A hoist safe running speed control system

Abstract

The application discloses a hoist safe operation speed control system, comprising: in the prior art, a single encoder has defects, and after being damaged, the running state of a skip car cannot be judged, and malignant production accidents such as skip car runaway are easily caused; a set of speed reducer is additionally arranged on the other side of a hoist system, an encoder is additionally arranged at the tail of the speed reducer, and the signals of the two encoders are connected to an input module; in a control system, the code values of the two encoders are converted to be consistent; during the up and down process of the skip car, the running position of the skip car is measured through the encoders, the running position of a steel wire rope corresponds to the code value of the encoder, the code value is converted into data, the high-speed running section, the medium-speed running section and the deceleration running section of the skip car are set, and the parking position point is set, so that the skip car realizes back-and-forth running and loading; and the values of the encoders are converted and compared in real time; when the running values of the two encoders exceed 20 code values, the system judges that the hoist is out of step, and immediately issues an instruction to require the hoist skip car system to stop running.

Description

Technical Field

[0001] This invention belongs to the field of winch control technology, specifically a winch safe operating speed control system. Background Technology

[0002] Winches are widely used in industrial production and construction, and their safe operation is of paramount importance. Traditional winches often experience dangerous situations such as running out of step or overrunning due to various factors during operation, such as encoder failure and improper speed control. Once such problems occur, they will not only cause serious damage to the equipment itself, but may also cause safety accidents, threatening personnel lives. At the same time, they will also affect production efficiency and increase production costs. Current winch control systems rely on a single encoder. Single encoder control has disadvantages: the correlation between the equipment and the system is defective, and the running status of the material cart cannot be judged after the encoder is damaged, which can easily cause serious production accidents such as material cart overrunning and wire rope breakage. Single encoder control is insufficient in terms of 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] This invention employs a dual-encoder redundancy design, ensuring that even if one encoder fails, the other can continue to operate, thus guaranteeing the monitoring of the system's operating status, maintaining stable system operation, and improving the reliability of the main hoist feeding system. Furthermore, through in-depth analysis of the encoder's operating values, it issues early warnings, giving operators or automated systems sufficient time to take measures and prevent serious accidents such as material cart overruns and wire rope breakage. Summary of the Invention

[0004] The purpose of this invention is to provide a safe operating speed control system for winches, so as to solve at least one of the above-mentioned problems in the prior art.

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

[0006] Safety operation detection module: Add a reducer and an encoder on the other side of the main hoist feeding system. In the control system, the code values ​​of the two encoders are converted and compared in real time to determine whether the hoisting system is out of sync. If so, immediately issue an instruction to stop the hoisting material car system.

[0007] Step loss prediction module: Analyzes encoder running values, obtains running value curves by constructing an XY two-dimensional coordinate system, analyzes the slope of the running value curves to obtain the predicted slope value, and analyzes the predicted running step loss time.

[0008] Stop operation prediction module: Analyzes the real-time operating speed and predicted running out-of-step time of the material car system to obtain the control acceleration; and transmits the calculated acceleration to the speed control unit, which then controls the speed of the material car.

[0009] Calibration parameter acquisition module: Analyzes the operating numerical curves of encoder A and encoder B to obtain numerical characterization values ​​and variation characterization values; performs data analysis on the numerical characterization values ​​and variation characterization values ​​to obtain primary and backup calibration values;

[0010] Calibration parameter analysis module: compares the primary and backup calibration values ​​with the primary and backup calibration thresholds, and determines whether the two encoders are operating normally based on the comparison results. If so, it generates a normal signal.

[0011] Secondly, the present invention provides a method for controlling the safe operating speed of a winch, comprising the following steps:

[0012] Step 1: Add a reducer and an encoder to the other side of the main winch feeding system. In the control system, convert the code values ​​of the two encoders and compare them in real time to determine whether the winch system is out of sync. If so, immediately issue an instruction to stop the winch material car system.

[0013] Step 2: Analyze the encoder's running values. By constructing an XY two-dimensional coordinate system, obtain the running value curve, analyze the slope of the running value curve, obtain the predicted slope value, and analyze the predicted running step loss time.

[0014] Step 3: Analyze the real-time operating speed and predicted running time of the material car system to obtain the control acceleration; and transmit the calculated acceleration to the speed control unit to regulate the speed of the material car.

