A method and system for controlling the synchronous winding and unwinding of multiple hooks of a hoist winch

Abstract

The application discloses a hoist winch multi-hook synchronous winding and unwinding control method and system, the hoist winch multi-hook synchronous winding and unwinding control method comprises the following steps: step one, setting winches at different positions on a hoisting platform, the hooks of each winch are used for jointly suspending a same hoisted object; step two, collecting position data and / or real-time tension data of each hook in real time; step three, according to the collected data, generating control instructions matched with each winch respectively and independently through a preset synchronous control algorithm; and step four, sending the control instructions to corresponding winches to correct the position data and / or real-time tension data of each hook. The method can effectively reduce the problems of low synchronization accuracy and uneven load distribution of a traditional system, and improve the safety and efficiency of hoisting operation.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of automated control technology for lifting equipment. More specifically, the present invention relates to a method and system for synchronous raising and lowering of multiple hooks in a lifting winch. Background Technology

[0002] In large-scale water area construction operations such as underwater tunnel segment hoisting and seabed caisson placement, multi-hook hoisting winches are core equipment, and their synchronous launching and retracting accuracy directly determines the safety and efficiency of construction.

[0003] Currently, the existing technologies for synchronous raising and lowering control of multi-hook crane winches mainly adopt the following solutions: First, in the stage of establishing a synchronization reference, the initial attitude calibration of the hoisted object is completed by manual observation methods (such as using tools such as levels and measuring tapes) to determine the reference for synchronous movement of multiple hooks; Second, in the stage of synchronous control execution, a single mechanical synchronization structure (such as gear linkage mechanism or chain drive mechanism) or a simple electrical control method (such as a single frequency converter driving multiple motors) is used to achieve the coordination of raising and lowering actions of multiple hooks; Finally, in terms of equipment protection and functional expansion design, no special optimization has been made for the characteristics of the underwater environment. The sensors and electrical components are used with conventional land equipment configurations, and the system does not reserve access interfaces for auxiliary monitoring equipment (such as displacement sensors and pressure sensors). Fault tracing is mainly completed by manually recording information such as equipment operating parameters and fault occurrence time.

[0004] This leads to significant shortcomings in the practical application of existing technical solutions, specifically: 1) Insufficient synchronization reference accuracy: Manual observation is easily affected by ambient light, wind and waves, and subjective errors in personnel operation, resulting in errors in the level calibration before hoisting. Initial attitude deviations will continue to accumulate during subsequent multi-hook deployment and retrieval, eventually causing attitude deviations of the hoisted object, failing to meet the requirements of high-precision construction. 2) Poor stability of synchronization control: A single mechanical synchronization structure is prone to mechanical jamming or increased transmission clearance under complex conditions such as sudden load changes and high-speed deployment and retrieval. Simple electrical control lacks a dynamic load compensation mechanism, both of which can easily lead to synchronization failure. 3) Weak adaptability to underwater environment: Sensors and electrical components in existing technologies are not designed for protection against the high corrosion and high pressure environment of underwater, making them prone to damage such as component corrosion and sealing failure. At the same time, the communication link does not adopt anti-interference design, making it susceptible to signal transmission interruption or distortion due to the underwater electromagnetic environment. 4) Poor system scalability and fault tracing capability: The existing system does not have standardized interfaces, making it difficult to connect auxiliary monitoring equipment to achieve comprehensive monitoring of construction parameters. Furthermore, fault information relies on manual recording, which is not only inefficient but also prone to omissions or errors, resulting in time-consuming and inaccurate fault location, which seriously affects the construction progress. Summary of the Invention

[0005] To address one or more of the technical problems mentioned above, this invention provides a method and system for synchronous raising and lowering of multiple hooks in a lifting winch. This solves the problems of low synchronization accuracy and uneven load distribution in traditional systems, thereby improving the safety and efficiency of lifting operations.

[0006] According to a first aspect of the present invention, a method for synchronous raising and lowering of multiple hooks in a lifting winch is provided, comprising the following steps: Step 1, setting winches at different positions on a lifting platform, wherein the hooks of each winch are used to suspend the same load; Step 2, collecting position data and / or real-time tension data of each hook in real time; Step 3, generating control commands adapted to each winch independently based on the collected data and through a preset synchronous control algorithm; Step 4, sending the control commands to the corresponding winches to correct the position data and / or real-time tension data of each hook.

