Efficient and energy-saving cage winch intelligent control system and control method thereof

Abstract

The invention relates to the technical field of cage stranding machine control, and discloses an efficient and energy-saving cage stranding machine intelligent control system and a control method thereof.The efficient and energy-saving cage stranding machine intelligent control system comprises a data acquisition module which is constructed into a seven-order state matrix; the risk judgment module judges that the minimum singular value is smaller than a preset threshold value and marks the cage stranding machine as a risk state; the set division module is divided into a main cage set and a subordinate cage set; the power adjusting module adjusts the power of the cage body; the instruction generation module is used for generating a feedback power instruction and an alternating current instruction; and the bus voltage verification module is used for estimating bus voltage increment in real time. According to the method, the seven-order state matrix of the cage stranding machine is constructed, whether the cage stranding machine is in the risk state or not is judged, the seven cage bodies are divided into the main cage and the subordinate cages, power distribution is dynamically adjusted, system unbalance caused by energy concentration is avoided, the probability of bus overvoltage shutdown is greatly reduced, and the conditions of cable scrapping and mechanical abrasion are reduced.

Description

Technical Field

[0001] This invention relates to the field of cage winch control technology, and more specifically, to a highly efficient and energy-saving intelligent control system and control method for cage winches. Background Technology

[0002] Cage stranding machines are core equipment in the production of cables, optical cables, and other products. They achieve the stranding of multiple single wires through the synchronous revolution of multiple cages, significantly improving production efficiency. With the increasing demand for high-specification, large-section cables, cage stranding machines are gradually developing towards multi-cage, high-inertia designs. For example, a rigid cage design with seven cages can hold 12 to 60 coils per cage, with a total dynamic weight of rotating parts reaching tens of tons and an equivalent inertia several times that of a single-cage machine. However, to simplify the design, these machines often adopt a common DC bus architecture, where all cage inverter active feedback units and electric loads share the same bus. This leads to serious problems during production switchovers or emergency stops.

[0003] High-inertia cages generate significant regenerative power during deceleration, with the total power peaking extremely high during synchronous deceleration of seven cages. While a common busbar design allows the electric load to dissipate some energy, the regenerative power often far exceeds the dissipation capacity. Excess energy cannot be fed back to the grid in time, leading to a sudden surge in busbar voltage, easily triggering overvoltage protection shutdowns, causing cable failure and mechanical wear. Traditional methods of dissipating excess energy through braking resistors not only waste a large amount of electrical energy but also cause equipment aging due to prolonged high temperatures. Furthermore, uneven regenerative power across cages, with some cages having an excessively high proportion, leads to instability in the energy coupling network, further exacerbating the risk of voltage runaway. Summary of the Invention

[0004] This invention provides a highly efficient and energy-saving intelligent control system and control method for cage winches, solving the technical problems mentioned in the background.

[0005] This invention provides a highly efficient and energy-saving intelligent control system for cage winches, comprising:

[0006] The data acquisition module is used to collect the instantaneous regenerative power, AC side line voltage and total load power in the electric state of the seven cages of the cage winch in each control cycle, and simultaneously collect the operating data of the seven cages to construct a seventh-order state matrix.

[0007] The operational data includes: equivalent moment of inertia, angular velocity, and angular acceleration;

[0008] The risk assessment module is used to calculate the minimum singular value of the seventh-order state matrix and determine if it is less than the first preset threshold. If so, the cage winch is marked as a risk state.

[0009] The set division module is used to divide the instantaneous regeneration power of the seven cages into a dominant cage set and a subordinate cage set when the cage winch is marked as a risk state, by comparing the proportion of the instantaneous regeneration power of the seven cages in the total regeneration power of the seven cages with a second preset threshold.

[0010] The power adjustment module is used to generate an adjustment coefficient based on the minimum singular value and a first preset threshold. Under the premise of keeping the total regeneration power of the seven cages unchanged, the instantaneous regeneration power of the cages in the dominant cage set is reduced according to the adjustment coefficient, and the reduced power is transferred to the subordinate cage set in equal amounts.

