Dynamic compensation control method for high-speed cable laying at cable storage end of underwater winch

Abstract

The invention relates to a dynamic compensation control method for high-speed cable laying at a cable storage end of an underwater winch, which considers the centrifugal force multi-end contact surface transmission characteristic of a traction wheel winding cable, and introduces a centrifugal force dynamic compensation operator of a # imgabs0 # cable. A centrifugal force dynamic compensation link based on the cable releasing speed is added on a traditional winch cable storage end cable tension closed-loop control framework, stable high-speed cable releasing of the winch under the large-tension working condition is achieved, and the upper limit of the winch cable releasing speed interval under the same tension control range is improved. In the working process, manual operation is not needed, and stable high-speed cable laying of the underwater winch under the large-tension working condition can be automatically achieved.

Description

Technical Field

[0001] The invention belongs to the field of automatic control and relates to a dynamic compensation control method for high-speed cable release at a cable storage end of an underwater winch. Background Art

[0002] A winch, also known as a hoist, is an industrial device that uses a drum-wound wire rope or chain to lift or pull heavy objects. It is widely used in mine hoisting, offshore equipment, and other fields. The tension winch's rope is connected to the test equipment via a turntable. By controlling the rope tension, the winch provides load pulling force to the test equipment, enabling it to operate along a predetermined trajectory.

[0003] The cable release speed in the operating range of traditional tension winches is low, and the cable tension closed-loop control is usually achieved by controlling the cable storage and the braking torque of the traction wheel. The patent "An underwater winch for automatic neat cable arrangement and stable towing" CN117800248A controls the cable tension within the set range by adjusting the cable release speed in real time. The advantage is that the control method is simple, and the disadvantage is that the tension closed-loop control method that uses the cable release speed as the inner loop to control the cable tension cannot achieve precise control of the cable tension, and the cable tension control target value at the cable storage end does not take into account the centrifugal force generated by the high-speed rotation of the cable around the traction wheel. The cable is easily slipped during high-speed operation, making the cable tension control unstable and not suitable for tension closed-loop control under high-speed cable release.

[0004] To avoid this drawback, manual switching control can be used to achieve tension control in both high-speed and low-speed states. The patent "A hydraulic control system for a tension winch and its method", CN107161898A, contains two control circuits for large and small tensions, which can be manually switched to meet the operating requirements at different speeds. The disadvantage is that automatic control cannot be achieved, and it is not applicable to areas with high autonomy requirements such as buoy deployment. Summary of the Invention

[0005] The technical problem addressed by this invention is to overcome the existing problem of slippage and tension reduction control failure during high-speed, high-tension cable payout by underwater winches. This invention proposes a dynamic compensation control method for high-speed cable payout at the cable storage end of an underwater winch. This method automatically achieves stable, high-speed cable payout under high-tension conditions without requiring manual intervention.

[0006] The solution of the present invention is:

[0007] An underwater winch comprises: a first traction wheel, a second traction wheel, a cable storage drum, a guide wheel assembly, and a load; a cable is wound around the cable storage drum, and the wound cable end is redirected by the guide wheel assembly, and then sequentially wound multiple times around the second traction wheel and the first traction wheel, and finally drawn out through the first traction wheel and connected to the load;

[0008] Magnetic powder brakes are arranged inside the first traction wheel, the second traction wheel and the cable storage drum. The magnetic powder brakes inside the first traction wheel, the second traction wheel and the cable storage drum jointly apply braking force to achieve load reduction.

[0009] A method for dynamic compensation control of high-speed cable release at the cable storage end of an underwater winch, comprising:

[0010] According to the cable release speed, the cable centrifugal force dynamic compensation operator is calculated by considering the multi-end contact surface transmission characteristics of the centrifugal force of the cable wrapped around the traction wheel;

[0011] According to the target tension T1 of the cable at the load end target , the cable centrifugal force dynamic compensation operator and the centrifugal force multi-end contact surface transmission characteristics of the traction wheel wound cable, and calculate the target tension of the cable at the cable storage end The area between the first traction wheel and the load is the load end, and the area between the second traction wheel and the cable storage drum is the cable storage end.

[0012] A cable tension closed-loop controller is designed at the cable storage end;

[0013] The cable tension closed-loop controller is based on the target tension of the cable at the cable storage end. Calculate the closed-loop control error E of the cable tension at the cable storage end T Based on this, a control instruction is sent to the magnetic powder brake inside the cable storage drum, and the magnetic powder brake inside the cable storage drum generates a braking torque to achieve closed-loop control of the cable tension at the cable storage end.

[0014] Preferably, the cable centrifugal force dynamic compensation operator is

[0015] Where α is the wrap angle of the contact surface of a single cable on the traction wheel, μ is the friction coefficient between the cable and the traction wheel, n is the total number of contact surfaces between the first traction wheel, the second traction wheel and the cable, m' is the total mass of the cable on the first traction wheel and the second traction wheel, v c is the linear speed of the traction wheel edge.

