Ship lift driving system gear rack load verification method

Abstract

The invention discloses a gear rack load verification method for a ship lift driving system. Firstly, a ship chamber water level h and a ship chamber running direction are obtained; then, the torque Tm of each motor in each driving point is calculated, and the total output torque TMn of the motor of each driving point is calculated; calculating the total operation load # imgabs0 # of the ship chamber of the ship lift; secondly, eliminating a synchronous shaft torque data reference error from data acquired by a synchronous shaft torque monitoring system to obtain synchronous shaft torque Tsn of each synchronous shaft; checking synchronous shaft torque monitoring data; if the check is passed, calculating a ship chamber calculation total load # imgabs1 #; and finally, calculating a ship lift chamber operation total load fitting value # imgabs2 # in the stroke and a chamber calculation total load average value # imgabs3 # in the stroke, comparing a ship lift chamber operation total load fitting value # imgabs4 # in the corresponding stroke with the chamber calculation total load average value # imgabs5 #, and verifying the accuracy of the gear rack load monitoring value. According to the ship lift driving system gear rack load verification method provided by the invention, the accuracy of corresponding monitoring data can be determined.

Description

Technical Field

[0001] The invention relates to the field of ship lift operation management, in particular to a gear rack load calibration method for a ship lift drive system, which is applicable to a gear rack type ship lift. Background Art

[0002] During operation, the rack-and-pinion shiplift's gear transmission system, as the core component for movement and guidance, plays the crucial role of driving the lift's cabin up and down. This system is characterized by its large scale, high machining precision requirements, and difficulty in replacement. Therefore, ensuring the service reliability of the gear transmission system is crucial for the safe, reliable, and efficient operation of this type of shiplift. This invention provides a calibration method for monitoring the pinion load at each drive point during cabin operation. This method is used to verify the status of the corresponding sensing devices in the cabin and the accuracy of the actual load detection data from the gear-and-pinion system during operation.

[0003] Currently, there are few methods for verifying the gear rack load of ship lifts, and it is difficult to directly monitor the gear rack load. The gear rack load data obtained by measuring the operating parameters of the corresponding mechanism will have certain errors. Summary of the Invention The technical problem to be solved by the present invention is to provide a gear rack load verification method for a ship lift drive system. The accuracy of the corresponding monitoring data is determined by the gear rack load verification method, which can ensure that the acquired monitoring data correctly reflects the gear rack load situation.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: A method for verifying the load of a gear rack in a ship lift drive system comprises the following steps: Step 1: Collect the water level values ​​h1, h2, h3…h at each water level measuring point of the ship lift i , calculate the water level h of the cabin, collect the running direction of the cabin, and determine the running condition of the cabin; Step 2: Collect data from each driving point of the ship lift drive system and obtain the speed n of the motor at each driving point in the cabin m With power P m , calculate and obtain the torque T of each motor in each driving point m , calculate the total output torque T of the motor at each driving point Mn ; Step 3: Calculate the total load of the ship lift cabin using the cabin water level h and cabin operating conditions collected in step 1. ; Step 4: Calculate the reference error of the torque data of each synchronous shaft in the ship lift drive system, and eliminate the reference error of the synchronous shaft torque data from the data collected by the synchronous shaft torque monitoring system to obtain the synchronous shaft torque T of each synchronous shaft.sn ; Step 5: Check the synchronous shaft torque monitoring data; if the check fails, check and calibrate the synchronous shaft torque monitoring system and then proceed to step 4; if the check passes, then according to the synchronous shaft torque T sn and the total output torque T of the motor Mn Get the calculated load of the cabin driving point and calculate the total calculated load of the cabin ; Step 6: The total operating load of the ship lift cabin calculated according to step 3 Calculate the total load of the cabin calculated in step 5 , obtain the fitting value of the total load of the ship lift cabin during the trip Calculate the total load average value with the cabin within the trip , compare the fitting values ​​of the total load of the ship lift cabin in the corresponding stroke Calculate the average total load with the ship compartment , verify the numerical accuracy of rack and pinion load monitoring.