[0011] The instruction generation module is used to generate the feedback power instruction within the control cycle based on the total load power in the electric state and the upper limit of the active feedback power, and convert it with the AC side line voltage to obtain the AC current instruction of the active feedback unit.

[0012] The bus voltage verification module is used to estimate the bus voltage increment in real time to obtain the estimated bus voltage value. If it is determined that the bus voltage has reached the preset overvoltage threshold, a deceleration command is generated to limit the deceleration of each cage and the braking resistor is activated.

[0013] Furthermore, the seventh-order state matrix comprises 7 rows and 7 columns. If the element in the i-th row and j-th column is a diagonal element, then the corresponding element value is represented as... Otherwise, the corresponding element value is represented as Where 1≤i≤7, 1≤j≤7, and Let i and j represent the equivalent moments of inertia of the i-th and j-th cages, respectively. and Let i and j represent the angular velocities of the i-th and j-th cages, respectively. This represents the angular acceleration of the i-th cage. This represents the equivalent capacitance of the common DC bus. Indicates the instantaneous voltage of the bus. This represents the coupling coefficient between the i-th and j-th cages.

[0014] Furthermore, the seventh-order state matrix is ​​decomposed by singular value decomposition to obtain a diagonal matrix. The minimum value of the diagonal elements of the diagonal matrix is ​​taken as the minimum singular value. The product of all diagonal elements of the diagonal matrix is ​​calculated, and if the ratio of the product to the rated threshold is less than 0.01, the cage winch is marked as a risk state. The first preset threshold is set to 15% of the minimum singular value under rated operating conditions.

[0015] Furthermore, if the proportion of the instantaneous regeneration power of the cage in the total regeneration power of the seven cages is greater than or equal to the second preset threshold, then it is added to the dominant cage set; otherwise, it is added to the subordinate cage set. The second preset threshold is set to 1 / 7.

[0016] Furthermore, the adjustable coefficient The calculation formula is as follows: ,in Represents the minimum singular value. This represents the first preset threshold; the instantaneous regeneration power of the cages in the dominant cage set is multiplied by the adjustable coefficient and reduced, and then allocated according to the proportion of the instantaneous regeneration power of the cages in the subordinate cage set to their total regeneration power.

[0017] Furthermore, the difference between the instantaneous regenerative power of the seven cages and the sum of the load power in the motored state is calculated, and the minimum value of this difference and the upper limit of the active feedback power is taken as the feedback power command within the control cycle; AC current command. The calculation formula is as follows: ,in This indicates the power value corresponding to the feedback power command. This indicates the AC side line voltage.

[0018] Furthermore, the estimated bus voltage is equal to the sum of the instantaneous bus voltage and the bus voltage increment, and the preset overvoltage threshold is a custom parameter;

[0019] Bus voltage increment The calculation formula is as follows: ,in It equals the instantaneous regenerative power of the seven cages minus the sum of the load power in electric mode minus the commanded active feedback power. Indicates the duration of the control cycle. This represents the equivalent capacitance of the common DC bus. This represents the instantaneous voltage of the bus.

[0020] Furthermore, the deceleration limit coefficient is first calculated based on the estimated bus voltage and the preset overvoltage threshold. Then, the deceleration limit coefficient is multiplied by the angular velocity as the deceleration command for each cage. When the instantaneous bus voltage reaches the brake clamping voltage, a conduction command is sent to the DC bus brake chopper. The chopper clamps the bus voltage at the brake clamping voltage. When the instantaneous bus voltage drops back to the hysteresis voltage, the chopper is automatically turned off. The brake clamping voltage and the hysteresis voltage are both user-defined parameters.

[0021] Deceleration Limit Coefficient The calculation formula is as follows:

[0022] ,in This represents the estimated bus voltage. This indicates the preset overvoltage threshold. Indicates the rated voltage of the busbar. This represents the minimum deceleration limit coefficient, which is a user-defined parameter.