[0016] Preferably, the target tension of the cable at the storage end is satisfy:

[0017]

[0018] Preferably, in It is the actual tension of the cable at the storage end.

[0019] Preferably, the cable tension closed-loop controller is a PI controller.

[0020] Preferably, the cable tension closed-loop controller controls the cable tension closed-loop error E at the cable storage end according to T Send control instructions PI to the magnetic powder brake inside the cable storage drum out satisfy:

[0021] PI out =K P (E T(t) -E T(t-1) )+K I E T(t)

[0022] Among them, K P is the proportional loop coefficient, K I is the integrating loop coefficient, E T(t) is the closed-loop control error of the cable tension at the cable storage end at time t, E T(t-1) is the closed-loop control error of the cable tension at the cable storage end at time t-1.

[0023] Preferably, the control instruction PI out is the target current.

[0024] Preferably, the magnetic powder brake inside the cable storage drum generates a braking torque to achieve closed-loop control of the cable tension at the cable storage end, as follows:

[0025] The magnetic powder brake drive device inside the cable drum converts the output PI of the cable tension closed loop controller into out Multiplying it by the resistance R of the magnetic powder brake inside the cable storage drum, the driving voltage is obtained; the magnetic powder brake inside the cable storage drum generates a braking torque according to the driving voltage, thereby realizing closed-loop control of the cable tension at the cable storage end.

[0026] The beneficial effects of the present invention compared with the prior art are:

[0027] The present invention innovatively proposes a method for dynamic automatic compensation control of the tension at the storage end (loose end), and introduces a multi-end contact surface transmission model of the centrifugal force of the cable wound around the traction wheel. The cable centrifugal force dynamic compensation operator adds a centrifugal force dynamic compensation link based on the cable release speed to the architecture of the traditional winch cable storage end cable tension closed-loop control. This enables the winch to achieve stable and high-speed cable release under high tension conditions, and increases the upper limit of the winch cable release speed range within the same tension control range. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the underwater winch;

[0029] Figure 2 Schematic diagram of centrifugal force transmission of single contact surface cable;

[0030] Figure 3Schematic diagram of centrifugal force transmission of cables with multiple contact surfaces;

[0031] Figure 4 This is the closed-loop dynamic compensation control block diagram of the cable tension at the cable storage end. DETAILED DESCRIPTION

[0032] The present invention will be further described below with reference to the accompanying drawings.

[0033] Aiming at the problem that the underwater winch may slip when releasing the cable under high-speed and high-tension conditions, which leads to failure of tension reduction control, the present invention provides a dynamic automatic compensation control method for the tension at the cable storage end (loose end) of the underwater winch. During operation, no human operation is required, and stable high-speed cable release under high-tension conditions can be automatically achieved by the underwater winch.

[0034] like Figure 1 As shown, the underwater winch device of the present invention includes a traction sheave 1, a traction sheave 2, a cable storage drum 3, a guide wheel assembly 4, and a load 5. The cable is wound around the cable storage drum 3. The cable end changes its winding direction through the guide wheel assembly, first passing through the traction sheave 2, then through the traction sheave 1, and finally drawn out through the traction sheave 1 after multiple windings and connected to the load 5.

[0035] Magnetic powder brakes are installed inside traction wheel 1, traction wheel 2, and cable storage drum 3. The magnetic powder brakes inside traction wheel 1, traction wheel 2, and cable storage drum 3 jointly apply braking force to achieve the load lowering. The area between traction wheel 1 and load 5 is the load end, and the tension on the cable is the tight side tension, recorded as T1. The area between traction wheel 2 and cable storage drum 3 is the cable storage end, and the tension on the cable is the loose side tension, recorded as T2. Based on the tension reduction principle, when the load end tension T1 is known, the cable storage end tension T2 can be calculated by formula (1), where α is the wrap angle of the single cable winding contact surface on the traction wheel, μ is the friction coefficient between the cable and the traction wheel, and n is the number of all contact surfaces between the two traction wheels and the cable.

[0036]

[0037] Under ideal conditions, by setting the cable tension T1 at the load end and calculating the tension T2 at the storage end according to formula (1), the controller can perform tension closed-loop control on T1 and T2 respectively to achieve tension reduction control and complete the lowering of the load.

[0038] During high-speed cable release, the cable wound on the traction wheel will generate centrifugal tension. Under the condition that the load end and the cable winding angle α remain unchanged, the cable centrifugal force generated during the rotation of the traction wheel will cause the winch tension reduction control to be unstable. The centrifugal force T generated by the cable on the traction wheel C It can be calculated according to formula (2), where m' is the total mass of the cables on the two traction wheels. c is the linear speed of the traction wheel edge.