[0005] In step 1, the water level h1, h2, h3…h is obtained by arranging water level measuring points in the ship lift cabin. i Get the water level in the cabin ; Determine the direction of the cabin's movement, and determine through the operation system whether the cabin is in one of the seven working states: accelerated upward, uniform upward, decelerated upward, accelerated downward, uniform downward, decelerated downward, and shutdown.

[0006] In step 2, there are n driving points in total, and the number of motors at each driving point is y; the torque of each motor in each driving point is T m Through the motor torque formula Calculate and obtain the total output torque of the motor at the nth driving point = .

[0007] The number of motors at each driving point is 2, that is, y=2; there are a total of 4 driving points, that is, n=4.

[0008] In step 3, the total load of the ship lift cabin is When the cabin is in the upward state , the cabin is in the downward state Among them, M2 and f are the initial weight deviation of the cabin and the friction force of the system, respectively. They are fixed values ​​and are obtained by calculating the measurement data of the cabin running up and down. M1 is the unbalanced load caused by the misloaded water depth of the cabin, and is calculated as follows: ; Among them, L is the length of the water body in the ship compartment, W is the width of the water body in the ship compartment, Standard water depth for the cabin is the acceleration due to gravity, .

[0009] In step 4, , Where: Synchronous shaft torque; The synchronous shaft torque sensor collects the value, The drive system data benchmark error is the average value of the synchronous shaft torque collected at each position in the static stage from the end of the previous trip of the cabin to the start of the collection trip.

[0010] In step 5, during one trip of the ship's up or down movement, the synchronous shaft torque monitoring data is checked, that is, the torque calculation value of the intermediate synchronous shaft The torque T of the intermediate synchronous shaft s5 The mean difference MD does not exceed the error limit value ψ of the synchronous shaft torque monitoring system.

[0011] In step 5, the loads at each cabin drive point are calculated ,in is the transmission ratio of the drive reducer, is the radius of the pinion in the rack and pinion structure, ; Calculate total load of the ship compartment Calculate the sum of the loads for the four cabin drive points, i.e. . In step 6, the total load fitting value of the ship lift cabin during the trip , Related to the up and down working conditions of the cabin, the average value of the total load calculated for the cabin during the trip Calculate the total load for the cabin at each monitoring sampling time The average value of .

[0012] In step 6, verify the rack and pinion load monitoring value, which is the fitting value of the total load of the ship lift cabin in the corresponding stroke. Calculate the average total load with the ship compartment The difference should satisfy , if it meets the requirement, the monitoring value is verified to be accurate, and the load error limit value Related to ship lift operation monitoring equipment.

[0013] The present invention provides a method for verifying the load of a gear rack in a ship lift drive system, which has the following technical effects: 1) Steps 1 and 2 of the present invention utilize the water level value of the cabin water level measuring point, the cabin running speed detection value, the cabin driving point motor speed detection and power detection value in the ship lift monitoring equipment to obtain the cabin water level, cabin running condition, and motor torque. The method has low cost investment and can rely on the original monitoring equipment of the ship lift. No hardware installation or modification is required, and no additional maintenance is required, which does not affect the normal operation of the ship lift.

[0014] 2) Step 4 of the present invention eliminates the synchronous shaft torque error by calculating the drive system data reference error, thereby reducing the influence of external factors on the numerical calculation of the rack and pinion load, and can meet the rack and pinion load monitoring requirements under different operating conditions of the ship lift.

[0015] 3) Step 5 of the present invention reflects the status of the synchronous shaft torque sensor in the monitoring facility through the step shaft torque monitoring data verification. Abnormal sensor status can be fed back in the verification result, providing a reference for the maintenance and adjustment of the ship lift synchronous shaft monitoring equipment.