[0023] Furthermore, it also includes a safety judgment module, which is used to determine if the cage winch is in a safe state, and then archive the data to enter the next control cycle; the condition for determining that the cage winch is in a safe state is: when the instantaneous voltage of the bus is less than the preset overvoltage threshold and the minimum singular value is greater than or equal to the first preset threshold for a preset time, wherein the preset time is a custom parameter.

[0024] This invention provides a highly efficient and energy-saving intelligent control method for cage winches, comprising the following steps:

[0025] Step S101: In each control cycle, the instantaneous regenerative power, AC side line voltage and the sum of the load power in the motor state of the seven cages of the cage winch are collected respectively, and the operating data of the seven cages are collected simultaneously to construct a seventh-order state matrix.

[0026] Step S102: Calculate the minimum singular value of the seventh-order state matrix and determine if it is less than the first preset threshold. Then mark the cage winch as a risk state.

[0027] Step S103: When the cage winch is marked as a risk state, the instantaneous regeneration power of the seven cages is compared with the second preset threshold according to its proportion in the total regeneration power of the seven cages, and divided into a dominant cage set and a subordinate cage set.

[0028] Step S104: Generate adjustment coefficients based on the minimum singular value and the first preset threshold. While keeping the total regeneration power of the seven cages unchanged, reduce the instantaneous regeneration power of the cages in the dominant cage set according to the adjustment coefficients, and transfer the reduced power to the subordinate cage set in equal amounts.

[0029] Step S105: Generate the feedback power command within the control cycle based on the total load power in the electric state and the upper limit of the active feedback power, and convert it with the AC side line voltage to obtain the AC current command of the active feedback unit.

[0030] Step S106: Real-time estimation of bus voltage increment to obtain bus voltage estimate value, and determination that it has reached the preset overvoltage threshold, then generating a command to limit the deceleration of each cage and engaging the braking resistor.

[0031] In step S107, if it is determined that the cage winch is in a safe state, the data is archived and the process returns to step S101 to continue execution.

[0032] The beneficial effects of this invention are as follows: By constructing a seven-order state matrix of the cage winch, this invention determines whether the cage winch is in a risky state and divides the seven cages into dominant cages and subordinate cages, dynamically adjusting the power distribution to balance the energy output of each cage and avoid system imbalance caused by energy concentration. At the same time, based on the load power and feedback upper limit, instructions are generated, and combined with bus voltage monitoring, deceleration is limited in time and braking resistors are activated, which greatly reduces the probability of bus overvoltage shutdown and reduces cable scrapping and mechanical wear. In addition, the system improves the regenerative energy recovery rate, reduces the energy waste and overheating problems of the braking resistor, and improves production efficiency while ensuring the safe and stable operation of the equipment, achieving a dual optimization of high efficiency and energy saving. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of an intelligent control system for a cage winch that is highly efficient and energy-saving according to the present invention;

[0034] Figure 2 This is a flowchart of an intelligent control method for a high-efficiency and energy-saving cage winch according to the present invention.

[0035] In the diagram: Data acquisition module 101, risk assessment module 102, set partitioning module 103, power adjustment module 104, instruction generation module 105, bus voltage verification module 106, and safety assessment module 107. Detailed Implementation

[0036] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the subject matter described herein, and changes may be made to the function and arrangement of the elements discussed without departing from the scope of this specification. Various processes or components may be omitted, substituted, or added as needed in the examples. Furthermore, features described in some examples may be combined in other examples.

[0037] It should be noted that, unless otherwise defined, the technical or scientific terms used in one or more embodiments of the present invention should have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in one or more embodiments of the present invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" indicate that the element or object preceding the term encompasses the elements or objects listed following the term and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0038] like Figures 1-2 As shown, a highly efficient and energy-saving intelligent control system for cage winches includes:

[0039] The data acquisition module 101 is used to acquire the instantaneous regenerative power, AC side line voltage and total load power in the electric state of the seven cages of the cage winch in each control cycle, and simultaneously acquire the operating data of the seven cages to construct a seventh-order state matrix.

