Proportional braking electric winch control system and control method

Abstract

The invention relates to the technical field of winch braking, in particular to a proportional braking electric winch control system and method. The control system comprises a winch and a driver, wherein the driver comprises a driving motor used for driving the winch and a brake arranged between the driving motor and the winch; and the controller is configured to control the braking force of the brake according to the working state of the winch and the driving force of the driving motor. In the winch starting and braking dynamic process, dynamic braking force can be provided through the power-on brake, so that the winch is prevented from sinking during starting.

Description

Technical Field

[0001] The present invention relates to the technical field of winch braking, and in particular to a proportional braking electric winch control system and a control method. Background Art

[0002] Existing crane hydraulic winch systems utilize multi-plate wet brakes, but electric winch systems eliminate the hydraulic equipment, making multi-plate wet brakes unsuitable for electric winch systems. Currently, electric winches typically utilize a motor-assisted electromagnetic brake system for braking. The drive motor first decelerates to zero speed, and then the electromagnetic brake applies the brake. However, the electromagnetic brake is switch-controlled, providing a static locking function and incapable of dynamic braking, thus failing to achieve proportional braking. This poses a risk of load sinking during winch startup. Summary of the Invention

[0003] The object of the present invention is to provide a proportional braking electric winch control system and control method, which provides dynamic braking force through an energized brake during the dynamic process of winch startup to prevent the winch from sinking during startup.

[0004] In a first aspect, the present invention provides a proportional brake electric winch control system, comprising: hoist, A driver, comprising a drive motor for driving the hoist and a brake provided between the drive motor and the hoist; The controller is configured to control the braking force of the brake according to the working state of the hoist and the driving force of the driving motor.

[0005] Optionally, it also includes: The torque limiter is used to transmit the hoisting weight and load rate of the hoist to the controller, and the controller is used to determine the load force of the hoist according to the hoisting weight.

[0006] Optionally, it also includes: The electric control handle is used to send an action instruction to the controller, and the controller is used to control the driver to drive the winch to perform a corresponding action according to the action instruction.

[0007] Optionally, the hoist is further configured to send a speed signal to the controller; when the hoist is braked, the controller controls the brake according to the speed signal.

[0008] Optionally, it also includes: A power supply is electrically connected to the driver, and the power supply can output energy to rotate the drive motor, and the power supply can also recover energy when the winch is braked.

[0009] Optionally, the brake includes an energized brake and a de-energized brake connected in series.

[0010] Optionally, the braking force of the electrified brake is dynamically adjusted through voltage PWM control.

[0011] Optionally, the braking force of the electric brake is controlled by an electric control handle.

[0012] In a second aspect, the present invention provides a control method for a proportional braking electric hoist control system, which is implemented based on the proportional braking electric hoist control system, wherein the brake includes an electric brake, and the control method includes: In response to a start command of the hoist, the powered brake is energized and a target braking force of the powered brake is determined according to a load force of the hoist; increasing the braking force of the energized brake according to a preset rule until a target braking force is reached, so as to keep the load stationary by the braking force provided by the energized brake; Starting the drive motor, and when the driving force of the drive motor exceeds the target braking force of the energized brake, reducing the braking force of the energized brake according to a preset strategy; When the driving force of the driving motor exceeds the load force, the energized brake is powered off to release the brake, and the driving motor drives the load to work.

[0013] Optionally, the brake further includes a power-off brake provided between the drive motor and the power-on brake; Before the hoist is started, the power-off brake is de-energized, and the load is kept stationary by the locking braking force provided by the power-off brake; When the braking force of the energized brake increases to the target braking force, the de-energized brake is energized to release the brake, and the load is kept stationary by the braking force provided by the energized brake.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention realizes proportional braking control of the winch system by introducing an electric brake and combining it with the dynamic adjustment of the braking force by the controller. During the start-up process of the winch, the dynamic braking force provided by the electric brake can prevent the winch from sinking during start-up.

[0015] 2. In the starting phase of the winch, the electric brake of the present invention is first energized and provides a target braking force that matches the load to keep the load stationary. At the same time, the driving motor gradually increases the driving force. When the driving force exceeds the load force, the electric brake gradually releases the braking force until the brake is released, eliminating the risk of load sinking at the moment of starting due to the on-off control of the traditional power-off brake.

[0016] 3. The present invention adopts a dual brake solution (power-on brake + power-off brake). The power-off brake realizes the static locking function when the winch is in the stopped state, and the power-on brake realizes the proportional braking function when the winch is in the started state, effectively improving the operating stability and safety of the winch system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a module diagram of the electric winch control system in Example 1; Figure 2 Schematic diagram of the structure of the electric winch control system in Example 1; Figure 3 Flowchart of the startup control method of the proportional brake electric winch control system in Example 2; Figure 4 This is a flow chart of the braking control method of the proportional braking electric winch control system in Example 3.

