A ship lift driving system gear rack load verification method

Abstract

A ship lift driving system gear and rack load verification method, first obtain the ship compartment water level h, the ship compartment running direction; Then, calculate each driving point in each motor torque T m , calculate the total output torque T Mn of each driving point motor; Calculate the total load of the ship lift compartment operation;Second, the data collected by the synchronous shaft torque monitoring system is obtained after eliminating the synchronous shaft torque data reference error of each synchronous shaft, and the synchronous shaft torque T sn ; Synchronous shaft torque monitoring data checking; If the checking is passed, the total load of the ship compartment is calculated; Finally, the total load fitting value of the ship lift compartment operation in the stroke and the average value of the total load of the ship compartment are calculated, the total load fitting value of the ship lift compartment operation in the corresponding stroke and the average value of the total load of the ship compartment are compared, and the accuracy of the gear and rack load monitoring value is verified. The ship lift driving system gear and rack load verification method provided by the application can determine the accuracy of the corresponding monitoring data.

Description

Technical Field

[0001] This invention relates to the field of ship lift operation management, and in particular to a method for verifying the load of gear and rack in a ship lift drive system, applicable to gear and rack type ship lifts. Background Technology

[0002] In the operation of rack and pinion ship lifts, the rack and pinion transmission system, as the core component for motion and guidance, plays a crucial role in driving the ship's compartment up and down. This system is characterized by its large scale, high precision requirements, and difficulty in replacement. Therefore, ensuring the reliability of the rack and pinion transmission system is of great significance for the safe, reliable, and efficient operation of such ship lifts. This invention provides a verification method for monitoring the load on the pinions at each drive point during ship compartment operation, used for verifying the status of corresponding sensing and detection devices within the ship compartment and the accuracy of actual operating load detection data from the rack and pinion system.

[0003] Currently, there are few methods for verifying the load on the gears and racks of ship lifts, and the load on the gears and racks is difficult to monitor directly. Calculations of the gear and rack load data obtained by detecting the operating parameters of the relevant mechanisms contain a certain degree of error. Summary of the Invention The technical problem to be solved by the present invention is to provide a method for verifying the load of gears and racks in a ship lift drive system. By verifying the load of gears and racks, the accuracy of the corresponding monitoring data can be determined, and it can be ensured that the acquired monitoring data correctly reflects the load of gears and racks.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A method for verifying the load of a gear and rack in a ship lift drive system includes 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 The water level h in the cabin is calculated, the direction of cabin movement is collected, and the operating conditions of the cabin are determined. Step 2: Collect data from each drive point of the ship lift drive system to obtain the rotational speed n of the motor at each drive point of the ship compartment. m With power P m The torque T of each motor at each drive point is calculated. m The total output torque T of the motor at each drive point is calculated. Mn ; Step 3: Calculate the total operating load of the ship lift's ship chambers using the water level h and operating conditions collected in Step 1. ; Step 4: Calculate the reference error of the torque data for each synchronous shaft in the drive system of the ship lift. After eliminating the reference error of the synchronous shaft torque data from the data collected by the synchronous shaft torque monitoring system, obtain the synchronous shaft torque T for each synchronous shaft.sn ; Step 5: Verify the synchronous shaft torque monitoring data; if the verification fails, check and calibrate the synchronous shaft torque monitoring system before proceeding to Step 4; if the verification passes, proceed according to the synchronous shaft torque T. sn With the total output torque T of the motor Mn Obtain the calculated load at the ship's driving point and calculate the total calculated load on the ship's cabin. ; Step 6: Calculate the total operating load of the ship lift cabin based on the calculation in Step 3. The calculated total load of the ship's compartment obtained in step 5 Obtain the fitted values ​​of the total load of the ship lift cabin during the travel period. Calculate the average total load of the cabins within the journey. Compare the fitted values ​​of the total load on the ship lift cabins within the corresponding travel period. Calculate the average total load of the ship compartment To verify the accuracy of the load monitoring values ​​for gears and racks.

[0005] In step 1, water level gauges are installed in the ship lift compartment to obtain the water levels h1, h2, h3…h. i Obtain the water level of the ship's compartment The direction of the ship's movement is determined, and the operating system determines the ship's operating condition among seven states: accelerating upward, constant speed upward, decelerating upward, accelerating downward, constant speed downward, decelerating downward, and stopping.

[0006] In step 2, there are a total of n drive points, and the number of motors at each drive point is y; the torque T of each motor at each drive point is... m Using the motor torque formula Calculated to obtain the total output torque of the motor at the nth drive point. = .

