Dual hoist traction balance control method and system

Abstract

The application discloses a double-winch traction balance control method, device, system and storage medium. The method comprises the following steps: determining a theoretical instruction frequency of a second motor according to effective winding radiuses of winding drums corresponding to the first motor and the second motor respectively and a desired operation frequency of the first motor; the first motor and the second motor drive the winding drums corresponding to the first motor and the second motor respectively to wind a common steel wire rope to pull a cargo; determining a final instruction frequency of the second motor according to the desired operation frequency, the theoretical instruction frequency and a preset compensation coefficient; controlling the first motor to operate at the desired operation frequency and controlling the second motor to operate at the final instruction frequency, so that the cargo keeps balance during the traction process. The application can improve the calibration accuracy of the double-winch motor.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, specifically to a dual-winch traction balance control method and system. Background Technology

[0002] In the technical field of dual-winch motor drive mechanisms, maintaining the stable balance position of the towed object is crucial. However, in complex actual construction environments, due to interference from equipment structures, harsh working conditions, and the special characteristics of the driven load, closed-loop control of the balance position is often impossible due to the lack of other sensors or the inability to install sensors at the balance position. In such cases, the system cannot directly obtain real-time position feedback signals to automatically correct dynamic deviations during operation.

[0003] Furthermore, existing technologies employ multiple wire ropes, each wound and unwound separately by its own independent winch. While this multi-rope independent operation design avoids the direct physical interference problem caused by single-rope dragging to some extent, the inconsistent material tolerances, long-term tensile deformation, and independent changes in winding radius of each independent wire rope result in extremely poor system synchronization. Moreover, this solution cannot be directly transplanted and applied to dragging conditions that require sharing the same wire rope for coordinated traction.

[0004] When inevitably faced with a dual-winch motor mechanism sharing the same wire rope for towing, the system typically relies on traditional equal-frequency or equal-speed open-loop control due to the lack of closed-loop feedback. In this crude control mode, even if the two motors rotate at the same speed, various other factors can cause a continuous unidirectional shift in the equilibrium position. Over a sufficiently long period, this shift accumulates to an unacceptable level, leading to structural collisions or interference between the mechanisms relying on the equilibrium position, resulting in serious accidents. Because the system cannot spontaneously compensate for accumulated errors caused by variations in the number of winding layers and unquantifiable factors through logical operations, the overall system's positional stability is extremely low, and the overall calibration accuracy of the towing motors is very poor, completely failing to meet the requirements of long-stroke, high-precision synchronous operations. Summary of the Invention

[0005] The purpose of this application is to provide a dual-winch traction balance control method and system to solve the problem of poor cargo balance stability in dual-winch motor traction in the prior art.

[0006] To achieve the above objectives, the first aspect of this application provides a dual-winch traction balance control method, the method comprising: The theoretical command frequency of the second motor is determined based on the effective rope winding radius of the drums corresponding to the first and second motors and the expected operating frequency of the first motor; the first and second motors drive their respective drums to wind the shared wire rope to pull the goods. The final command frequency of the second motor is determined based on the expected operating frequency, the theoretical command frequency, and the preset compensation coefficient. The first motor is controlled to operate at the desired operating frequency, and the second motor is controlled to operate at the final command frequency, so that the cargo remains balanced during traction.

[0007] In this embodiment of the application, determining the theoretical command frequency of the second motor includes: The theoretical instruction frequency is determined using the following formula:

[0008] in, This is the theoretical instruction frequency; The desired operating frequency; The effective winding radius of the drum of the first motor; The effective rope radius of the second motor's drum.

[0009] In this embodiment of the application, determining the final command frequency of the second motor includes: The final instruction frequency is determined using the following formula:

[0010] in, This refers to the final instruction frequency; This is the preset compensation coefficient.

[0011] In this embodiment, the effective winding radius of the drum of the first motor satisfies the following formula:

[0012] in, The effective winding radius of the drum of the first motor; The radius of the drum body; The radius of the wire rope body; This represents the current number of wire rope layers on the drum of the first motor.

[0013] In this embodiment of the application, the effective winding radius of the second motor's drum satisfies the following formula:

[0014] in, The effective winding radius of the second motor's drum; The radius of the drum body; The radius of the wire rope body; This represents the current number of wire rope layers on the drum of the second motor.