[0018] Numbers in the figure: 1, driving motor; 2, power-off brake, 3, power-on brake; 4, reducer; 5, reel; 6, support. DETAILED DESCRIPTION

[0019] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more. In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0020] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention. Example 1

[0021] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0022] Combine Figure 1 and Figure 2 This embodiment provides a proportional braking electric winch control system, which includes a winch, a driver, and a controller. The driver includes a drive motor 1 for driving the winch to rotate and a brake provided between the drive motor 1 and the winch. The drive motor 1 is connected to the winch drum 5 via a reducer 4, and the drum 5 is mounted on a support 6. The controller is configured to control the braking force of the brake to achieve dynamic braking of the winch based on the working state of the winch and the driving force of the drive motor 1. During the winch startup and braking dynamic process, this embodiment provides dynamic braking force through the energized brake 3 to prevent the winch from sinking during startup and impacting during braking.

[0023] Furthermore, the control system also includes a torque limiter, an electric control handle and a power supply. The torque limiter is used to transmit the hoist's lifting weight and load rate to the controller, and the controller is used to determine the load force of the hoist based on the lifting weight, and is also used to determine whether the hoist is overloaded based on the load rate to ensure operational safety. The electric control handle is used to send action instructions to the controller, and the controller is used to control the driver to drive the hoist to perform corresponding actions based on the action instructions. The hoist is also used to send a speed signal to the controller; when the hoist is braked, the controller controls the brake based on the speed signal. The power supply is electrically connected to the driver, and the power supply can output energy to rotate the drive motor 1. The power supply can also recover energy when the hoist is braked.

[0024] Furthermore, the brake in this embodiment includes a power-off brake 2 and a power-on brake 3, wherein the power-off brake 2 and the power-on brake 3 are arranged in series at the output end of the drive motor 1, and the power-on brake 3 and the power-off brake 2 are integrated into one or independently arranged at the motor end or other positions of the transmission chain, and the power-off brake 2 can lock the winch at any position. The power-on brake 3 can provide different braking torques to achieve proportional braking through voltage PWM control. This embodiment adopts a dual brake structure, in which the power-off brake realizes the static locking function of the winch in the shutdown state, and the power-on brake realizes the proportional braking function when the winch is started and in the braking state, effectively improving the operational stability and safety of the winch system.

[0025] In addition, when the winch is about to stall, the energized brake 3 and the de-energized brake 2 can intervene in time to provide auxiliary braking force to limit the speed of the winch to a safe range, thereby preventing the winch from stalling. Example 2

[0026] Combine Figure 3 , this embodiment provides a control method for a proportional braking electric winch control system of embodiment 1, the control method comprising: energizing the energized brake 3 in response to a start instruction of the winch, and determining a target braking force of the energized brake 3 according to the load force of the winch; increasing the braking force of the energized brake 3 according to a preset rule (which can be a linear increase or a nonlinear increase, determined according to actual needs) to the target braking force so as to keep the load stationary through the energized brake 3; starting the drive motor 1, and when the driving force of the drive motor 1 is greater than the target braking force of the energized brake 3, reducing the braking force of the energized brake 3 according to a preset strategy (which can be a linear increase or a nonlinear increase, determined according to actual needs); in response to the driving force of the drive motor 1 exceeding the load force, the energized brake 3 is de-energized to release the brake, and the drive motor 1 drives the load to work.

[0027] During the starting process of the winch in this embodiment, before the driving force of the drive motor 1 can overcome the load, the energized brake 3 is first energized and provides the target braking force to keep the load stationary, and after the driving force of the drive motor 1 increases to exceed the load force, the energized brake 3 is de-energized to release the brake. The driving force of the drive motor 1 is sufficient to drive the load to work, thereby effectively preventing the winch from sinking during startup.

[0028] In another specific embodiment, the brake also includes a power-off brake 2 arranged between the drive motor 1 and the energized brake 3; before the winch is started, the power-off brake 2 loses power, and the power-off brake 2 can provide a locking braking force to keep the load stationary; when the braking force of the energized brake 3 increases to the target braking force, the energized brake 3 is sufficient to provide a braking force to keep the load stationary, and the power-off brake 2 is energized to release the brake and keep the load stationary through the braking force provided by the energized brake 3.

[0029] The starting process of this embodiment is divided into four stages. The first stage is the process of energizing the energized brake 3 and increasing the braking force. During this process, the de-energized brake 2 remains de-energized and provides a braking force to keep the load stationary through the de-energized brake 2. The second stage is the process of starting the drive motor 1 and gradually increasing the driving force after the braking force of the energized brake 3 has reached the target braking force that can match the load. During this process, the de-energized brake 2 is energized and provides a braking force to keep the load stationary through the energized brake 3. The third stage is after the driving force of the drive motor 1 exceeds the target braking force of the energized brake. At this time, the driving force of the drive motor 1 can keep the load stationary, and the braking force of the energized brake 3 is gradually reduced to smooth the transition. The fourth stage is after the driving force of the drive motor 1 exceeds the load force and can drive the load to work. At this time, the energized brake 3 is de-energized to release the brake to avoid interfering with the load. At each stage of the entire process, the load can be stably kept stationary, the drive motor 1 can start smoothly to drive the load to work, and prevent the winch from sinking during startup. Example 3