[0040] The operational data includes: equivalent moment of inertia, angular velocity, and angular acceleration;

[0041] The risk assessment module 102 is used to calculate the minimum singular value of the seventh-order state matrix and determine that it is less than a first preset threshold, and then marks the cage winch as a risk state.

[0042] The set division module 103 is used to divide the instantaneous regeneration power of the seven cages into a dominant cage set and a subordinate cage set when the cage winch is marked as a risk state, by comparing the proportion of the instantaneous regeneration power of the seven cages in the total regeneration power of the seven cages with a second preset threshold.

[0043] The power adjustment module 104 is used to generate an adjustment coefficient based on the minimum singular value and a first preset threshold. Under the premise of keeping the total regeneration power of the seven cages unchanged, the instantaneous regeneration power of the cages in the dominant cage set is reduced according to the adjustment coefficient, and the reduced power is transferred to the subordinate cage set in equal amounts.

[0044] The instruction generation module 105 is used to generate a feedback power instruction within the control cycle based on the total load power in the electric state and the upper limit of the active feedback power, and convert it with the AC side line voltage to obtain the AC current instruction of the active feedback unit.

[0045] The bus voltage verification module 106 is used to estimate the bus voltage increment in real time to obtain the estimated bus voltage value. If it is determined that the bus voltage has reached the preset overvoltage threshold, a deceleration command for each cage is generated and the braking resistor is engaged.

[0046] It should be noted that instantaneous regenerative power represents the instantaneous electrical power fed back to the DC bus by the motor inverter during the deceleration or braking process of the cage, which can be collected in real time by the frequency converter of each cage; total power of the motored load represents the total power of other equipment sharing the same DC bus with the cage winch when they are in a power consumption state, which can be collected in real time by the bus power monitoring module; AC side line voltage represents the effective value of the line voltage on the AC side of the power grid, which can be collected in real time by the voltage sensor; the active feedback power limit of the active feedback unit (AFE) represents the maximum power limit that can safely and stably invert DC power into AC power and feed it back to the power grid. It can be set as a preset constant according to the equipment hardware parameters and stored in the controller to prevent the feedback power from exceeding the hardware limit of the active feedback unit and avoid it from shutting down due to overcurrent and overvoltage protection.

[0047] In one embodiment of the present invention, the seventh-order state matrix comprises 7 rows and 7 columns. If the element in the i-th row and j-th column is a diagonal element, then the corresponding element value is represented as follows: Otherwise, the corresponding element value is represented as Where 1≤i≤7, 1≤j≤7, and Let i and j represent the equivalent moments of inertia of the i-th and j-th cages, respectively. and Let i and j represent the angular velocities of the i-th and j-th cages, respectively. This represents the angular acceleration of the i-th cage. This represents the equivalent capacitance of the common DC bus. Indicates the instantaneous voltage of the bus. This represents the coupling coefficient between the i-th and j-th cages.

[0048] It should be noted that the equivalent capacitance and instantaneous voltage of the common DC bus are not separate for cages. The coupling coefficient represents the correlation strength between cages during operation. If there is axial elastic coupling between cages, it can be set as the ratio of mechanical coupling stiffness to reflect the relative strength of mechanical correlation between different cages. If the cages share a gearbox, it can be set as the ratio of output torque to reflect the energy transfer distribution relationship.

[0049] In one embodiment of the present invention, a diagonal matrix is ​​obtained by decomposing the seventh-order state matrix through singular value decomposition. The minimum value of the diagonal elements of the diagonal matrix is ​​taken as the minimum singular value. A first preset threshold is set to 15% of the minimum singular value under rated operating conditions. If the value is less than this, it indicates that the coupling degree of the cage winch system has increased sharply, and the feedback power may be concentrated in a few channels, causing bus overvoltage. The calculation formula of singular value decomposition is as follows:

[0050] Where A represents the seventh-order state moment, Represents a left orthogonal matrix. Represents a right orthogonal matrix. Let T denote a diagonal matrix, and let T denote the matrix transpose operation. The solution of the singular value decomposition can be directly obtained by using existing linear algebra libraries, such as LAPACK (linear algebra package) and ARPACK (Arnoldi package), which will not be elaborated here.