[0015] In this embodiment of the application, the method further includes: obtaining the initial number of wire rope layers, the initial number of turns already wound, and the number of turns required to fully wind a single layer of the drum, as well as the resolution, initial count value, and current count value of the first encoder and the second encoder respectively; there is a one-to-one correspondence between the encoder and the drum; the count value increment of each encoder is determined based on the current count value and the initial count value; the number of turns increment corresponding to the encoder is determined based on the count value increment and the resolution; the number of layers increment of the corresponding drum is determined based on the number of turns increment, the initial number of turns already wound, and the required number of turns; and the current number of wire rope layers of the corresponding drum is determined based on the number of layers increment and the initial number of wire rope layers.

[0016] In this embodiment of the application, the current number of wire rope layers on the drum of the first motor is determined to satisfy the following formula:

[0017] in, This represents the current number of wire rope layers on the drum corresponding to the first motor. The initial number of wire rope layers on the drum corresponding to the first motor; For resolution; This is the current count value of the first encoder; This is the initial count value for the first encoder; This represents the initial number of turns of the drum corresponding to the first motor; The required number of laps.

[0018] In this embodiment of the application, the current number of wire rope layers on the drum of the second motor is determined to satisfy the following formula:

[0019] in, This represents the current number of wire rope layers on the drum corresponding to the second motor. The initial number of wire rope layers on the drum corresponding to the second motor; For resolution; This is the current count value of the second encoder; This is the initial count value for the second encoder; This represents the initial number of turns of the drum corresponding to the second motor; The required number of laps.

[0020] A second aspect of this application provides a dual-winch traction balance control system, including a first motor assembly, a second motor assembly, a first drum, a second drum, a wire rope, and a controller; the first motor assembly is used to drive the first drum to rotate, and the second motor assembly is used to drive the second drum to rotate; the two ends of the wire rope are respectively wound around the first drum and the second drum and traction of goods through the middle; the controller is signal-connected to the first motor assembly and the second motor assembly respectively, and is configured to perform the above-described method.

[0021] Through the above technical solution, in the case of a dual-winch motor mechanism sharing the same wire rope for traction, since closed-loop control cannot be achieved objectively using a balance position sensor, an open-loop control mechanism is adopted. First, based on the physical reality of the dynamic change in the working arm caused by the winding wire rope, the system uses the effective winding radius of the drums corresponding to the first and second motors, as well as the desired operating frequency of the first motor, to derive the theoretical command frequency of the second motor, aiming to ensure absolute consistency in the traction linear speed at both ends. This geometrically eliminates the main linear speed mismatch error caused by the difference in the number of wire rope layers. Second, considering that many unquantifiable interference factors still exist in actual operation, causing continuous unidirectional cumulative shifts in the balance position, the system further integrates the desired operating frequency, the theoretical command frequency, and a preset compensation coefficient to derive the final command frequency of the second motor that can offset this systemic shift. Finally, the first and second motors are controlled to operate physically according to the scientifically derived frequency parameters. This control logic not only effectively compensates for the hardware limitations of missing sensors, but also avoids serious accidents caused by structural collisions or interference of the mechanism relying on the balance position due to the accumulation of long-term operational deviations, fundamentally improving the balance stability of the cargo being pulled by the dual winch motors.

[0022] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0023] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 A flowchart illustrating a dual-winch traction balance control method according to an embodiment of this application is shown schematically. Figure 2 This illustration schematically shows an actual radial increment between computational levels according to an embodiment of this application; Figure 3 The diagram schematically illustrates a structural diagram of a dual-winch traction balance control system according to an embodiment of this application. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0025] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0026] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0027] The acquisition, transmission, storage, use, and processing of data in this application comply with relevant laws and regulations. Furthermore, it should be noted that certain software, components, models, and other existing industry solutions may be mentioned in the embodiments of this application. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0028] It should be noted that all data involved in this application (including but not limited to data used for analysis, data stored, data displayed, etc.) are information and data authorized by the client or fully authorized by all parties, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0029] Figure 1 A flowchart illustrating a dual-winch traction balance control method according to an embodiment of this application is shown schematically. Figure 1 As shown in the figure, this application provides a dual-winch traction balance control method, which may include the following steps.

[0030] Step 101: Determine the theoretical command frequency of the second motor based on the effective rope winding radius of the drums corresponding to the first and second motors and the expected operating frequency of the first motor; the first and second motors drive their respective drums to wind the shared wire rope to pull the goods.