[0007] In some embodiments, step three further includes: setting one of the hooks as a reference value or taking the average value as the reference value based on the position data of each hook; obtaining control commands for the lowering speed of each winch through a preset synchronous control algorithm, so as to coordinately adjust the position of each hook.

[0008] In some embodiments, step three further includes: setting a tension deviation threshold; if the real-time tension deviation of at least one winch exceeds the tension deviation threshold, obtaining the lowering torque of each winch through a preset synchronization control algorithm to coordinately adjust the tension of each hook.

[0009] In some embodiments, the synchronization control algorithm includes repeatedly executing the following steps before the suspended load reaches a set depth:

[0010] Step 5: Obtain the release length Li(t) of the wire rope corresponding to the i-th winch, i∈[1,n], where n is the number of winches;

[0011] Step 6: Based on the released length Li(t) of the wire rope, calculate the real-time position deviation di(t) of the hook of each winch. The formula for calculating the real-time position deviation di(t) is as follows:

[0012] ;

[0013] Step 7: Based on each real-time position deviation di(t), send the command speed Vi to the drive unit of the i-th winch. The formula for calculating the command speed Vi is:

[0014] ;

[0015] Where Vs is the given descent speed, Kp is the preset proportional coefficient, Ti is the preset integral time constant, and Td is the preset derivative time constant.

[0016] In some embodiments, the synchronization control algorithm further includes:

[0017] Step 8: Before step 5, obtain the tension value Fi(t) of the wire rope of the i-th winch in real time, i∈[1,n], where n is the number of winches;

[0018] Step nine, calculate the real-time tension deviation Ei(t) of the i-th winch. The formula for calculating the real-time tension deviation Ei(t) is:

[0019] ;

[0020] Step 10: If the real-time tension deviation Ei(t) of each winch does not exceed the tension deviation threshold, proceed to step 5; if the real-time tension deviation Ei(t) of the i-th winch exceeds the tension deviation threshold, proceed to step 11.

[0021] Step 11: Send the command torque Ti(t) to the drive unit of the i-th winch. The formula for calculating the command torque Ti(t) is:

[0022] ;

[0023] Where Ts is the given lowering torque, and Kf is the preset torque compensation coefficient.

[0024] In some embodiments, step two further includes: installing encoders on each winch to measure the rotational speed of the drum and the length of the wire rope released in real time; and / or installing tension sensors on each winch to monitor the real-time tension value of the hook or wire rope.

[0025] In some embodiments, step three further includes: setting an inclination sensor on the suspended object, the inclination sensor collecting the lifting status of the suspended object in real time, and assisting the synchronous control algorithm to correct the control commands.

[0026] In some embodiments, dynamic compensation is also included, which includes: automatic system compensation, the steps of which are: if a sudden change in tension of one of the hooks is detected, an emergency synchronization mode is triggered to adjust the torque of other winches to adjust the state of the hoisted object; and / or manual intervention compensation, the steps of which are: adjusting the speed of one of the hooks individually through the human-machine interface, and the system automatically and synchronously updating the control parameters of other hooks.

[0027] According to a second aspect of the present invention, a multi-hook synchronous winding and unwinding system for a crane winch is provided, applied to the aforementioned multi-hook synchronous winding and unwinding control method for a crane winch. The system is characterized by comprising: a crane platform; a multi-hook execution unit comprising N winches, where N≥2, each winch being equipped with a drive unit, a drum, and a hook, with a wire rope wound around the drum, and both ends of the wire rope connected to the drive unit and the hook, respectively; a sensor group, respectively disposed on each winch, for collecting hook position data and wire rope tension data; and a synchronization control module electrically connected to the sensor group and the drive unit, the synchronization control module having a built-in synchronization algorithm for implementing steps three and four of the multi-hook synchronous winding and unwinding control method for the crane winch.