[0039]

[0040] Considering the centrifugal force of the cable, the lifting force of the traction winch is the friction force f of the cable acting on the traction wheel. For a single contact surface between the cable and the traction wheel, T1' is the tension of the cable close to the load end, and T'2 is the tension of the cable away from the load end. The relationship between f, T1', and T'2 is shown in formula (3).

[0041]

[0042] Substituting the single-contact surface cable centrifugal force calculation formula (2) into the single-contact surface cable friction force calculation formula (3) and simplifying it, we can obtain the single-contact surface cable centrifugal force transmission calculation formula (4). When the load end and the cable winding angle α remain unchanged, the additional centrifugal force generated by the cable due to the high-speed rotation of the traction wheel will cause the cable to move away from the friction surface, resulting in relative sliding between the cable and the traction wheel, making it impossible to achieve tension reduction control. In order to avoid the negative impact of the cable centrifugal force during the high-speed rotation of the traction wheel, the cable tension T2' away from the load end is dynamically adjusted and compensated according to the single-contact surface cable centrifugal force transmission calculation formula (4) based on the cable release speed, so that high-speed cable release can be achieved.

[0043]

[0044] Figure 2 Schematic diagram of centrifugal force transmission of single contact surface cable.

[0045] Since there are n contact surfaces between the cable and the traction wheel, the tension of the cable near the load end decays after the first contact surface with the traction wheel. The calculation method is shown in formula (5).

[0046]

[0047] For the second contact surface, the tension after the load end cable is brought into contact with the first contact surface is generated. The second attenuation calculation is performed according to the calculation formula (4) for the centrifugal force transmission of the single contact surface cable. The calculation method is shown in formula (6).

[0048]

[0049] Simplifying formula (6) and expressing it with T1 yields formula (7);

[0050]

[0051] Similarly, for the nth contact surface, The calculation can be performed according to the calculation formula (8) for the centrifugal force transmission of cables with multiple contact surfaces. The centrifugal force transmission relationship of cables with multiple contact surfaces is as follows: Figure 3 shown.

[0052]

[0053] For the nth contact surface, It is the same force as the tension T2 at the cable storage end, that is, Substituting T2 into the calculation formula (8) for the centrifugal force transmission of cables with multiple contact surfaces, the calculation formula (9) for the centrifugal force compensation transmission of the tension cable at the cable storage end can be obtained.

[0054]

[0055] The steps of the present invention are as follows:

[0056] Step 1:

[0057] At the known load end, the cable tension T1 is the target value T1 target In the case of , the target tension of the cable at the cable storage end is calculated by the centrifugal force compensation transfer calculation formula (9) As shown below.

[0058]

[0059] Step 2:

[0060] The cable storage end tension T2 adopts closed-loop control mode, and the cable tension closed-loop controller (PI controller) is based on the cable tension closed-loop control error E T Calculate the output value PI of the cable tension closed-loop controller out , as shown in formula (11), and sends control instructions to the inner control loop to achieve a closed loop of cable tension, which is the outer control loop.

[0061]

[0062] The tension closed-loop controller adopts the typical proportional-integral closed-loop control method. The output of the tension closed-loop controller is calculated according to the tension closed-loop controller output calculation formula (12). The calculation formula is as follows. K P is the proportional loop coefficient, K I is the integrating loop coefficient. E T(t) is the control error of the tension control loop at the current moment of the buoy, E T(t-1) is the control error of the tension control loop in the previous cycle of the latent buoy. The output of the tension closed loop controller is PI out , which serves as the control input (target current) of the magnetic powder brake current open loop. The dimension is A (ampere).

[0063] PI out =KP (E T(t) -E T(t-1) )+K I E T(t) (12)

[0064] The magnetic powder brake drive device inside the cable storage drum 3 converts the output PI of the cable tension closed loop controller out (target current), and multiply this value by the resistance R of the magnetic powder brake inside the cable storage drum 3 to obtain the driving voltage, and apply the above-mentioned driving voltage to the magnetic powder brake inside the cable storage drum 3, thereby generating a braking torque, thereby realizing closed-loop control of the cable tension at the cable storage end.

[0065] Figure 4 This is the closed-loop dynamic compensation control block diagram of the cable tension at the cable storage end.