[0051] In one embodiment of the present invention, the seventh-order state matrix is ​​decomposed by singular value decomposition to obtain a diagonal matrix. The product of all diagonal elements of the diagonal matrix is ​​calculated, and if the ratio of the product to the rated threshold is less than 0.01, the cage winch is marked as a risk state, indicating that the energy transfer path between cages has failed and the bus voltage is prone to overvoltage due to insufficient regulation capability. The rated threshold can be set by testing under different operating conditions and fault conditions.

[0052] In one embodiment of the present invention, if the proportion of the instantaneous regeneration power of the cage in the total regeneration power of the seven cages is greater than or equal to a second preset threshold, then the cage is added to the dominant cage set; otherwise, it is added to the subordinate cage set. The second preset threshold is set to 1 / 7.

[0053] In one embodiment of the present invention, the adjustable coefficient The calculation formula is as follows:

[0054] ,in Represents the minimum singular value. This represents the first preset threshold; the instantaneous regeneration power of the cages in the dominant cage set is multiplied by the adjustable coefficient and reduced, and then allocated according to the proportion of the instantaneous regeneration power of the cages in the subordinate cage set to their total regeneration power.

[0055] It should be noted that, while keeping the total regenerative power of the seven cages constant, adjusting the instantaneous regenerative power of each cage can both reduce the energy dominance of the dominant cage, thus alleviating its excessive control over the overall energy coupling network and preventing further collapse of the energy coupling tensor that would lead to a degradation of the system's regulation capability, and utilize the redundant regulation capability of the subordinate cages to share the energy pressure, making the power distribution of each cage more balanced. This restores the rank characteristics of the energy coupling network and the bus voltage regulation capability, while avoiding overload impacts on individual cages due to power fluctuations, thus balancing system stability and the operational safety of each cage.

[0056] In one embodiment of the present invention, the difference between the instantaneous regenerative power of the seven cages and the sum of the load power in the motored state is calculated, and the minimum value of this difference and the upper limit of the active feedback power is taken as the feedback power command within the control cycle; AC current command The calculation formula is as follows: ,in This indicates the power value corresponding to the feedback power command. This indicates the AC side line voltage.

[0057] It should be noted that the above difference represents the net regenerative power that can be fed back to the grid. If it is less than or equal to the upper limit of the active feedback power, it means that the net regenerative power has not exceeded the processing capacity of the active feedback unit. Otherwise, it means that the net regenerative power exceeds the safety limit. The remaining unfeeded power needs to be consumed through the braking resistor to avoid bus overvoltage and ensure that the regenerative energy is fed back to the grid to the maximum extent within the safe range of the active feedback unit.

[0058] In one embodiment of the present invention, the estimated bus voltage is equal to the sum of the instantaneous bus voltage and the bus voltage increment. The preset overvoltage threshold is a custom parameter; preferably, the preset overvoltage threshold is set to 0.9 times the trip value. The calculation formula is as follows: ,in It equals the instantaneous regenerative power of the seven cages minus the sum of the load power in electric mode minus the commanded active feedback power. Indicates the duration of the control cycle. This represents the equivalent capacitance of the common DC bus. This represents the instantaneous voltage of the bus.

[0059] In one embodiment of the present invention, the deceleration limit coefficient is first calculated based on the estimated value of the bus voltage and the preset overvoltage threshold. Then, the product of the deceleration limit coefficient and the angular velocity is used as the deceleration command for each cage. When the instantaneous bus voltage reaches the brake clamping voltage, a conduction command is sent to the DC bus brake chopper. The chopper clamps the bus voltage at the brake clamping voltage. When the instantaneous bus voltage drops back to the hysteresis voltage, the chopper is automatically turned off. The brake clamping voltage and the hysteresis voltage are both user-defined parameters. For example, the brake clamping voltage is set to 750V and the hysteresis voltage is set to 740V.