[0007] There are 2 motors at each drive point, i.e., y=2; there are a total of 4 drive points, i.e., n=4.

[0008] In step 3, the total operating load of the ship lift's cabins... When the ship is in an upward state The ship is in a downward direction. Where M2 and f are the initial weight deviation of the cabin and the resultant frictional force of the system, respectively, both of which are fixed values ​​obtained by calculating the measurement data of the cabin's up-and-down movement; M1 is the unbalanced load caused by the cabin's misloading depth, calculated as follows: Where L is the length of the hull in water, and W is the width of the hull in water. Standard water depth for the ship's compartment It is the acceleration due to gravity. .

[0009] In step 4, , In the formula: Synchronous shaft torque; Values ​​are collected by the synchronous shaft torque sensor. The drive system data reference error is the average value of the synchronous shaft torque collected at each position during the stationary phase from the end of the previous stroke of the ship compartment to the start of the collection stroke.

[0010] In step 5, during one upward or downward stroke of the ship's carriage, the torque monitoring data of the synchronous shaft is verified, i.e., the calculated torque value of the intermediate synchronous shaft is checked. With intermediate synchronous shaft torque T s5 The average error MD does not exceed the error limit ψ of the synchronous shaft torque monitoring system.

[0011] In step 5, the loads at each ship compartment drive point are calculated. ,in The transmission ratio of the reducer in the drive unit. The radius of the pinion in a gear and rack structure. ; Calculate the total load of the ship's compartment Calculate the sum of the loads for the four ship compartment drive points, i.e. . In step 6, the fitted value of the total load of the ship lift's cabin during the travel period. , The average total load of the ship's compartments during the journey is related to the up and down operating conditions of the compartments. Calculate the total load of the ship compartment at each monitoring sampling time. The average value.

[0012] In step 6, the value of the gear and rack load monitoring is verified to be the fitted value of the total load of the ship lift cabin during the corresponding stroke. Calculate the average total load of the ship compartment The difference should satisfy If the conditions are met, the accuracy of the monitored values ​​is verified, and the load error limit value is met. It is related to the monitoring equipment for the operation of the ship lift.

[0013] This invention provides a method for verifying the load of gears and racks in a ship lift drive system, which has the following technical advantages: 1) The method of obtaining the water level, operating conditions and motor torque of the ship chamber by using the water level measurement point of the ship chamber, the ship chamber running speed detection value, and the motor speed and power detection value of the ship chamber drive point in the monitoring equipment of the ship lift in steps 1 and 2 of the present invention has a low cost investment. It can rely on the original monitoring equipment of the ship lift, without the need for hardware installation or modification, and without the need for additional maintenance, and 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 data reference error of the drive system, thereby reducing the influence of external factors on the numerical calculation of gear and rack loads and meeting the requirements for gear and rack load monitoring 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 into the verification results, providing a reference for the maintenance and adjustment of the synchronous shaft monitoring equipment of the ship lift.

[0016] 4) Step 6 of the present invention can determine whether the load monitoring value of the gear and rack structure within the stroke is accurate by comparing the average value of the total load calculated by the ship compartment with the fitted value of the total load of the ship compartment during operation, so as to reflect the status of the monitoring device in a timely manner and verify the reliability of the monitoring data.

[0017] 5) This invention verifies the accuracy of load monitoring values ​​for the gear and rack structure of the ship lift by verifying the total load of the ship chamber and the detection of the load of the drive system and synchronous shaft system. This makes it easier for ship lift operators to grasp the status of the gear and rack equipment and improves the status safety monitoring capability of the key equipment of the ship lift. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the synchronous shaft system of the present invention.

[0019] Figure 2 This is a schematic diagram of the synchronous shaft torque of the present invention.

[0020] Figure 3 This is a flowchart of the present invention.

[0021] Figure 4 This is a verification diagram of gear and rack load monitoring data in this invention.

[0022] In the diagram: First synchronous shaft 1, second synchronous shaft 2, third synchronous shaft 3, fourth synchronous shaft 4, middle synchronous shaft 5, torque sensor 6, motor 7, drive point 1# a, drive point 2# b, drive point 3# c, drive point 4# d. Detailed Implementation

[0023] Example 1 The Three Gorges Dam ship lift is a fully balanced rack and pinion vertical ship lift. The ship lift's cabin dimensions are 120m (length) × 18m (width) × 3.5m (depth). The cabin has 14 water level measuring points and four drive points, each equipped with two motors. The main reducer's overall speed ratio is... The pitch circle radius of the drive mechanism pinion is 262.862. It is 0.501m.