[0016] 4) Step 6 of the present invention can determine whether the load monitoring value of the rack and pinion structure within the stroke is accurate by comparing the average value of the total load calculated for the cabin with the fitted value of the total load of the cabin operation, timely reflect the status of the monitoring device, and verify the reliability of the monitoring data.

[0017] 5) The present invention verifies the numerical calculation load of the drive system and the synchronous shaft system by the total load of the cabin operation, thereby verifying the accuracy of the load monitoring value of the gear rack structure of the ship lift, making it easier for the ship lift operators to grasp the status of the gear rack equipment and improving the status safety monitoring capability of the key equipment of the ship lift. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below with reference to the accompanying drawings and examples: Figure 1 Schematic diagram of the synchronous shaft system of the present invention.

[0019] Figure 2 Schematic diagram of synchronous shaft torque of the present invention.

[0020] Figure 3 Flowchart of the present invention.

[0021] Figure 4 This is a calibration diagram of the rack and pinion load monitoring data in the present invention.

[0022] In the figure: first synchronous shaft 1, second synchronous shaft 2, third synchronous shaft 3, fourth synchronous shaft 4, intermediate synchronous shaft 5, torque sensor 6, motor 7, 1# driving point a, 2# driving point b, 3# driving point c, 4# driving point d. DETAILED DESCRIPTION

[0023] Example 1 The Three Gorges Shiplift is a fully balanced rack and pinion climbing vertical shiplift. The water body size of the Three Gorges Shiplift cabin is 120m (length) × 18m (width) × 3.5m (depth). There are 14 water level measuring points on the cabin, four driving points on the cabin, and two motors at each driving point. The total speed ratio of the main reducer is 262.862, the pitch radius of the driving mechanism pinion It is 0.501m.

[0024] The ship lift drive system rack and pinion load calibration method comprises the following steps: Step 1: Collect the water level h1, h2, h3…h at the Three Gorges Ship Lift cabin water level measurement points 14 , calculate the water level of the cabin , collect the direction of the cabin's movement and determine the cabin's operating condition, i.e. whether the cabin is in an upward or downward state; Step 2: Collect the data of the motor speed meter and power meter of each driving point to obtain the speed n of the driving motor of each driving point in the cabin m With power P m , through the motor torque formula Calculate the torque of the driving motor of each driving point. Since each driving point is equipped with multiple motors, the total output torque of the motor at each driving point is = ; Where: , The torque of the drive motor.

[0025] For example, in this embodiment, each driving point is equipped with two motors, and there are four driving points in total. Then: Total motor output torque at the first driving point ; ; ; .

[0026] Step 3: Calculate the total load of the ship lift cabin according to the cabin operation conditions .

[0027] Among them, the total load of the ship lift cabin is When the cabin is in the upward state ; The cabin is in the downward state ; Where: M2 and f are the initial weight deviation of the cabin and the friction force of the system, respectively. Both values ​​are less affected by the actual load of the cabin and are obtained by calculating the measurement data of the cabin's up and down movement. M1 is the unbalanced load caused by the depth of the cabin being misloaded, and is calculated as follows: ; Where: L is the length of the water body in the cabin, 120m; W is the width of the water body in the cabin, 18m; h0 is the standard water depth of the cabin, 3.5m is the acceleration due to gravity, take 9.8N / kg, The water level in the cabin.

[0028] Step 4: The average value of the synchronous shaft torque at each position during the stationary phase from the end of the previous trip to the start of the acquisition trip, T x1 、T x2 、T x3 、T x4 、T x5 The synchronous shaft torque sensor collects the value T c1 、T c2 、T c3 、T c4 、T c5 After subtracting the reference error of the synchronous shaft torque data, obtain 1#~4# Synchronous shaft torque T s1 、T s2 、T s3 、T s4 The torque T of the intermediate synchronous shaft s5 ,Right now , proceed to step 5;

[0029] ; The drive system data benchmark error is the average value of the synchronous shaft torque collected at each position during the static phase from the end of the previous trip of the cabin to the start of the collection trip.