[0030] Combine Figure 4 This embodiment provides a control method for a proportional braking electric winch control system of embodiment 1, the control method comprising: in response to a braking command of the winch, causing the drive motor 1 to decelerate through self-braking and determining the target braking force of the energized brake 3 according to the load force of the winch; in response to the speed of the drive motor 1 decreasing to a set value, energizing the energized brake 3 and increasing the braking force of the energized brake 3 according to a preset rule (which may be linear or nonlinear, determined according to actual needs) until the target braking force is reached; utilizing the braking force of the energized brake 3 to decelerate the drive motor 1 until the speed of the drive motor 1 decreases to zero and the drive motor 1 stops outputting driving force; after the drive motor 1 stops outputting driving force, the energized brake 3 continues to remain energized to provide the braking force required to keep the load stationary.

[0031] During the braking process of the winch in this embodiment, the first stage is achieved by decelerating the drive motor 1 itself (the electric brake 3 does not intervene to avoid direct intervention of the brake when the drive motor 1 is running at high speed and causing impact). When the speed of the drive motor 1 is reduced to the set value (the electric brake 3 can intervene safely at this time), the second stage is entered, the electric brake 3 is energized, and the braking force of the electric brake 3 gradually increases until it reaches the target braking force determined according to the load force; in the process of gradually increasing braking force of the electric brake 3, dynamic braking of the winch can be achieved to avoid impact, and the final stage is entered after the speed of the drive motor 1 is reduced to zero. The drive motor 1 stops outputting driving force. At this time, the electric brake 3 continues to be energized so that the load can continue to remain stationary, thereby achieving smooth braking of the drive motor 1 while also ensuring that the load remains stable.

[0032] In another specific embodiment, the brake also includes a power-off brake 2 arranged between the drive motor 1 and the energized brake 3; before the winch starts braking, the power-off brake 2 remains energized, and at this time the power-off brake 2 does not provide braking force; after the drive motor 1 stops outputting driving force, the power-off brake 2 is powered off to provide the locking braking force required to keep the load stationary, and then the energized brake 3 is powered off to release the brake, thereby completing the entire braking process. After the work is completed, the winch is powered off, and the static locking function is realized by the power-off brake 2.

[0033] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A proportional brake electric winch control system, characterized in that: include: hoist, A driver, comprising a drive motor for driving the hoist and a brake provided between the drive motor and the hoist; The controller is configured to control the braking force of the brake according to the working state of the hoist and the driving force of the driving motor.

2. The proportional brake electric winch control system according to claim 1, characterized in that: Also includes: The torque limiter is used to transmit the hoisting weight and load rate of the hoist to the controller, and the controller is used to determine the load force of the hoist according to the hoisting weight.

3. The proportional brake electric winch control system according to claim 1, characterized in that: Also includes: The electric control handle is used to send an action instruction to the controller, and the controller is used to control the driver to drive the winch to perform a corresponding action according to the action instruction.

4. The proportional brake electric winch control system according to claim 1, characterized in that: The hoist is further configured to send a speed signal to the controller; when the hoist is braked, the controller controls the brake according to the speed signal.

5. The proportional brake electric winch control system according to claim 1, characterized in that: Also includes: A power supply is electrically connected to the driver, and the power supply can output energy to rotate the drive motor, and the power supply can also recover energy when the winch is braked.

6. The proportional brake electric winch control system according to claim 1, characterized in that: The brake includes an energized brake and a de-energized brake connected in series.

7. The proportional brake electric winch control system according to claim 6, characterized in that: The braking force of the electrified brake is dynamically adjusted through voltage PWM control.

8. The proportional brake electric winch control system according to claim 6, characterized in that: The braking force of the electric brake is controlled by an electric control handle.

9. A control method for a proportional brake electric winch control system, characterized in that: The proportional brake electric winch control system according to any one of claims 1 to 8 is implemented, wherein the brake includes an electric brake, and the control method includes: In response to a start command of the hoist, the powered brake is energized and a target braking force of the powered brake is determined according to a load force of the hoist; increasing the braking force of the energized brake according to a preset rule until a target braking force is reached, so as to keep the load stationary by the braking force provided by the energized brake; Starting the drive motor, and when the driving force of the drive motor exceeds the target braking force of the energized brake, reducing the braking force of the energized brake according to a preset strategy; When the driving force of the driving motor exceeds the load force, the energized brake is powered off to release the brake, and the driving motor drives the load to work.

10. The control method of a proportional brake electric winch control system according to claim 9, characterized in that: The brake also includes a power-off brake provided between the drive motor and the power-on brake; Before the hoist is started, the power-off brake is de-energized, and the load is kept stationary by the locking braking force provided by the power-off brake; When the braking force of the energized brake increases to the target braking force, the de-energized brake is energized to release the brake, and the load is kept stationary by the braking force provided by the energized brake.

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