[0031] In this embodiment, the first and second motors serve as power sources, outputting power for winding and unwinding actions. The drum, acting as a winding carrier linked to the motors, facilitates the conversion from circular to linear motion. The effective winding radius reflects the actual working lever arm formed by the inherent dimensions of the winding carrier and the densely stacked flexible traction medium. The desired operating frequency represents the target operating state parameter of the dominant drive source. The theoretical command frequency is the baseline control parameter calculated for the driven drive source to maintain consistent linear velocity. The wire rope, as a flexible connector, acts as the traction medium for transmitting tension. The cargo represents the final load object being towed.

[0032] In this embodiment, two power drive sources drive their respective winding carriers to jointly wind and unwind the same flexible connector to lift or lower the end load. During this linkage process, by introducing the effective winding radius including the wire rope stacking state and the desired operating frequency of the first motor, and assuming that their linear velocities should be equal, the theoretical command frequency of the second motor is calculated. Under the open-loop control condition of the dual winch mechanisms sharing the same wire rope, the winding and unwinding linear velocities at both ends are initially matched directly based on the actual dynamically changing effective working arm. This reduces the linear velocity error caused by the difference in the number of winding layers from the source, constructing a theoretical synchronous operation benchmark that conforms to the current physical reality. This lays the necessary data foundation for stabilizing the equilibrium position within the permissible range as much as possible, thereby effectively improving the calibration accuracy of the initial operating state of the dual winch motors.

[0033] It is understandable that the number of wire ropes can be single or multiple. Multiple wire ropes are grouped together, and two motors drive their respective drums to wind the group of wire ropes to pull goods. This solution also applies.

[0034] Step 102: Determine the final command frequency of the second motor based on the expected operating frequency, theoretical command frequency, and preset compensation coefficient.

[0035] In this embodiment, the preset compensation coefficient represents an empirical error adjustment parameter obtained through prior testing. Its main function is to offset the systematic deviation caused by various unquantifiable factors other than the difference in the number of winding layers. The final command frequency is the final control target value that the driven source actually outputs and requires to be executed after secondary correction by theoretical benchmark calculation and empirical adjustment parameters.

[0036] In this embodiment, even though a theoretical command frequency to ensure linear velocity balance is derived in the early stages, many undetectable disturbances in actual physical conditions can still cause continuous unidirectional shifts in the equilibrium position. Therefore, by integrating the expected operating frequency reflecting the operating state of the dominant drive source with a preset compensation coefficient, a dynamic error compensation amount is derived and superimposed on the theoretical command frequency to determine control parameters that better match the actual operating conditions. This approach, which combines theoretical calculations with empirical compensation, endows the control logic with strong reasoning capabilities. It effectively eliminates accumulated errors caused by unquantifiable factors through open-loop methods, even when closed-loop control cannot rely on sensors. This ensures that the dual-winch mechanism maintains extremely high positional stability during long-distance operation, significantly improving the dynamic calibration accuracy of the equipment when facing comprehensive interference.

[0037] Step 103: Control the first motor to operate at the desired operating frequency and control the second motor to operate at the final command frequency so that the cargo remains balanced during traction.

[0038] In this embodiment, through preliminary deduction and error compensation, the system has obtained complete control parameters that take into account both theoretical synchronization and practical experience correction. At this point, the control logic directly acts on the two independent power drive sources, causing the first motor to operate at the initially set desired operating frequency, while simultaneously controlling the second motor to operate at the final command frequency after multi-dimensional variable correction. Since the final command frequency implicitly includes strict mathematical constraints on linear speed consistency and pre-cancellation of unidirectional cumulative offset in the underlying calculation, when the first and second motors actually execute these commands, they can spontaneously maintain the dynamic balance of the retraction and extension actions at both ends through open-loop means without relying on the limitations of closed-loop feedback from the balance position sensor. Thus, the control parameters obtained through deep logic calculation are transformed into actual physical driving force, realizing the final execution purpose of the drag position stabilization algorithm. This ensures that in long-stroke operations, the two mechanisms can achieve precise synchronous retraction and extension with extremely low relative error, preventing serious accidents such as structural collisions or interferences caused by the accumulation of offsets over long periods of operation.

[0039] In this embodiment, the controller sends a control signal to the first motor, controlling it to operate continuously at the initially set desired operating frequency and driving the drum corresponding to the first motor to rotate counterclockwise, thus smoothly releasing the wire rope as the active end. Simultaneously, the controller sends a modified control signal to the second motor, controlling it to operate strictly according to the final command frequency and driving the drum corresponding to the second motor to rotate clockwise, thus acting as the follower end to retract the shared wire rope. Through this dynamic linkage with opposite release and retraction directions and precisely matched frequency parameters, the physical length of the wire rope released counterclockwise by the first motor and the physical length of the wire rope retracted clockwise by the second motor can remain highly consistent in real time. This prevents the potential for unidirectional shift of the follower load during long-stroke operation, thereby ensuring that the overall mechanical structure relying on the balance position maintains high stability during long-term towing operations.