[0030] Synchronous shaft torque at the first driving point ; Synchronous shaft torque at the second driving point ; ; .

[0031] Step 5: Check the synchronous shaft torque monitoring data. Calculate the intermediate synchronous shaft torque value during the upstroke or downstroke of the cabin. The torque T of the intermediate synchronous shaft s5 The mean difference MD is used to determine whether the mean difference MD exceeds the error limit value ψ of the synchronous shaft torque monitoring system, where the value of ψ is 200 N·m in the Three Gorges Ship Lift.

[0032] T s5 is the measurement result of the intermediate synchronous shaft torque, is the calculation result of the intermediate synchronous shaft torque.

[0033] If MD>ψ, check and calibrate the synchronous shaft torque monitoring system and proceed to step 4; If MD≤ψ, then according to the synchronous shaft torque (synchronous shaft torque Ts1 、T s2 、T s3 、T s4 ) and the output torque of the driving motor (the total output torque of the driving point motor ) Get the calculated load at the cabin driving point ,in The transmission ratio of the drive reducer is 262.862. The radius of the pinion in the rack and pinion structure is 0.501m; ; Right now: Calculated load at the first driving point ; Calculated load at the second driving point

[0034] Calculated load at the third driving point

[0035] Calculated load at the fourth driving point

[0036] The total load of the cabin is calculated as ; Step 6: According to the total load of the ship lift cabin Calculate total load with the cabin Value, get the total load fitting value of the ship lift cabin during the trip Calculate the total load average value with the cabin within the trip .

[0037] The fitting value of the total load of the ship lift cabin during the stroke , It is related to the up and down working conditions of the cabin. The data collected over a period of time were analyzed by linear regression. The results show that the three-gorge ship lift has the following characteristics: , when the cabin is moving upward .

[0038] Average total load calculated for the cabin during the trip Calculate the total load for the cabin at each monitoring sampling time Compare the fitting values ​​of the total load of the ship lift cabin in the corresponding stroke Calculate the average total load with the ship compartment , verify the accuracy of the rack and pinion load monitoring value, that is, the total load fitting value of the ship lift cabin operation within the corresponding stroke Calculate the average total load with the ship compartment Does the difference satisfy , if it meets the requirement, the monitoring value is verified to be accurate, and the load error limit value The ship lift at the Three Gorges Dam is 300kN.

[0039] from Figure 4 It can be seen that during the collection period from December 25, 2021 to February 1, 2022, the average total load of the cabin within the trip was calculated for different cabin misloading depths. Fitting value of total load distributed in the ship lift cabin Nearby and satisfying condition.

Claims

1. A method for verifying the load of a gear rack in a ship lift drive system, characterized in that: The following steps are involved: Step 1: Collect the water level values ​​h1, h2, h3…h at each water level measuring point of the ship lift i , calculate the water level h of the cabin, collect the running direction of the cabin, and determine the running condition of the cabin; Step 2: Collect data from each driving point of the ship lift drive system and obtain the speed n of the motor at each driving point in the cabin m With power P m , calculate and obtain the torque T of each motor in each driving point m , calculate the total output torque T of the motor at each driving point Mn ; Step 3: Calculate the total load of the ship lift cabin using the cabin water level h and cabin operating conditions collected in step 1. ; Step 4: Calculate the reference error of the torque data of each synchronous shaft in the ship lift drive system, and eliminate the reference error of the synchronous shaft torque data from the data collected by the synchronous shaft torque monitoring system to obtain the synchronous shaft torque T of each synchronous shaft. sn ; Step 5: Check the synchronous shaft torque monitoring data; if the check fails, check and calibrate the synchronous shaft torque monitoring system and then proceed to step 4; if the check passes, then according to the synchronous shaft torque T sn and the total output torque T of the motor Mn Get the calculated load of the cabin driving point and calculate the total calculated load of the cabin ; Step 6: The total operating load of the ship lift cabin calculated according to step 3 Calculate the total load of the cabin calculated in step 5 , obtain the fitting value of the total load of the ship lift cabin during the trip Calculate the total load average value with the cabin within the trip , compare the fitting values ​​of the total load of the ship lift cabin in the corresponding stroke Calculate the average total load with the ship compartment , verify the numerical accuracy of rack and pinion load monitoring.