[0028] In some embodiments, the sensor group includes: an encoder disposed at the shaft end of the drum of each winch, the encoder being used to measure the rotational speed of the drum and the unloaded length of the wire rope in real time; a tension sensor disposed at the hook of each winch or the fixed end of the wire rope, the tension sensor being used to monitor the real-time tension value of the hook or the wire rope; and an inclination sensor, optionally disposed on the suspended object, the inclination sensor being used to collect the lifting status of the suspended object in real time.

[0029] The technical solutions provided by the embodiments of this application may include the following beneficial effects:

[0030] The multi-hook synchronous lifting and lowering control method for lifting winches described above, through real-time data acquisition and calculation to generate real-time control commands, allows for real-time correction of the hook position and tension, ensuring stable lifting of the load and improving the safety of the lifting operation. Simultaneously, it automatically balances the force on each hook, reducing wire rope wear and further enhancing the safety of the lifting operation. Compared with existing technologies, the multi-hook synchronous lifting and lowering control method of this invention achieves high-precision synchronization of each hook during the lifting process, strong environmental adaptability, high safety, and flexible expandability, thereby meeting the needs of precision construction in large bodies of water, for example. Attached Figure Description

[0031] The accompanying drawings, which form part of this application, are used to provide a further understanding of the application and to make other features, objects, and advantages of the application more apparent. The illustrative embodiments and descriptions of this application are used to explain the application and do not constitute an undue limitation of the application. In the drawings:

[0032] Figure 1 This is a flowchart illustrating the steps of the multi-hook synchronous raising and lowering control method for a crane winch according to an embodiment of the present invention.

[0033] Figure 2 This diagram illustrates the steps of manual intervention compensation in the multi-hook synchronous raising and lowering control method for cranes according to an embodiment of the present invention.

[0034] Figure 3 Schematic diagram of the step flow of the system automatic compensation for the multi-hook synchronous retracting and releasing control method of the hoisting winch according to an embodiment of the present invention;

[0035] Figure 4 Schematic diagram of the system connection of the multi-hook synchronous retracting and releasing system of the hoisting winch according to an embodiment of the present invention. Specific embodiments

[0036] In order to enable those skilled in the art to better understand the solutions of this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0037] Figure 1 Shows the steps of the multi-hook synchronous retracting and releasing control method 100 of the hoisting winch according to an embodiment of the present invention. As Figure 1 shown, the multi-hook synchronous retracting and releasing control method 100 of the hoisting winch includes the following steps:

[0038] Step 1 S1, winches 200 are respectively arranged at different positions on the hoisting platform, and the hooks of each winch 200 are used to jointly hang the same load 300;

[0039] In a specific embodiment, the hoisting platform may include two parallel hulls (not shown in the figure), and the two hulls are rigidly connected by the first cross beam and the second cross beam arranged at their head and tail ends (please refer to Figure 4 shown) to form a "mouth" - shaped connection structure. In this embodiment, four winches 200 may be included, where two winches 200 are installed on the first cross beam, and the other two winches 200 are installed on the second cross beam. The hook of each winch 200 is used to jointly hang a load 300. In this application, a driving unit (driving motor), a drum, and a hook are provided on each winch 200. A steel wire rope is wound around the drum, and both ends of the steel wire rope are respectively connected to the driving unit and the hook. The driving unit provides power for each winch 200, and supports frequency conversion speed regulation and torque compensation. By controlling the rotation of the drum by the driving unit, the released length of the steel wire rope can be adjusted. The hooks of each winch 200 jointly hang the same load 300. For example, the two hooks on the first cross beam are used to hook both sides of one end of the load 300, and the two hooks on the second cross beam are used to hook both sides of the other end of the load 300.

[0040] Step 2 S2, real - time collect the position data and / or real - time tension data of each hook;

[0041] In one specific embodiment, the position data of each hook can be collected in real time by setting an encoder, and the real-time tension data of each hook (or wire rope) can be collected in real time by a tension sensor. In this application, the encoder can be set at the shaft end of the drum of each winch 200, and the rotational speed of the drum and the released length of the wire rope can be measured in real time by detecting the rotation angle of the drum. The tension sensor can be set at the fixed end of the hook or wire rope of each winch 200 to monitor the real-time tension value of the hook or wire rope.

[0042] Step 3 S3: Based on the collected data (position data and / or real-time tension data), control commands adapted to each winch 200 are generated independently using a preset synchronous control algorithm.