[0015] Step 4: Analyze the operating numerical curves of encoder A and encoder B to obtain numerical characterization values ​​and variation characterization values; perform data analysis on the numerical characterization values ​​and variation characterization values ​​to obtain the primary and backup calibration values;

[0016] Step 5: Compare the primary and backup calibration values ​​with the primary and backup calibration thresholds. Based on the comparison results, determine whether the two encoders are operating normally. If so, generate a normal signal.

[0017] The beneficial effects of this invention are:

[0018] 1. The beneficial effects of this invention are as follows: Before the improvement, the system relied on only one encoder to measure the running position of the material cart. Once damaged, it was impossible to determine the running status of the material cart. After the improvement, the dual encoder redundancy design ensures that even if one encoder fails, the other can continue to work, ensuring the monitoring of the system's running status and maintaining the stable operation of the system, which greatly improves the reliability of the main hoisting feeding system. By adding an encoder in conjunction with the original encoder, dual monitoring of the hoisting system's running status is achieved. When the running values ​​of the two encoders exceed 20 code values, it is determined that the system has lost synchronization, and an instruction is immediately issued to stop the hoisting material cart system, effectively avoiding the injury and loss to personnel and equipment caused by serious production accidents such as material cart overrun and wire rope breakage.

[0019] 2. The beneficial effects of this invention are as follows: The step-out prediction module, through in-depth analysis of the encoder's operating values, constructs an XY two-dimensional coordinate system and analyzes the slope of the operating value curve, enabling accurate prediction of the step-out time. Before the encoder's operating values ​​reach the dangerous 20 code value deviations, i.e., before the system truly loses step, an early warning is issued, giving operators or automated systems sufficient time to take measures to avoid serious accidents such as material car overruns and wire rope breakage, further ensuring the safety of personnel and equipment. The stop-run prediction module comprehensively considers the real-time operating speed of the material car system and the predicted step-out time, dynamically calculates the control acceleration, and adjusts the material car speed in a timely manner. When a step-out is predicted and the material car reaches the predetermined stopping point in time longer than the predicted step-out time, the material car speed is adjusted in advance, avoiding unnecessary emergency stops, ensuring the continuity of the production process, improving production efficiency, and reducing equipment wear 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 main and backup calibration values, which can accurately quantify the degree of deviation of the code values ​​of the two encoders during operation; This allows the operator to understand the working status of the encoder in a timely manner. When the main and backup calibration values ​​show that the encoder's operating code value deviates too much, measures can be taken in advance for maintenance or calibration, avoiding abnormal operation of the entire system due to encoder failure, and ensuring the long-term stable operation of the encoder. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1This is a schematic diagram of an improvement to the winch system provided in Embodiment 1 of the present invention, which describes a safe operating speed control system for a winch.

[0023] Figure 2 This is a flowchart of a winch safety operating speed control system for obtaining predicted operating out-of-step time, provided in Embodiment 2 of the present invention.

[0024] Figure 3 This is a flowchart of obtaining the main and backup calibration values ​​for a winch safe operating speed control system provided in Embodiment 3 of the present invention;

[0025] Figure 4 This is a flowchart of the steps of a method for controlling the safe operating speed of a winch, provided in Embodiment 4 of the present invention. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0027] Example 1

[0028] like Figure 1 As shown in the figure, the safe operating speed control system for a winch provided in this embodiment of the invention specifically includes the following modules:

[0029] Safety operation detection module: Add a reducer and an encoder on the other side of the main hoist feeding system. In the control system, the code values ​​of the two encoders are converted and compared in real time to determine whether the hoisting system is out of sync. If so, immediately issue an instruction to stop the hoisting material car system.

[0030] In the existing main winch feeding system, the left and right material trolleys are fed by pulling wire ropes through the winch drum. An 18:1 reducer is installed on one side of the main winch feeding system, and an encoder is installed at the tail of the reducer. During the material trolley's up and down movement, the encoder measures the material trolley's running position. The wire rope's running position corresponds to the encoder code value, which is converted into data to set the material trolley's high-speed running section, medium-speed running section, deceleration running section, and stopping position, thus realizing the material trolley's back-and-forth running for feeding. However, the existing main winch feeding system only has one encoder installed. If the encoder is damaged, it is impossible to determine the material trolley's running status, which can easily lead to serious production accidents such as material trolley runaway and wire rope breakage.

[0031] This invention improves upon the existing main winch feeding system by adding an 18:1 reducer on the other side of the main winch feeding system and adding an encoder at the tail of the reducer. The signals from the added encoder and the original encoder in the main winch feeding system are connected to the input module. In the control system, the code values ​​of the two encoders are converted. By corresponding the wire rope capacity to a certain data code value, the code values ​​of the two encoders are converted into the material cart running distance.