[0060] Deceleration Limit Coefficient The calculation formula is as follows:

[0061] ,in This represents the estimated bus voltage. This indicates the preset overvoltage threshold. Indicates the rated voltage of the busbar. This represents the minimum deceleration limit coefficient (to avoid excessively slow deceleration). It is a custom parameter, and preferably, the minimum deceleration limit coefficient is set to 0.15.

[0062] For example, if the trip value is 800V, then the preset overvoltage threshold is 800 × 0.9 = 720V. Assuming the estimated bus voltage increment is 15V and the instantaneous bus voltage is 700V, then the estimated bus voltage is 15 + 700V = 715V. The rated bus voltage is 690V, and the minimum deceleration limit coefficient is set to 0.15. Substituting these values ​​into the above calculation formula, we can obtain that the deceleration limit coefficient is equal to 0.167.

[0063] It should be noted that the real-time estimation of bus voltage increment is linked with the preset overvoltage threshold, which can detect the voltage rise trend caused by concentrated regenerative power in advance in milliseconds. This allows for immediate reduction of deceleration torque and activation of braking resistors, preventing the entire unit from tripping due to bus overvoltage. At the same time, it ensures that energy feedback is maximized and resistance heating is minimized within the safety boundary, achieving dual optimization of efficiency and protection.

[0064] In one embodiment of the present invention, a high-efficiency and energy-saving intelligent control system for a cage winch further includes: a safety judgment module 107, which is used to determine that the cage winch is in a safe state, and then archive the data to enter the next control cycle.

[0065] The condition for determining that the cage winch is in a safe state is: when the instantaneous voltage of the bus is less than the preset overvoltage threshold and the minimum singular value is greater than or equal to the first preset threshold for a preset duration, where the preset duration is a user-defined parameter.

[0066] It should be noted that the data archive includes: minimum singular value, instantaneous regenerative power of the seven cages of the hoist, and instantaneous bus voltage, etc.; the duration of the above control cycle can be set to 200ms, and the preset duration can be set to 1s. In addition, when it is determined that the hoist is still in a risky state, the execution continues from the set division module 103 to the bus voltage verification module 106. When the instantaneous bus voltage reaches the trip value, the hardware trip is directly triggered, the main circuit power supply is cut off, and the equipment is forcibly shut down for protection.

[0067] In one embodiment of the present invention, such as Figure 2 As shown, a highly efficient and energy-saving intelligent control method for cage winches includes the following steps:

[0068] Step S101: In each control cycle, the instantaneous regenerative power, AC side line voltage and the sum of the load power in the motor state of the seven cages of the cage winch are collected respectively, and the operating data of the seven cages are collected simultaneously to construct a seventh-order state matrix.

[0069] Step S102: Calculate the minimum singular value of the seventh-order state matrix and determine if it is less than the first preset threshold. Then mark the cage winch as a risk state.

[0070] Step S103: When the cage winch is marked as a risk state, the instantaneous regeneration power of the seven cages is compared with the second preset threshold according to its proportion in the total regeneration power of the seven cages, and divided into a dominant cage set and a subordinate cage set.

[0071] Step S104: Generate adjustment coefficients based on the minimum singular value and the first preset threshold. While keeping the total regeneration power of the seven cages unchanged, reduce the instantaneous regeneration power of the cages in the dominant cage set according to the adjustment coefficients, and transfer the reduced power to the subordinate cage set in equal amounts.

[0072] Step S105: Generate the feedback power command within the control cycle based on the total load power in the electric state and the upper limit of the active feedback power, and convert it with the AC side line voltage to obtain the AC current command of the active feedback unit.

[0073] Step S106: Real-time estimation of bus voltage increment to obtain bus voltage estimate value, and determination that it has reached the preset overvoltage threshold, then generating a command to limit the deceleration of each cage and engaging the braking resistor.

[0074] In step S107, if it is determined that the cage winch is in a safe state, the data is archived and the process returns to step S101 to continue execution.