[0043] In one specific embodiment, a host computer and a display can be used to receive and display the current status of the winch 200 or to send commands. In this application, the variable frequency speed regulation and torque compensation of the drive unit can be achieved through the collaboration of a Siemens PLC and a frequency converter. The Siemens PLC can be configured with a motion control function module as the core of synchronous control. Real-time communication is established with the frequency converter (located in the drive unit) corresponding to each winch 200 via the PROFINET bus to acquire the operating data of each hook and drum collected by the sensor group in real time. The PLC has a built-in synchronous control algorithm (located in the motion control function module) that calculates the speed and torque adjustment of each winch 200 (the lowering speed of the hook and the torque of the drum) based on this data, and generates control commands to be sent to the frequency converter of the corresponding winch 200.

[0044] Step S4: Send control commands to the corresponding winches 200 to correct the position data and / or real-time tension data of each hook.

[0045] In one specific embodiment, the frequency converter dynamically adjusts the output frequency and current of the drive unit according to the received control command, thereby achieving precise speed matching and torque compensation of the drums of each winch 200, so as to correct the position data and / or real-time tension data of each hook, thereby achieving electrical synchronization of the winding and unwinding of multiple hooks.

[0046] In summary, the multi-hook synchronous lifting and lowering control method 100 of the lifting winch according to the embodiments of the present invention, through real-time acquisition and calculation to generate real-time control commands, can correct the position and tension of the hooks in real time, ensuring stable lifting of the load 300 and improving the safety of the lifting operation. Simultaneously, it automatically balances the force on each hook, reducing wear on the wire rope and further enhancing the safety of the lifting operation. Compared with the prior art, the multi-hook synchronous lifting and lowering control method 100 of the lifting winch of the present invention can achieve high-precision synchronization of each hook during the lifting of the load 300, strong environmental adaptability, high safety, and flexible expandability, thereby meeting the needs of precision construction in large water areas, for example.

[0047] In some embodiments, step S3 may further include: setting one of the hooks as a reference value or taking the average value as the reference value based on the position data of each hook; obtaining control commands for the lowering speed of each winch 200 through a preset synchronous control algorithm to coordinately adjust the position of each hook.

[0048] In this embodiment, the position data of one of the hooks can be set as a reference value. For example, one hook can be set as the master hook (hook No. 1), and the other hooks can be set as slave hooks (hooks No. 2-4). The positions of the slave hooks (hooks No. 2-4) can be adjusted by control commands. Alternatively, the average position of all hooks can be set as the reference value, and the positions of all hooks can be adjusted by control commands.

[0049] In some embodiments, step S3 may further include: setting a tension deviation threshold; if the real-time tension deviation of at least one winch 200 exceeds the tension deviation threshold, obtaining the lowering torque of each winch 200 through a preset synchronous control algorithm, so as to coordinately adjust the tension of each hook.

[0050] In this embodiment, a tension deviation threshold is set, for example, the tension deviation threshold range is set to 3% to 5%. For example, the tension of each hook is monitored in real time. If the tension of hook No. 4 is found to be 5% higher than the average, the system automatically reduces the lifting speed of winch No. 4 200 until the tension of each hook reaches equilibrium.

[0051] Now, taking the position data of one of the hooks as the baseline, and using the example of lifting a large container with four winches (including four hooks) as an example, the following explanation will be provided:

[0052] First, raise all four hooks to the same height (e.g., reference value L0 = 10m), calibrate the encoders (used to calibrate the position of each hook), and set the main hook as hook number 1 and the slave hooks as hooks 2-4. The main hook receives a lifting speed command of 0.5m / min, and the motion control module distributes the main hook speed signal to the controllers (drive units controlled by frequency converters) of the slave hooks. After running for 5 minutes, if slave hook number 3 lags behind the main hook by 8mm (ΔL = 8mm > 5mm) due to slight slippage of the wire rope, the system automatically increases the speed of the drum of winch 200 of hook number 3 by 5% (through the drive unit), and after 2 seconds, the deviation is reduced to 2mm. Monitor the tension of each hook in real time. If the tension of slave hook number 4 is found to be 5% higher than the average, the system automatically reduces the lifting speed of hook number 4 of winch 200 by 0.2m / min until the tension of each hook is balanced. The equipment was hoisted smoothly to the target height, with the positional deviation of each hook ≤3mm and the tension deviation ≤2%, and the synchronous raising and lowering operation was completed.