[0032] The system converts the values ​​of the two encoders and compares them in real time. When the values ​​of the two encoders exceed 20 code values, the system determines that the hoist is out of sync and immediately issues an instruction to stop the hoist material car system.

[0033] The beneficial effects of this invention are as follows: The original system relied on only one encoder to measure the running position of the material cart, and once damaged, it could not determine the running status of the material cart; the improved system features a dual-encoder redundancy design, so even if one encoder fails, the other can continue to work, ensuring the monitoring of the system's running status, maintaining the stable operation of the system, and greatly improving the reliability of the main hoisting feeding system; by adding an encoder in conjunction with the original encoder, dual monitoring of the hoisting system's running status is achieved; when the running values ​​of the two encoders exceed 20 code values, it is determined that the system has lost synchronization, and an instruction is immediately issued to stop the hoisting material cart system, effectively avoiding the injury and loss to personnel and equipment caused by serious production accidents such as material cart runaway and wire rope breakage.

[0034] Example 2

[0035] like Figure 2 As shown in the figure, the safe operating speed control system for a winch provided in this embodiment of the invention specifically includes the following modules:

[0036] Step loss prediction module: Analyzes encoder running values, obtains running value curves by constructing an XY two-dimensional coordinate system, analyzes the slope of the running value curves to obtain the predicted slope value, and analyzes the predicted running step loss time.

[0037] In some embodiments, encoder operating values ​​are obtained and compared with a standard range of encoder operating values. The comparison process is as follows:

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

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

[0040] The time for generating the analysis signal is denoted as t1;

[0041] Based on the analyzed signal, the encoder's operating value is compared with the numerical warning value. The comparison process is as follows:

[0042] If the encoder's operating value is lower than the warning value, a monitoring signal is generated;

[0043] If the encoder's operating value is greater than or equal to the numerical warning value, a prediction signal is generated; based on the prediction signal, the time for the encoder's operating value to exceed 20 code values ​​is predicted.

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

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

[0046] A two-dimensional coordinate system is constructed with time as the X-axis and encoder running values ​​as the Y-axis. In the XY coordinate system, the encoder running values ​​of the analysis period are marked and connected to obtain the encoder running value curve. A straight line parallel to the X-axis is drawn with the encoder running value of 20 codes as the Y-value, and it is recorded as the running step loss line.

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

[0048] Divide the n sub-curves into two segments according to their chronological order, and denote them as the near sub-interval and the far sub-interval, respectively.

[0049] It should be noted that the time interval between the nearby sub-interval and the real time is less than the time interval between the distant sub-interval and the real time; the slopes of the distant sub-intervals are k1, k2, ..., km; the slopes of the nearby sub-intervals are k(m+1), k(m+2), ..., kn.

[0050] It should be noted that the time interval between the nearby sub-interval and the real time is shorter than the time interval between the distant sub-interval and the real time. When the predictor encoder runs for more than 20 code values, the weight of the parameter of the nearby sub-interval is greater than the weight of the parameter of the distant sub-interval.

[0051] Obtain the slopes k1, k2, ..., km that are far from the subinterval;

[0052] Summing k1, k2, ..., km and taking the mean value, we obtain the mean slope Ka of the interval far from the target.

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

[0054] Data processing is performed on the mean slope Ka of the far interval and the mean slope Kb of the near interval. The predicted slope value Kc is obtained using the formula Kc=a1*Ka+a2*Kb; where a2 is the weighting coefficient of the slope parameter of the near sub-interval and a1 is the weighting coefficient of the slope parameter of the far interval, and a1 is less than a2.

[0055] In the XY two-dimensional coordinate system, the real-time running values ​​of the encoder are taken as the starting point, and the predicted slope value Kc is used as the slope to extend the running value curve.

[0056] The time corresponding to the intersection of the extension of the running numerical curve and the running out-of-step line is recorded as the predicted running out-of-step time t3;

[0057] Stop operation prediction module: Analyzes the real-time operating speed and predicted running out-of-step time of the material car system to obtain the control acceleration; and transmits the calculated acceleration to the speed control unit, which then controls the speed of the material car.

[0058] Obtain the real-time operating speed v1 of the material car system and the time t4 for the material car to reach the predetermined parking position;

[0059] Compare t3 and t4. If t3 is greater than or equal to t4, generate a run signal. Based on the run signal, no operation is performed.