[0075] It should be noted that the interval and threshold sizes are set for ease of comparison. The size of the threshold depends on the amount of sample data and the base number set by those skilled in the art for each set of sample data, as long as it does not affect the proportional relationship between the parameter and the quantized value. Furthermore, the above formulas are all dimensionless calculations, and the formulas are derived from software simulations using a large amount of collected data to obtain the most recent real-world results. The preset parameters in the formulas are set by those skilled in the art according to the actual situation.

[0076] The embodiments of this example have been described above. However, this example is not limited to the specific implementation methods described above. The specific implementation methods described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms based on the guidance of this example, and all of them are within the protection scope of this example.

Claims

1. A highly efficient and energy-saving intelligent control system for cage winches, characterized in that, include: The data acquisition module is used to collect the instantaneous regenerative power, AC side line voltage and total load power in the electric state of the seven cages of the cage winch in each control cycle, and simultaneously collect the operating data of the seven cages to construct a seventh-order state matrix. The operational data includes: equivalent moment of inertia, angular velocity, and angular acceleration; The risk assessment module is used to calculate the minimum singular value of the seventh-order state matrix and determine if it is less than the first preset threshold. If so, the cage winch is marked as a risk state. The set division module is used to divide the instantaneous regeneration power of the seven cages into a dominant cage set and a subordinate cage set when the cage winch is marked as a risk state, by comparing the proportion of the instantaneous regeneration power of the seven cages in the total regeneration power of the seven cages with a second preset threshold. The power adjustment module is used to generate an adjustment coefficient based on the minimum singular value and a first preset threshold. Under the premise of keeping the total regeneration power of the seven cages unchanged, the instantaneous regeneration power of the cages in the dominant cage set is reduced according to the adjustment coefficient, and the reduced power is transferred to the subordinate cage set in equal amounts. The instruction generation module is used to generate the feedback power instruction within the control cycle based on the total load power in the electric state and the upper limit of the active feedback power, and convert it with the AC side line voltage to obtain the AC current instruction of the active feedback unit. The bus voltage verification module is used to estimate the bus voltage increment in real time to obtain the estimated bus voltage value. If it is determined that the bus voltage has reached the preset overvoltage threshold, a deceleration command is generated to limit the deceleration of each cage and the braking resistor is activated.

2. The intelligent control system for a high-efficiency and energy-saving cage winch according to claim 1, characterized in that, The seventh-order state matrix consists of 7 rows and 7 columns. If the element in the i-th row and j-th column is a diagonal element, then the corresponding element value is represented as... Otherwise, the corresponding element value is represented as Where 1≤i≤7, 1≤j≤7, and Let i and j represent the equivalent moments of inertia of the i-th and j-th cages, respectively. and Let i and j represent the angular velocities of the i-th and j-th cages, respectively. This represents the angular acceleration of the i-th cage. This represents the equivalent capacitance of the common DC bus. Indicates the instantaneous voltage of the bus. This represents the coupling coefficient between the i-th and j-th cages.

3. The intelligent control system for a high-efficiency and energy-saving cage winch according to claim 1, characterized in that, The seventh-order state matrix is ​​decomposed by singular value decomposition to obtain a diagonal matrix. The minimum value of the diagonal elements of the diagonal matrix is ​​taken as the minimum singular value. The product of all diagonal elements of the diagonal matrix is ​​calculated, and if the ratio of the product to the rated threshold is less than 0.01, the cage winch is marked as a risk state. The first preset threshold is set to 15% of the minimum singular value under rated operating conditions.

4. The intelligent control system for a high-efficiency and energy-saving cage winch according to claim 1, characterized in that, If the instantaneous regeneration power of a cage is greater than or equal to the proportion of the total regeneration power of the seven cages, it is added to the dominant cage set; otherwise, it is added to the subordinate cage set. The second preset threshold is set to 1 / 7.

5. The intelligent control system for a high-efficiency and energy-saving cage winch according to claim 1, characterized in that, Adjustable coefficient The calculation formula is as follows: ,in Represents the minimum singular value. This represents the first preset threshold; the instantaneous regeneration power of the cages in the dominant cage set is multiplied by the adjustable coefficient and reduced, and then allocated according to the proportion of the instantaneous regeneration power of the cages in the subordinate cage set to their total regeneration power.