[0053] With the above settings, the multi-hook synchronous lifting and lowering control method 100 of the lifting winch according to the present invention can achieve: 1) high-precision synchronization: position deviation ≤ ±5mm, tension deviation ≤ ±3%, thereby meeting the requirements of precision lifting; 2) support for multiple control modes such as master-slave and cross-coupling, adapting to different lifting processes (such as single hook master control, multi-hook coordinated lifting).

[0054] In some embodiments, the synchronization control algorithm includes repeatedly executing the following steps before the suspended object 300 reaches the set depth:

[0055] Step 5: Obtain the release length Li(t) of the wire rope corresponding to the i-th winch 200, i∈[1,n], where n is the number of winches 200;

[0056] Step 6: Based on the released length Li(t) of the wire rope, calculate the real-time position deviation di(t) of the hook for each winch 200. The formula for calculating the real-time position deviation di(t) is as follows:

[0057] ;

[0058] Step 7: Based on each real-time position deviation di(t), send the command speed Vi to the drive unit of the i-th winch 200. The formula for calculating the command speed Vi is:

[0059] ;

[0060] Where Vs is the given descent speed, Kp is the preset proportional coefficient, Ti is the preset integral time constant, and Td is the preset derivative time constant.

[0061] In some embodiments, the synchronization control algorithm further includes:

[0062] Step 8: Before step 5, obtain the tension value Fi(t) of the wire rope of the i-th winch 200 in real time, i∈[1,n], where n is the number of winches 200;

[0063] Step nine, calculate the real-time tension deviation Ei(t) of the i-th winch 200. The formula for calculating the real-time tension deviation Ei(t) is:

[0064] ;

[0065] Step 10: If the real-time tension deviation Ei(t) of each winch 200 does not exceed the tension deviation threshold, then proceed to step 5; if the real-time tension deviation Ei(t) of the i-th winch 200 exceeds the tension deviation threshold, then proceed to step 11.

[0066] Step 11: Send the command torque Ti(t) to the drive unit of the i-th winch 200. The formula for calculating the command torque Ti(t) is:

[0067] ;

[0068] Where Ts is the given lowering torque, and Kf is the preset torque compensation coefficient.

[0069] In the above-described method 100 for synchronous raising and lowering of multiple hooks in a lifting winch, the PLC uses the initial posture of the main hook as the synchronization reference. Through the synchronization control module, it sends adjustment commands to the drive units corresponding to each slave hook, driving the drum movement of the winch 200 corresponding to each slave hook. This aligns the initial position and posture of each slave hook with the main hook, thus establishing the initial reference state for synchronous raising and lowering of multiple hooks. During the lifting process:

[0070] 1) Position synchronization control:

[0071] 1.1) When the control mode is master-slave control mode (set one of them as the reference value):

[0072] Position deviation: ΔL = L from (from hook) When the deviation ΔL (main hook) exceeds 5mm, the multi-hook synchronous raising and lowering control method 100 of the lifting winch according to the embodiment of the present invention is triggered for adjustment.

[0073] Speed ​​correction: After correction, the hook speed = main hook speed + (proportional coefficient * position deviation).

[0074] 1.2) When the control mode is cross-coupled control mode (taking the average value as the reference value):

[0075] Average position: position of hook 1 + position of hook 2 + position of hook 3 + position of hook n / number of hooks n, for correction of single hook deviation and rotation speed.

[0076] 2) Tension balance control:

[0077] 2.1) Mean tension and deviation:

[0078] The average tension is equal to 1 / n multiplied by the sum of the tensions of the first to the nth hooks, where the average tension is denoted by Favg, and the tension of the i-th hook is denoted by Favg. This indicates that n is the total number of hooks;

[0079] The tension deviation is equal to the absolute value of the difference between the tension of the i-th hook and the mean tension, divided by the mean tension, and then multiplied by 100%. Here, the tension deviation of the i-th hook is represented by... express;

[0080] The threshold for tension deviation is 3%.