[0060] If t3 is less than t4, a deceleration signal is generated, and the running speed of the material car is adjusted based on the deceleration signal.

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

[0062] The calculated acceleration is transmitted to the speed control unit, which controls the speed of the material cart so that the material cart stops running in time when the encoder value reaches 20 codes.

[0063] The beneficial effects of this invention are as follows: The step-out prediction module, through in-depth analysis of encoder operating values, constructs an XY two-dimensional coordinate system and analyzes the slope of the operating value curve, enabling accurate prediction of the step-out time. Before the encoder operating values ​​reach the dangerous 20 code value deviations, i.e., before the system truly loses step, an early warning is issued, giving operators or automated systems sufficient time to take measures to avoid serious accidents such as material car overruns and wire rope breakage, 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 step-out time, dynamically calculates the control acceleration, and adjusts the material car speed in a timely manner. When a step-out is predicted and the material car reaches the predetermined stopping point in time longer than the predicted step-out time, the material car speed is adjusted in advance, avoiding unnecessary emergency stops, ensuring the continuity of the production process, improving production efficiency, and reducing equipment wear caused by frequent emergency stops and starts.

[0064] Example 3

[0065] like Figure 3 As shown in the figure, the safe operating speed control system for a winch provided in this embodiment of the invention specifically includes the following modules:

[0066] Calibration parameter acquisition module: Analyzes the operating numerical curves of encoder A and encoder B to obtain numerical characterization values ​​and variation characterization values; performs data analysis on the numerical characterization values ​​and variation characterization values ​​to obtain primary and backup calibration values;

[0067] Two encoders are used in a primary and backup configuration. The primary encoder is designated as encoder A, and the secondary encoder as encoder B. When one encoder fails, the other encoder is immediately switched to use. When the two encoders serve as backups for each other, mutual calibration is achieved.

[0068] During the analysis period, obtain the operating numerical curves of encoder A and encoder B; divide the operating numerical curves of encoder A and encoder B into equal parts respectively, and obtain the encoder code value at each division point of the operating numerical curves of encoder A and encoder B, which is recorded as the division point code value.

[0069] The difference between the equal division point code value of encoder A and the corresponding equal division point code value of encoder B is obtained as the master-slave code value difference.

[0070] The difference between the primary and backup code values ​​is compared with the threshold for the difference between the primary and backup code values. The time period in which the difference between the primary and backup code values ​​is greater than or equal to the threshold for the difference between the primary and backup code values ​​is recorded as the out-of-bounds time period.

[0071] The time period in which the difference between the primary and backup code values ​​is less than the threshold value is defined as the normal operating period.

[0072] The duration of the out-of-bounds period is obtained, and the ratio of the duration of the out-of-bounds period to the duration of the analysis period is calculated to obtain a numerical characterization value, which is denoted as SZ.

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

[0074] The primary and backup code value difference curves are divided into several code value difference sub-curves, and the slope of each code value difference sub-curve is obtained.

[0075] It should be noted that the slope of each sub-curve of the master-slave 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] The slope of each code value difference sub-curve is compared with the slope threshold, and the code value difference sub-curves with a slope greater than the slope threshold are marked as critical sub-curves.

[0077] The number of critical sub-curves is obtained and its ratio is calculated with the total number of code value sub-curves to obtain the critical number ratio, which is denoted as SL.

[0078] Obtain the slope values ​​of all critical sub-curves, sum them, and take the average to obtain the critical slope mean; then, calculate the ratio of the critical slope mean to the slope threshold to obtain the critical slope ratio, denoted as XL.

[0079] Data analysis was performed on the critical quantity ratio SL and the critical slope ratio XL, using the formula... The change characterization value BH is obtained, where 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 in the primary and backup code value difference. The larger the change characterization value BH, the greater the fluctuation in the primary and backup code value difference.

[0081] The numerical representation value SZ and the change representation value BH are analyzed using the formula. The primary and backup calibration values ​​JZ are obtained, where b1 and b2 are preset proportional coefficients, and b1 and b2 are not zero;

[0082] It should be noted that the primary and backup calibration value JZ represents the degree of deviation between the code values ​​of encoder A and encoder B during operation; the larger the primary and backup calibration value JZ, the greater the degree of deviation between the code values ​​of encoder A and encoder B during operation.

[0083] Calibration parameter analysis module: compares the primary and backup calibration values ​​with the primary and backup calibration thresholds, and determines whether the two encoders are operating normally based on the comparison results. If so, it generates a normal signal.