6. The intelligent control system for a high-efficiency and energy-saving cage winch according to claim 1, characterized in that, Calculate the difference between the instantaneous regenerative power of the seven cages and the sum of the load power in the motored state, and take the minimum of this difference and the upper limit of the active feedback power as the feedback power command within the control cycle; AC current command. The calculation formula is as follows: ,in This indicates the power value corresponding to the feedback power command. This indicates the AC side line voltage.

7. The intelligent control system for a high-efficiency and energy-saving cage winch according to claim 1, characterized in that, The estimated bus voltage is equal to the sum of the instantaneous bus voltage and the bus voltage increment. The preset overvoltage threshold is a user-defined parameter. Bus voltage increment The calculation formula is as follows: ,in It equals the instantaneous regenerative power of the seven cages minus the sum of the load power in electric mode minus the commanded active feedback power. Indicates the duration of the control cycle. This represents the equivalent capacitance of the common DC bus. This represents the instantaneous voltage of the bus.

8. The intelligent control system for a high-efficiency and energy-saving cage winch according to claim 1, characterized in that, First, the deceleration limit coefficient is calculated based on the estimated bus voltage and the preset overvoltage threshold. Then, the deceleration limit coefficient is multiplied by the angular velocity as the deceleration command for each cage. When the instantaneous bus voltage reaches the brake clamping voltage, a conduction command is sent to the DC bus brake chopper. The chopper clamps the bus voltage at the brake clamping voltage. When the instantaneous bus voltage drops back to the hysteresis voltage, the chopper is automatically turned off. The brake clamping voltage and the hysteresis voltage are both user-defined parameters. Deceleration Limit Coefficient The calculation formula is as follows: ,in This represents the estimated bus voltage. This indicates the preset overvoltage threshold. Indicates the rated voltage of the busbar. This represents the minimum deceleration limit coefficient, which is a user-defined parameter.

9. The intelligent control system for a high-efficiency and energy-saving cage winch according to claim 1, characterized in that, Also includes: The safety judgment module is used to determine whether the cage winch is in a safe state, and then archives the data to enter the next control cycle; The condition for determining that the cage winch is in a safe state is: when the instantaneous voltage of the bus is less than the preset overvoltage threshold and the minimum singular value is greater than or equal to the first preset threshold for a preset duration, where the preset duration is a user-defined parameter.

10. A highly efficient and energy-saving intelligent control method for cage winches, characterized in that, To implement a high-efficiency and energy-saving intelligent control system for a cage winch as described in any one of claims 1 to 9, the following steps are included: Step S101: In each control cycle, the instantaneous regenerative power, AC side line voltage and the sum of the load power in the motor state of the seven cages of the cage winch are collected respectively, and the operating data of the seven cages are collected simultaneously to construct a seventh-order state matrix. Step S102: Calculate the minimum singular value of the seventh-order state matrix and determine if it is less than the first preset threshold. Then mark the cage winch as a risk state. Step S103: When the cage winch is marked as a risk state, the instantaneous regeneration power of the seven cages is compared with the second preset threshold according to its proportion in the total regeneration power of the seven cages, and divided into a dominant cage set and a subordinate cage set. Step S104: Generate adjustment coefficients based on the minimum singular value and the first preset threshold. While keeping the total regeneration power of the seven cages unchanged, reduce the instantaneous regeneration power of the cages in the dominant cage set according to the adjustment coefficients, and transfer the reduced power to the subordinate cage set in equal amounts. Step S105: Generate the feedback power command within the control cycle based on the total load power in the electric state and the upper limit of the active feedback power, and convert it with the AC side line voltage to obtain the AC current command of the active feedback unit. Step S106: Real-time estimation of bus voltage increment to obtain bus voltage estimate value, and determination that it has reached the preset overvoltage threshold, then generating a command to limit the deceleration of each cage and engaging the braking resistor. In step S107, if it is determined that the cage winch is in a safe state, the data is archived and the process returns to step S101 to continue execution.

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