[0066] The present invention realizes the rapid calculation of the centrifugal force of the cable at the cable storage end through the multi-contact surface transmission model of the centrifugal force of the cable wound by the traction wheel. It adopts a tension closed-loop control architecture based on the current open loop as the control inner loop, and calculates the target current for driving the magnetic powder brake by the difference between the target tension and the feedback tension through the PI controller, thereby improving the closed-loop tension speed of the winch. A cable centrifugal force dynamic compensation operator is introduced, and a centrifugal force dynamic compensation link based on the cable release speed is added to the architecture of the traditional winch cable storage end cable tension closed-loop control, thereby realizing the stable and high-speed cable release of the winch under high tension conditions and improving the upper limit of the winch cable release speed range under the same tension control range. The cable dynamic compensation control architecture of the underwater winch cable storage end of the present invention realizes automatic compensation control of the centrifugal force of the cable at the winch cable storage end.

[0067] Parts not described in detail in the present invention belong to common knowledge in the technical field.

Claims

1. An underwater winch, characterized in that: include: A first traction wheel (1), a second traction wheel (2), a cable storage drum (3), a guide wheel group (4), and a load (5); the cable is wound on the cable storage drum (3), and the wound cable end changes its winding direction through the guide wheel group (4), and then is wound on the second traction wheel (2) and the first traction wheel (1) in sequence for multiple turns, and finally is led out through the first traction wheel (1) and connected to the load (5); Magnetic powder brakes are arranged inside the first traction wheel (1), the second traction wheel (2) and the cable storage drum (3); the magnetic powder brakes inside the first traction wheel (1), the second traction wheel (2) and the cable storage drum (3) jointly apply braking force to achieve load reduction.

2. A method for dynamic compensation control of high-speed cable release at the cable storage end of an underwater winch, characterized in that: include: According to the cable release speed, the cable centrifugal force dynamic compensation operator is calculated by considering the multi-end contact surface transmission characteristics of the centrifugal force of the cable wrapped around the traction wheel; According to the target tension of the cable at the load end The dynamic compensation operator of the cable centrifugal force and the multi-end contact surface transmission characteristics of the centrifugal force of the cable wrapped around the traction wheel are used to calculate the target tension of the cable at the cable storage end. The area between the first traction wheel and the load is the load end, and the area between the second traction wheel and the cable storage drum is the cable storage end. A cable tension closed-loop controller is designed at the cable storage end; The cable tension closed-loop controller is based on the target tension of the cable at the cable storage end. Calculate the closed-loop control error E of the cable tension at the cable storage end T Based on this, a control instruction is sent to the magnetic powder brake inside the cable storage drum, and the magnetic powder brake inside the cable storage drum generates a braking torque to achieve closed-loop control of the cable tension at the cable storage end.

3. A method for controlling the dynamic compensation of high-speed cable release at the cable storage end of an underwater winch according to claim 2, characterized in that: The dynamic compensation operator of the cable centrifugal force is: Where α is the wrap angle of the contact surface of a single cable on the traction wheel, μ is the friction coefficient between the cable and the traction wheel, n is the total number of contact surfaces between the first traction wheel, the second traction wheel and the cable, m' is the total mass of the cable on the first traction wheel and the second traction wheel, v c is the linear speed of the traction wheel edge.

4. A method for controlling dynamic compensation of high-speed cable release at the cable storage end of an underwater winch according to claim 3, characterized in that: Target tension of the cable at the storage end satisfy:

5. The method for controlling the high-speed cable release dynamic compensation of the cable storage end of an underwater winch according to claim 2, characterized in that: in It is the actual tension of the cable at the storage end.

6. A method for controlling dynamic compensation of high-speed cable release at the cable storage end of an underwater winch according to claim 2, characterized in that: The cable tension closed-loop controller is a PI controller.

7. A method for controlling dynamic compensation of high-speed cable release at the cable storage end of an underwater winch according to claim 2, characterized in that: The cable tension closed-loop controller is based on the cable tension closed-loop control error E at the cable storage end. T Send control instructions PI to the magnetic powder brake inside the cable storage drum out satisfy: PI out =K P (E T(t) -E T(t-1) )+K I E T(t) Among them, K P is the proportional loop coefficient, K I is the integrating loop coefficient, E T(t) is the closed-loop control error of the cable tension at the cable storage end at time t, E T(t-1) is the closed-loop control error of the cable tension at the cable storage end at time t-1.

8. A method for controlling dynamic compensation of high-speed cable release at the cable storage end of an underwater winch according to claim 7, characterized in that: The control instruction PI out is the target current.

9. The method for controlling the high-speed cable release dynamic compensation of the cable storage end of an underwater winch according to claim 2, characterized in that: The magnetic powder brake inside the cable storage drum generates braking torque to achieve closed-loop control of the cable tension at the cable storage end. The method is as follows: The magnetic powder brake drive device inside the cable drum converts the output PI of the cable tension closed loop controller into out Multiplying it by the resistance R of the magnetic powder brake inside the cable storage drum, the driving voltage is obtained; the magnetic powder brake inside the cable storage drum generates a braking torque according to the driving voltage, thereby realizing closed-loop control of the cable tension at the cable storage end.

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