[0024] The method for verifying the load of the gear and rack in the ship lift drive system includes the following steps: Step 1: Collect water level data at the following points in the Three Gorges Dam ship lift: h1, h2, h3…h 14 Calculate the water level in the ship's compartment The ship's direction of travel is collected to determine the ship's operating status, i.e., whether the ship is in an upward or downward state. Step 2: Collect data from the tachometer and wattmeter of each drive point to obtain the rotational speed n of the drive motor at each drive point of the ship's cabin. m With power P m Through the motor torque formula The torque of the drive motor at each drive point is calculated. Since multiple motors are arranged at each drive point, the total output torque of the motors at each drive point is... = ; In the formula: , The torque of the drive motor.

[0025] For example, in this embodiment, each drive point has two motors, and there are a total of four drive points. Therefore: Total output torque of the motor at the first drive point ; ; ; .

[0026] Step 3: Calculate the total operating load of the ship lift cabin based on the cabin's operating conditions. .

[0027] Among them, the total operating load of the ship lift cabin When the ship is in an upward state The ship's compartment is in a downward direction. ; In the formula: M2 and f are the initial weight deviation of the cabin and the resultant friction force of the system, respectively. The two values ​​are less affected by the actual load of the cabin and are obtained by calculation based on the measurement data of the cabin's up and down movement. M1 is the unbalanced load caused by the water depth of the misloaded compartment, calculated as follows: ; In the formula: L is the length of the ship's compartment in water (120m), W is the width of the ship's compartment in water (18m), and h0 is the standard water depth of the ship's compartment (3.5m). The acceleration due to gravity is taken as 9.8 N / kg. This refers to the water level in the ship's compartment.

[0028] Step 4: Average synchronous shaft torque at each position during the stationary phase from the end of the previous stroke of the ship compartment to the start of the current stroke, T x1 T x2 T x3 T x4 T x5 To establish a reference error for the synchronous shaft torque data of the drive system, 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 torque data of each synchronous shaft, we obtain 1#~4#. Synchronous shaft torque T s1 T s2 T s3 T s4 With intermediate synchronous shaft torque T s5 ,Right now Proceed to step 5;

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

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

[0031] Step 5: Verify the synchronous shaft torque monitoring data. Calculate the intermediate synchronous shaft torque value during the ship's upward or downward travel. With intermediate synchronous shaft torque T 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 This is the measurement result of the intermediate synchronous shaft torque. This is the calculated result of the intermediate synchronous shaft torque.

[0033] If MD > ψ, then proceed to step 4 after checking and calibrating the synchronous shaft torque monitoring system; If MD≤ψ, then according to the synchronous shaft torque (synchronous shaft torque T)s1 T s2 T s3 T s4 ) and the output torque of the drive motor (total output torque of the drive motor) ) Calculate the load at the ship's driving point ,in The drive unit reducer has a gear ratio of 262.862. The radius of the pinion in the gear and rack structure is 0.501m; ; Right now: Calculated load of the first driving point ; Calculated load of the second driving point

[0034] Calculated load of the third driving point

[0035] Calculated load of the fourth driving point

[0036] The total calculated load of the ship's compartment is ; Step 6: Based on the total operating load of the ship lift's cabins. Calculate the total load of the ship's compartments Numerical values ​​are obtained to fit the total load of the ship lift cabin during its travel period. Calculate the average total load of the cabins within the journey. .

[0037] The fitted value of the total load of the ship lift cabin during the travel period. , Related to the upstream and downstream operating conditions of the ship's compartments, the results were obtained through linear regression analysis of data collected over a period of time, specifically for the Three Gorges Dam ship lift, under upstream operating conditions. When the ship's carriage is in the upward working condition .

[0038] Calculate the average total load of the cabins during the journey. Calculate the total load of the ship compartment at each monitoring sampling time. The average value. Compare the fitted values ​​of the total load on the ship lift cabin within the corresponding travel period. Calculate the average total load of the ship compartment To verify the accuracy of the gear and rack load monitoring values, i.e., the fitted values ​​of the total operating load of the ship lift cabin within the corresponding stroke. Calculate the average total load of the ship compartment Does the difference satisfy the requirement? If the conditions are met, the accuracy of the monitored values ​​is verified, and the load error limit value is met. The ship lift at the Three Gorges Dam has a rated power of 300 kN.