2. The method for verifying the gear rack load of a ship lift drive system according to claim 1, characterized in that: In step 1, the water level h1, h2, h3…h is obtained by arranging water level measuring points in the ship lift cabin. i Get the water level in the cabin ; Determine the direction of the cabin's movement, and determine through the operating system whether the cabin is in one of seven operating states: accelerated upward, uniform upward, decelerated upward, accelerated downward, uniform downward, decelerated downward, and shutdown.

3. The method for verifying the gear rack load of a ship lift drive system according to claim 2, characterized in that: In step 2, there are n driving points in total, and the number of motors at each driving point is y; the torque of each motor in each driving point is T m Through the motor torque formula Calculated; the total output torque of the motor at the first driving point = , the total output torque of the motor at the second driving point is = , calculate in sequence, then the total output torque of the motor at the nth driving point is = .

4. The method for verifying the gear rack load of a ship lift drive system according to claim 3, characterized in that: The number of motors at each driving point is 2, that is, y=2; there are a total of 4 driving points, that is, n=4.

5. The method for verifying the gear rack load of a ship lift drive system according to claim 4, characterized in that: In step 3, the total load of the ship lift cabin is When the cabin is in the upward state , the cabin is in the downward state Among them, M2 and f are the initial weight deviation of the cabin and the friction force of the system, respectively. They are fixed values ​​and are obtained by calculating the measurement data of the cabin running up and down. M1 is the unbalanced load caused by the misloaded water depth of the cabin, and is calculated as follows: ; Among them, L is the length of the water body in the ship compartment, W is the width of the water body in the ship compartment, Standard water depth for the cabin is the acceleration due to gravity, .

6. The method for verifying the gear rack load of a ship lift drive system according to claim 5, characterized in that: In step 4, , Where: Torque of 1#~4# synchronous shafts and the middle synchronous shaft; The values ​​collected by the synchronous shaft torque sensor, The drive system data benchmark error is the average value of the synchronous shaft torque collected at each position in the static stage from the end of the previous trip of the cabin to the start of the collection trip.

7. The method for verifying the gear rack load of a ship lift drive system according to claim 6, characterized in that: In step 5, during one trip of the ship's up or down movement, the synchronous shaft torque monitoring data is checked, that is, the torque calculation value of the intermediate synchronous shaft The torque T of the intermediate synchronous shaft s5 The mean difference MD does not exceed the error limit value ψ of the synchronous shaft torque monitoring system.

8. The method for verifying the gear rack load of a ship lift drive system according to claim 7, characterized in that: In step 5, the loads at each cabin drive point are calculated ,in is the transmission ratio of the drive reducer, is the radius of the pinion in the rack and pinion structure, ; Calculate total load of the ship compartment Calculate the sum of the loads for the four cabin drive points, i.e. .

9. The method for verifying the gear rack load of a ship lift drive system according to claim 8, characterized in that: In step 6, the total load fitting value of the ship lift cabin during the trip , Related to the up and down working conditions of the cabin, the average value of the total load calculated for the cabin during the trip Calculate the total load for the cabin at each monitoring sampling time The average value of .

10. The method for verifying the gear rack load of a ship lift drive system according to claim 9, characterized in that: In step 6, verify the rack and pinion load monitoring value, which is the fitting value of the total load of the ship lift cabin in the corresponding stroke. Calculate the average total load with the ship compartment The difference should satisfy , if it meets the requirement, the monitoring value is verified to be accurate, and the load error limit value Related to ship lift operation monitoring equipment.

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