[0084] The primary and backup calibration values ​​are compared with the primary and backup calibration thresholds. The comparison process is as follows:

[0085] If the primary and backup calibration values ​​are greater than or equal to the primary and backup calibration thresholds, a calibration signal is generated.

[0086] If the primary / backup calibration value is less than the primary / backup calibration threshold, a normal signal is generated;

[0087] Based on the calibration signal, encoder A and encoder B are calibrated to monitor whether the encoders are faulty;

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

[0089] The beneficial effects of this invention are as follows: the calibration parameter acquisition module analyzes the operating numerical curves of encoder A and encoder B to obtain numerical characterization values ​​and change characterization values, and further calculates the primary and backup calibration values, which can accurately quantify the degree of deviation of the code values ​​of the two encoders during operation; this allows operators to understand the working status of the encoders in a timely manner, and when the primary and backup calibration values ​​show that the encoder's operating code value deviates too much, measures can be taken in advance for maintenance or calibration, avoiding abnormal operation of the entire system due to encoder failure, and ensuring the long-term stable operation of the encoder.

[0090] Example 4

[0091] like Figure 4 As shown in the figure, the safe operating speed control method for a winch provided by an embodiment of the present invention specifically includes the following steps:

[0092] Step 1: Add a reducer and an encoder to the other side of the main winch feeding system. In the control system, convert the code values ​​of the two encoders and compare them in real time to determine whether the winch system is out of sync. If so, immediately issue an instruction to stop the winch material car system.

[0093] Step 2: Analyze the encoder's running values. By constructing an XY two-dimensional coordinate system, obtain the running value curve, analyze the slope of the running value curve, obtain the predicted slope value, and analyze the predicted running step loss time.

[0094] Step 3: Analyze the real-time operating speed and predicted running time of the material car system to obtain the control acceleration; and transmit the calculated acceleration to the speed control unit to regulate the speed of the material car.

[0095] Step 4: Analyze the operating numerical curves of encoder A and encoder B to obtain numerical characterization values ​​and variation characterization values; perform data analysis on the numerical characterization values ​​and variation characterization values ​​to obtain the primary and backup calibration values;

[0096] Step 5: Compare the primary and backup calibration values ​​with the primary and backup calibration thresholds. Based on the comparison results, determine whether the two encoders are operating normally. If so, generate a normal signal.

[0097] The foregoing has provided a detailed description of one embodiment of the present invention, but this description is merely a preferred embodiment and should not be construed as limiting the scope of the invention. All equivalent variations and modifications made within the scope of the claims of this invention should still fall within the patent coverage of this invention.

Claims

1. A safe operating speed control system for a winch, characterized in that, Includes the following modules: Safety operation detection module: Add a reducer and an encoder on the other side of the main hoist feeding system. In the control system, the code values ​​of the two encoders are converted and compared in real time to determine whether the hoisting system is out of sync. If so, immediately issue an instruction to stop the hoisting material car system. Step loss prediction module: Analyzes encoder running values, obtains running value curves by constructing an XY two-dimensional coordinate system, analyzes the slope of the running value curves to obtain the predicted slope value, and analyzes the predicted running step loss time. Stop operation prediction module: Analyzes the real-time operating speed and predicted running out-of-step time of the material car system to obtain the control acceleration; The calculated acceleration is then transmitted to the speed control unit, which controls the speed of the material cart. Calibration parameter acquisition module: Analyzes the operating numerical curves of encoder A and encoder B to obtain numerical characterization values ​​and variation characterization values; performs data analysis on the numerical characterization values ​​and variation characterization values ​​to obtain primary and backup calibration values; Calibration parameter analysis module: compares the primary and backup calibration values ​​with the primary and backup calibration thresholds, and determines whether the two encoders are operating normally based on the comparison results. If so, it generates a normal signal. The process for determining whether the hoisting system is out of sync is as follows: Improvements were made to the existing main winch feeding system by adding an 18:1 reducer on the other side of the main winch feeding system. An encoder was added to the tail of the reducer, and the signals from the added encoder and the original encoder in the main winch feeding system were connected to the input module. In the control system, the code values ​​of the two encoders were converted. By corresponding the wire rope capacity to a certain data code value, the code values ​​of the two encoders were converted into the material car running distance. The system converts the values ​​of the two encoders and compares them in real time. When the values ​​of the two encoders exceed 20 code values, the system determines that the hoist is out of sync and immediately issues an instruction to stop the hoist material car system. The method for obtaining the controlled acceleration is as follows: Obtain the real-time operating speed v1 of the material car system and the time t4 for the material car to reach the predetermined parking position; Compare t3 and t4. If t3 is less than t4, a deceleration signal is generated. Based on the deceleration signal, the running speed of the material car is adjusted. Data analysis was conducted on the real-time operating speed v1 of the material car system and the time t3 corresponding to the intersection of the extended line of the operating numerical curve and the running out-of-step line. The controlled acceleration s is obtained, where s = v1 / t3; The method for obtaining the primary and backup calibration values ​​is as follows: The numerical representation value SZ and the change representation value BH are analyzed using the formula. The primary and backup calibration values ​​JZ are obtained, where b1 and b2 are preset proportional coefficients, and b1 and b2 are not zero.