[0081] 2.2) Torque compensation logic:

[0082] If the tension of the i-th hook is greater than the average tension, then the torque compensation for that hook is negative. (Preset torque compensation coefficient) multiplied by tension deviation (Tension of the i-th hook minus the average tension).

[0083] If the tension of the i-th hook is less than the average tension, then the torque compensation for that hook is equal to... (Proportional coefficient) multiplied by tension deviation (The average tension minus the tension of the i-th hook).

[0084] 3) Control Priority Description

[0085] 3.1) Prioritize tension compensation and suspend position correction;

[0086] 3.2) Once the tension deviation is ≤3%, start position synchronization.

[0087] This mechanism can be implemented through PLC hardware interrupt priority or software task scheduling to ensure that load balancing takes precedence over trajectory synchronization and avoid hoisting accidents.

[0088] It should be added that during normal operation (tension within the control range): The winch 200, upon receiving a series of inputs (from the PLC via an absolute encoder, tilt sensor, tension sensor, ship status, and ship draft), prioritizes trajectory synchronization to ensure consistent equipment height and a smooth landing at the target point. During normal operation, tension balancing is also incorporated into the compensation process, continuously adjusting to prevent tension imbalance. If tension is unbalanced and the winch 200 slips: The PLC detects the abnormal data and prioritizes using its internal program to determine which winch 200 is malfunctioning and takes appropriate action. It stops the trajectory synchronization function and prioritizes the tension balancing mode, adjusting the descent / ascent speed of each winch 200 until tension is balanced again.

[0089] In some embodiments, step S2 further includes: installing an encoder (absolute encoder) on each winch 200 to measure the rotational speed of the drum and the length of the wire rope in real time; and / or installing a tension sensor on each winch 200 to monitor the real-time tension value of the hook or wire rope.

[0090] In some embodiments, step S3 further includes: setting an inclination sensor on the suspended object 300, the inclination sensor collecting the hoisting status of the suspended object 300 in real time, and assisting the synchronous control algorithm to correct the control commands.

[0091] In this embodiment, an encoder is installed at the shaft end of the drum of each winch 200. The encoder is used to measure the rotational speed of the drum and the length of the wire rope in real time. A tension sensor is installed at the hook or fixed end of the wire rope of each winch 200. The tension sensor is used to monitor the real-time tension value of the hook or wire rope. An inclination sensor (optional) can be installed on the actual suspended object 300. The inclination sensor collects the lifting status of the suspended object 300 in real time, such as the tilt angle of the suspended object 300.

[0092] In some embodiments, dynamic compensation is also included, which includes: automatic system compensation (please refer to...). Figure 3 The steps are as follows: if a sudden tension change in one of the hooks is detected, the emergency synchronization mode is triggered to adjust the torque of the other winches 200 to adjust the state of the suspended object 300, thereby preventing the suspended object 300 from tilting; and / or, manual intervention compensation (please refer to...). Figure 2 By adjusting the speed of one hook individually through the human-machine interface, the system automatically updates the control parameters of the other hooks in sync.

[0093] The hoisting winch multi-hook synchronous raising and lowering control method 100 of this embodiment of the invention further includes:

[0094] 1) Overload protection. It makes a judgment based on the performance of the winch 200 and the frequency converter itself, which is determined by the upper limit and lower limit of the winch 200's pulling force and the internal parameters of the frequency converter.

[0095] 2) Stall protection. The speed of winch 200 can be controlled in the following two ways:

[0096] One method is control via a handle. This method uses a percentage of the handle's movement to achieve control, and the maximum percentage can be set via a host computer (e.g., handle 100% = 0.2m / min). It mainly depends on the operator's operating habits, and the system ensures synchronous movement and tension balance.

[0097] The second method involves inputting a fixed speed for descent / ascent. The PLC will obtain the actual speed of each winch (200) as a feedback value to ensure that the set speed matches the actual speed.

[0098] Stall protection: The speed calculation of winch 200 is based on the length data given by the absolute encoder. If the length of a winch 200 suddenly changes, the host computer will issue an alarm to notify the operator to check the status of winch 200 and stop the current output status. The winch will continue to work after the operator returns and confirms that the winch 200 is normal (alarm confirmation button).