[0039] from Figure 4 It can be seen that, during the data collection period from December 25, 2021 to February 1, 2022, the average calculated total load of the ship compartments during the journey was calculated under different water depths where the compartments were misloaded. Fitted values ​​of the total operating load of the ship lift cabin Nearby, and meets the requirements condition.

Claims

1. A method for verifying the load of a gear and rack in a ship lift drive system, characterized in that, Includes 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 The water level h in the cabin is calculated, the direction of cabin movement is collected, and the operating conditions of the cabin are determined. Step 2: Collect data from each drive point of the ship lift drive system to obtain the rotational speed n of the motor at each drive point of the ship compartment. m With power P m The torque T of each motor at each drive point is calculated. m The total output torque T of the motor at each drive point is calculated. Mn ; Step 3: Calculate the total operating load of the ship lift's ship chambers using the water level h and operating conditions collected in Step 1. ; Step 4: Calculate the reference error of the torque data for each synchronous shaft in the drive system of the ship lift. After eliminating the reference error of the synchronous shaft torque data from the data collected by the synchronous shaft torque monitoring system, the synchronous shaft torque T of each synchronous shaft is obtained. sn ; Step 5: Verify the synchronous shaft torque monitoring data; if the verification fails, check and calibrate the synchronous shaft torque monitoring system before proceeding to Step 4; if the verification passes, proceed according to the synchronous shaft torque T. sn With the total output torque T of the motor Mn Obtain the calculated load at the ship's driving point and calculate the total calculated load on the ship's cabin. ; Step 6: Calculate the total operating load of the ship lift cabin based on the calculation in Step 3. The calculated total load of the ship's compartment obtained in step 5 Obtain the fitted values ​​of the total load of the ship lift cabin during the travel period. Calculate the average total load of the cabins within the journey. Compare the fitted values ​​of the total load on the ship lift cabins within the corresponding travel period. Calculate the average total load of the ship compartment To verify the accuracy of the load monitoring values ​​for gears and racks.

2. The method for verifying the load of a gear and rack in a ship lift drive system according to claim 1, characterized in that: In step 1, water level gauges are installed in the ship lift compartment to obtain the water levels h1, h2, h3…h. i Obtain the water level of the ship's compartment ; The direction of the ship's movement is determined, and the operating system determines the ship's operating condition among seven states: accelerating upward, constant speed upward, decelerating upward, accelerating downward, constant speed downward, decelerating downward, and stopping.

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

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

5. The method for verifying the load of the gear and rack in the ship lift drive system according to claim 4, characterized in that: In step 3, the total operating load of the ship lift's cabins... When the ship is in an upward state The ship is in a downward direction. Where M2 and f are the initial weight deviation of the cabin and the resultant frictional force of the system, respectively, both of which are fixed values ​​obtained by calculating the measurement data of the cabin's up-and-down movement; M1 is the unbalanced load caused by the cabin's misloading depth, calculated as follows: Where L is the length of the hull in water, and W is the width of the hull in water. Standard water depth for the ship's compartment It is the acceleration due to gravity. .

6. The method for verifying the load of the gear and rack in the ship lift drive system according to claim 5, characterized in that: In step 4, , In the formula: Torque of synchronous shafts 1#~4# and intermediate synchronous shaft; The values ​​collected by the synchronous shaft torque sensor The drive system data reference error is the average value of the synchronous shaft torque collected at each position during the stationary phase from the end of the previous stroke of the ship compartment to the start of the collection stroke.

7. The method for verifying the load of the gear and rack in the ship lift drive system according to claim 6, characterized in that: In step 5, during one upward or downward stroke of the ship's carriage, the torque monitoring data of the synchronous shaft is verified, i.e., the calculated torque value of the intermediate synchronous shaft is checked. With intermediate synchronous shaft torque T s5 The average error MD does not exceed the error limit ψ of the synchronous shaft torque monitoring system.

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

9. The method for verifying the load of the gear and rack in the ship lift drive system according to claim 8, characterized in that: In step 6, the fitted value of the total load of the ship lift's cabin during the travel period. , The average total load of the ship's compartments during the journey is related to the up and down operating conditions of the compartments. Calculate the total load of the ship compartment at each monitoring sampling time. The average value.

10. The method for verifying the load of the gear and rack in the ship lift drive system according to claim 9, characterized in that: In step 6, the value of the gear and rack load monitoring is verified to be the fitted value of the total load of the ship lift cabin during the corresponding stroke. Calculate the average total load of the ship compartment The difference should satisfy If the conditions are met, the accuracy of the monitored values ​​is verified, and the load error limit value is met. It is related to the monitoring equipment for the operation of the ship lift.

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