[0040] Through the above technical solution, in the case of a dual-winch motor mechanism sharing the same wire rope for traction, since closed-loop control cannot be achieved objectively using a balance position sensor, an open-loop control mechanism is adopted. First, based on the physical reality of the dynamic change in the working arm caused by the winding wire rope, the system uses the effective winding radius of the drums corresponding to the first and second motors, as well as the desired operating frequency of the first motor, to derive the theoretical command frequency of the second motor, aiming to ensure absolute consistency in the traction linear speed at both ends. This geometrically eliminates the main linear speed mismatch error caused by the difference in the number of wire rope layers. Second, considering that many unquantifiable interference factors still exist in actual operation, causing continuous unidirectional cumulative shifts in the balance position, the system further integrates the desired operating frequency, the theoretical command frequency, and a preset compensation coefficient to derive the final command frequency of the second motor that can offset this systemic shift. Finally, the first and second motors are controlled to operate physically according to the scientifically derived frequency parameters. This control logic not only effectively compensates for the hardware limitations of missing sensors, but also avoids serious accidents caused by structural collisions or interference of the mechanism relying on the balance position due to the accumulation of offsets during long-term operation, fundamentally improving the overall calibration accuracy and positional stability of the dual winch motors.

[0041] In this embodiment of the application, determining the theoretical command frequency of the second motor includes: The theoretical instruction frequency is determined using the following formula:

[0042] in, This is the theoretical instruction frequency; The desired operating frequency; The effective winding radius of the drum of the first motor; The effective rope radius of the second motor's drum.

[0043] In this embodiment, to maintain the cargo's height position approximately constant and maintain balance during extended operation when the dual-hoisting motor mechanism shares the same wire rope, the system requires precise control of the operating states of both drive sources. During the operation phase, the first motor rotates counterclockwise to release the wire rope, while the second motor retracts the wire rope clockwise. To ensure that the mechanism relying on the balance position does not experience structural collisions or interference, the objective working principle requires that the speed of releasing the rope should be equal to the speed of retracting the rope. This means that the linear velocity of the first motor must be strictly equal to the linear velocity of the second motor. According to the principles of physics, linear velocity equals the product of angular velocity and working arm, thus the operating parameters at both ends satisfy the equation. Since the winch drum in this scheme is typically driven by a variable frequency motor, and its angular velocity is equivalent to the command frequency issued by the system, the physical equation for the angular velocity can be directly converted into the product equation of the corresponding frequency and the effective winding radius, i.e. When the system controls the first motor to operate at a given desired operating frequency, in order to forcibly satisfy the open-loop synchronization condition of consistent linear velocity, the system substitutes the desired operating frequency as a known term into the equation and performs mathematical rearrangement. From this, the theoretical command frequency required for the second motor is deduced.

[0044] In this embodiment of the application, determining the final command frequency of the second motor includes: The final instruction frequency is determined using the following formula:

[0045] in, This refers to the final instruction frequency; This is the preset compensation coefficient.

[0046] In this embodiment, the effective winding radius of the drum of the first motor satisfies the following formula:

[0047] in, The effective winding radius of the drum of the first motor; The radius of the drum body; The radius of the wire rope body; This represents the current number of wire rope layers on the drum of the first motor.

[0048] In this embodiment of the application, the effective winding radius of the second motor's drum satisfies the following formula:

[0049] in, The effective winding radius of the second motor's drum; The radius of the drum body; The radius of the wire rope body; This represents the current number of wire rope layers on the drum of the second motor.

[0050] In this embodiment of the application, the method further includes: obtaining the initial number of wire rope layers, the initial number of turns already wound, and the number of turns required to fully wind a single layer of the drum, as well as the resolution, initial count value, and current count value of the first encoder and the second encoder respectively; there is a one-to-one correspondence between the encoder and the drum; the count value increment of each encoder is determined based on the current count value and the initial count value; the number of turns increment corresponding to the encoder is determined based on the count value increment and the resolution; the number of layers increment of the corresponding drum is determined based on the number of turns increment, the initial number of turns already wound, and the required number of turns; and the current number of wire rope layers of the corresponding drum is determined based on the number of layers increment and the initial number of wire rope layers.