2. The winch safe operating speed control system according to claim 1, characterized in that, The method for obtaining the predicted running out-of-step time is as follows: In the XY two-dimensional coordinate system, the real-time running values ​​of the encoder are taken as the starting point, and the predicted slope value Kc is used as the slope to extend the running value curve. The time corresponding to the intersection of the extension of the running numerical curve and the running out-of-step line is recorded as the predicted running out-of-step time.

3. The winch safe operating speed control system according to claim 2, characterized in that, The method for obtaining the predicted slope value is as follows: Data processing is performed on the mean slope Ka of the far interval and the mean slope Kb of the near interval. The predicted slope value Kc is obtained using the formula Kc=a1*Ka+a2*Kb. Here, a2 is the weighting coefficient of the slope parameter of the near sub-interval, a1 is the weighting coefficient of the slope parameter of the far interval, and a1 is less than a2.

4. The winch safe operating speed control system according to claim 3, characterized in that, The average slope Ka of the far interval and the average slope Kb of the near interval are obtained as follows: Construct an XY two-dimensional coordinate system, and mark and connect the encoder running values ​​during the analysis period in the XY two-dimensional coordinate system to obtain the encoder running value curve; Draw a straight line parallel to the X-axis with the encoder's running value of 20 as the Y value, and denote it as the running step loss line; Divide the running numerical curve into n sub-curves, obtain the slope of each sub-curve, and record the slope of each sub-curve in chronological order as k1, k2, k3, ..., kn; Divide the n sub-curves into two segments according to their chronological order, and denote them as the near sub-interval and the far sub-interval, respectively. Obtain the slopes k1, k2, ..., km that are far from the subinterval; Summing k1, k2, ..., km and taking the mean value, we obtain the mean slope Ka of the interval far from the target. Similarly, obtain the average slope Kb of similar intervals.

5. The winch safe operating speed control system according to claim 1, characterized in that, The numerical representation value SZ is obtained as follows: The numerical curves of encoder A and encoder B are divided into equal parts to obtain the code values ​​of the division points of the numerical curves of encoder A and encoder B. The difference between the equal division point code value of encoder A and the corresponding equal division point code value of encoder B is obtained as the master-slave code value difference. The difference between the primary and backup code values ​​is compared with the threshold for the difference between the primary and backup code values. The time period in which the difference between the primary and backup code values ​​is greater than or equal to the threshold for the difference between the primary and backup code values ​​is recorded as the out-of-bounds time period. The duration of the out-of-bounds period is obtained, and the ratio of the duration of the out-of-bounds period to the duration of the analysis period is calculated to obtain a numerical characterization value, which is denoted as SZ.

6. The winch safe operating speed control system according to claim 1, characterized in that, The method for obtaining the change characterization value BH is as follows: Data analysis was performed on the critical quantity ratio SL and the critical slope ratio XL, using the formula... The change characterization value BH is obtained, where a1 and a2 are preset proportional coefficients, and a1 and a2 are not zero.

7. The winch safe operating speed control system according to claim 1, characterized in that, The critical quantity ratio SL and 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 the primary and backup code value difference curve; The primary and backup code value difference curves are divided into several code value difference sub-curves, and the slope of each code value difference sub-curve is obtained. The slope of each code value difference sub-curve is compared with the slope threshold, and the code value difference sub-curves with a slope greater than the slope threshold are marked as critical sub-curves. The number of critical sub-curves is obtained and its ratio is calculated with the total number of code value sub-curves to obtain the critical number ratio, which is denoted as SL. Obtain the slope values ​​of all critical sub-curves, sum them and take the average to obtain the critical slope average; then, process the ratio of the critical slope average to the slope threshold to obtain the critical slope ratio, denoted as XL.

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