[0099] 3) Fault self-diagnosis: The device judges whether the data from the sensor of the acquisition device has reached the upper / lower limit. When the upper or lower limit is reached, the host computer will issue an alarm notification to the operator to check the status of winch 200 and stop the current output status. The device will continue to work when the operator returns to confirm that the status is normal (alarm confirmation button).

[0100] With the above settings, the hoisting winch multi-hook synchronous raising and lowering control method 100 according to the present invention can be configured with overload protection, stall protection and fault self-diagnosis functions, thereby further improving the safety of equipment operation.

[0101] In another aspect, the present invention provides a multi-hook synchronous launching and recovering system for a hoisting winch. Figure 4 A connection diagram of a multi-hook synchronous deployment and retraction system for a crane winch according to an embodiment of the present invention is shown. This multi-hook synchronous deployment and retraction system for a crane winch is applied to the aforementioned multi-hook synchronous deployment and retraction control method 100 for crane winches, and includes:

[0102] Crane platform;

[0103] The multi-hook actuator includes N winches 200, where N≥2. Each winch 200 is equipped with a drive unit, a drum, and a hook. A wire rope is wound around the drum, and both ends of the wire rope are connected to the drive unit and the hook, respectively. In this application, the drums can achieve speed coupling through mechanical hard synchronization or electrical soft synchronization, such as a gear synchronizer or an electronic virtual shaft, to suppress mechanical errors. In this application, the hook mainly lifts or pulls the heavy object (load 300) by winding the wire rope or chain around the drum.

[0104] The sensor array, installed on each winch 200, is used to collect hook position data and wire rope tension data. The sensor array includes: an absolute encoder with an accuracy of ±1 pulse / revolution; a tension sensor with a resolution of ±0.1 kN; and an optional tilt sensor to assist in correcting the synchronization control strategy.

[0105] The synchronization control module is electrically connected to the sensor group and the drive unit. The synchronization control module has a built-in synchronization algorithm used to implement steps S3 and S4 of the multi-hook synchronous raising and lowering control method 100 for the crane winch. The synchronization control module includes a master-slave control mode, a cross-coupling control mode, and a tension balancing algorithm (described above, and will not be repeated here).

[0106] In this application, the drive unit is driven by a frequency converter, supporting stepless speed regulation and torque closed-loop control. A servo driver is configured to respond to speed and torque commands from the synchronous control module, with an adjustment accuracy of ±0.1% of the rated speed.

[0107] According to an embodiment of the present invention, the synchronization of the drive unit in the multi-hook synchronous winding and unwinding system of the crane winch is achieved through the collaboration of a Siemens PLC and a frequency converter (as described above, it will not be repeated here). The multi-hook synchronous winding and unwinding system of the crane winch according to an embodiment of the present invention has strong scalability. Furthermore, other devices can be added to the system by using a three-layer switch, supporting communication protocols such as Modbus-TCP and PROFINET, enabling multi-device collaborative control and unified data acquisition, thus improving the overall scalability and compatibility of the system.

[0108] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0109] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0110] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0111] Furthermore, the terms "installation," "setup," "equipped with," "connection," "linked," and "socketing" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

Claims

1. A method for synchronous raising and lowering control of multiple hooks in a crane winch, characterized in that, Includes the following steps: Step 1: Install winches at different locations on the lifting platform, and use the hooks of each winch to suspend the same load. Step 2: Collect position data and / or real-time tension data of each hook in real time; Step 3: Based on the collected data, control commands adapted to each winch are generated independently using a preset synchronization control algorithm. Step four: Send the control command to each of the corresponding winches to correct the position data and / or real-time tension data of each hook; The synchronous control algorithm includes repeatedly executing the following steps before the suspended object reaches the set depth: Step 5: Obtain the release length Li(t) of the wire rope corresponding to the i-th winch, i∈[1,n], where n is the number of winches; Step 6: Based on the released length Li(t) of the wire rope, calculate the real-time position deviation di(t) of the hook of each winch. The formula for calculating the real-time position deviation di(t) is as follows: ； Step 7: Based on each real-time position deviation di(t), send a command speed Vi to the drive unit of the i-th winch. The formula for calculating the command speed Vi is: ； Where Vs is the given descent speed, Kp is the preset proportional coefficient, Ti is the preset integral time constant, and Td is the preset derivative time constant.

