronological order; Divide the n sub-curves into two sections according to the time sequence, which are respectively recorded as the close sub-interval and the distant sub-interval; Get the slope away from the subinterval as k1, k2, ..., km; Sum and average k1, k2, ..., km to get the mean slope Ka of the distance interval; Similarly, obtain the mean slope Kb of similar intervals.

6. A winch safe operation speed control system according to claim 1, characterized in that: The control acceleration is obtained in the following manner: Obtain the real-time running speed v1 of the material car system and the time t4 when the material car reaches the predetermined parking position; Compare t3 and t4. If t3 is less than t4, generate a deceleration signal. Based on the deceleration signal, adjust the running speed of the material vehicle. Data analysis is performed on the real-time running speed v1 of the material car system and the time t3 corresponding to the intersection of the extended line of the running value curve and the running out-of-step straight line; The regulated acceleration s is obtained, where s=v1 / t3.

7. A winch safe operation speed control system according to claim 1, characterized in that: The main and standby calibration values ​​are obtained in the following manner: The numerical representation value SZ and the change representation value BH are analyzed and the formula is used. The main and standby calibration values ​​JZ are obtained, wherein b1 and b2 are preset proportional coefficients, and b1 and b2 are not zero.

8. A winch safe operation speed control system according to claim 7, characterized in that: The numerical characterization value SZ is obtained in the following manner: The running value curve of encoder A and the running value curve of encoder B are equally divided respectively, and the equally divided point code values ​​of the running value curve of encoder A and the running value curve of encoder B are obtained; Differences between the code values ​​of the equally divided points of encoder A and the code values ​​of the corresponding equally divided points of encoder B are used to obtain the primary and standby code value differences; The primary and backup code value difference is compared with the primary and backup code value difference threshold, and the period in which the primary and backup code value difference is greater than or equal to the primary and backup code value difference threshold is recorded as an out-of-bounds period; The duration of the out-of-bounds period is obtained, and the duration of the out-of-bounds period is ratioed with the duration of the analysis period to obtain a numerical representation value, which is marked as SZ.

9. A winch safe operation speed control system according to claim 7, characterized in that: The change characterization value BH is obtained in the following manner: The critical number ratio SL and the critical slope ratio XL are analyzed and the formula is used A change characterization value BH is obtained, wherein a1 and a2 are preset proportional coefficients, and a1 and a2 are not zero.

10. A winch safe operation speed control system according to claim 1, characterized in that: The critical number ratio SL and the critical slope ratio XL are obtained as follows: Mark and connect the primary and backup code value differences in the XY two-dimensional coordinate system to obtain a primary and backup code value difference curve; Divide the main and standby code value difference curves into a plurality of code value difference sub-curves, and obtain the slope of each code value difference sub-curve; Compare the slope of each code value difference sub-curve with the slope threshold, and mark the code value difference sub-curve whose slope is greater than the slope threshold as a critical sub-curve; Get the number of critical sub-curves and compare it with the total number of code value sub-curves to get the critical number ratio, marked as SL; Obtain the slope values ​​of all critical sub-curves, sum and average them to obtain the critical slope mean; perform ratio processing on the critical slope mean and the slope threshold to obtain the critical slope ratio, which is marked as XL.

Images