2. The method for synchronous raising and lowering of multiple hooks in a crane winch according to claim 1, characterized in that, Step three further includes: setting one of the hooks as a reference value or taking the average value as the reference value based on the position data of each hook; obtaining control commands for the lowering speed of each winch through a preset synchronous control algorithm, so as to coordinately adjust the position of each hook.

3. The method for synchronous raising and lowering of multiple hooks in a crane winch according to claim 1, characterized in that, Step three further includes: setting a tension deviation threshold; if the real-time tension deviation of at least one of the winches exceeds the tension deviation threshold, obtaining the lowering torque of each winch through a preset synchronous control algorithm to coordinately adjust the tension of each hook.

4. The method for synchronous raising and lowering of multiple hooks in a crane winch according to claim 1, characterized in that, The synchronization control algorithm also includes: Step 8: Before step 5, obtain the tension value Fi(t) of the wire rope corresponding to the i-th winch in real time, i∈[1,n], where n is the number of winches; Step nine, calculate the real-time tension deviation Ei(t) of the i-th winch, the formula for calculating the real-time tension deviation Ei(t) is: ； Step 10: If the real-time tension deviation Ei(t) of each winch does not exceed the tension deviation threshold, then proceed to step 5; if the real-time tension deviation Ei(t) of the i-th winch exceeds the tension deviation threshold, then proceed to step 11. Step 11: Send a command torque Ti(t) to the drive unit of the i-th winch. The formula for calculating the command torque Ti(t) is: ； Where Ts is the given lowering torque, and Kf is the preset torque compensation coefficient.

5. The method for synchronous raising and lowering of multiple hooks in a crane winch according to any one of claims 1-3, characterized in that, Step two also includes: Encoders are installed on each winch to measure the drum speed and the length of the wire rope released in real time; and / or, Tension sensors are installed on each winch to monitor the real-time tension value of the hook or wire rope.

6. The method for synchronous raising and lowering of multiple hooks in a crane winch according to claim 5, characterized in that, Step three further includes: installing an inclination sensor on the suspended object, the inclination sensor collecting the hoisting status of the suspended object in real time, and assisting the synchronous control algorithm in correcting the control commands.

7. The method for synchronous raising and lowering of multiple hooks in a crane winch according to claim 1, characterized in that, It also includes dynamic compensation, which includes: The system automatically compensates for the following steps: if a sudden tension change in one of the hooks is detected, an emergency synchronization mode is triggered to adjust the torque of the other winches to adjust the state of the hoisted load; and / or, The manual intervention compensation involves the following steps: adjusting the speed of one hook individually through the human-machine interface, and the system automatically updates the control parameters of the other hooks synchronously.

8. A multi-hook synchronous retraction and deployment system for a crane winch, applied to the multi-hook synchronous retraction and deployment control method for a crane winch according to any one of claims 1 to 7, characterized in that, include: Crane platform; A multi-hook actuator includes N winches, where N≥2. Each winch is equipped with a drive unit, a drum, and a hook. The hook is wound around the drum by a wire rope, and the other end of the wire rope is connected to the drive unit. Sensor arrays, each mounted on one of the winches, are used to collect hook position data and wire rope tension data; A synchronization control module is electrically connected to the sensor group and the drive unit. The synchronization control module has a built-in synchronization algorithm for implementing steps three and four of the multi-hook synchronous release and take-up control method of the hoisting winch.

9. The multi-hook synchronous launching and retracting system for a crane winch according to claim 8, characterized in that, The sensor group includes: An encoder is disposed at the shaft end of the drum of each winch, and the encoder is used to measure the rotational speed of the drum and the length of the wire rope released in real time. A tension sensor, disposed at the fixed end of the hook or wire rope of each of the winches, is used to monitor the real-time tension value of the hook or wire rope; and, An inclination sensor can be optionally installed on the suspended object, and the inclination sensor is used to collect the lifting status of the suspended object in real time.

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