[0051] In this embodiment, the initial number of wire rope layers and the initial number of turns reflect the basic stacking state and initial winding progress of the winding medium before the operation. The number of turns required to complete a single layer reflects the maximum capacity limit of a single layer determined by the inherent properties of the structure. The first encoder and the second encoder, as coaxially linked rotary position detection elements, are used to accurately capture the angular displacement changes of the driving equipment; their resolution represents the measurement accuracy of the detection element in converting the mechanical rotation angle into a digital pulse signal. The initial count value and the current count value record the bottom layer digital readings of the position detection element before and after movement. The count value increment is the original angular displacement change obtained by subtracting the digital readings, while the turn increment is the physical rotation number converted from this original change by combining the measurement accuracy. The layer increment characterizes the dynamic change level of the winding medium in the radial stack thickness, while the current number of wire rope layers is a key variable of the real-time working arm calculated by the final summation of layers.

[0052] In this embodiment, for the open-loop control system, the change in the actual working arm caused by the dense stacking of flexible media is the core objective factor causing linear velocity mismatch. Therefore, by tracking the rotation state in real time through a one-to-one encoder, the difference between the current count value and the initial count value is used to derive the count value increment, and the resolution is used as a physical conversion bridge to convert it into an accurate number of turns increment. Subsequently, the control logic integrates the newly generated number of turns increment with the original initial number of turns wound, and by dividing by the number of turns required to complete a single layer, it infers how many complete layers the current winding state has crossed in the radial dimension, thus obtaining the layer increment. Finally, the accurate current number of wire rope layers is obtained by superimposing the initial number of wire rope layers as a base. This eliminates the dependence on external direct measurement sensors, accurately maps the meaningless pulse signals at the bottom layer into winding layer variables with actual physical meaning, constructs a solid data foundation reflecting the real dynamic winding radius, ensures that the prerequisite parameters for subsequent command frequency calculations are highly consistent with the actual physical working conditions, reduces the cumulative error caused by long-stroke operation from the source, and effectively improves the overall calibration accuracy of the dual winch motor drag control.

[0053] In this embodiment of the application, the current number of wire rope layers on the drum of the first motor is determined to satisfy the following formula:

[0054] in, This represents the current number of wire rope layers on the drum corresponding to the first motor. The initial number of wire rope layers on the drum corresponding to the first motor; For resolution; This is the current count value of the first encoder; This is the initial count value for the first encoder; This represents the initial number of turns of the drum corresponding to the first motor; The required number of laps.

[0055] In this embodiment of the application, the current number of wire rope layers on the drum of the second motor is determined to satisfy the following formula:

[0056] in, This represents the current number of wire rope layers on the drum corresponding to the second motor. The initial number of wire rope layers on the drum corresponding to the second motor; For resolution; This is the current count value of the second encoder; This is the initial count value for the second encoder; This represents the initial number of turns of the drum corresponding to the second motor; The required number of laps.

[0057] Through the above technical solution, in the case of a dual-winch motor mechanism sharing the same wire rope for traction, since closed-loop control cannot be achieved objectively using a balance position sensor, an open-loop control mechanism is adopted. First, based on the physical reality of the dynamic change in the working arm caused by the winding wire rope, the system uses the effective winding radius of the drums corresponding to the first and second motors, as well as the desired operating frequency of the first motor, to derive the theoretical command frequency of the second motor, aiming to ensure absolute consistency in the traction linear speed at both ends. This geometrically eliminates the main linear speed mismatch error caused by the difference in the number of wire rope layers. Second, considering that many unquantifiable interference factors still exist in actual operation, causing continuous unidirectional cumulative shifts in the balance position, the system further integrates the desired operating frequency, the theoretical command frequency, and a preset compensation coefficient to derive the final command frequency of the second motor that can offset this systemic shift. Finally, the first and second motors are controlled to operate physically according to the scientifically derived frequency parameters. This control logic not only effectively compensates for the hardware limitations of missing sensors, but also avoids serious accidents caused by structural collisions or interference of mechanisms relying on the balance position due to the accumulation of long-term operational offsets. It fundamentally improves the overall calibration accuracy of the dual winch motors and the stability of the cargo position.

[0058] The following is an embodiment of this application: The first motor rotates counterclockwise to release the wire rope, while the second motor rotates clockwise to retract it. To maintain a relatively stable balance during extended operation, the system first acquires the initial objective attributes and status data of each component before operation. Specifically, it acquires the body radii of the first and second drums, as well as the body radius of the wire rope. Simultaneously, the system reads the initial number of wire rope layers and the initial number of turns on the drum corresponding to the first motor, and the initial number of wire rope layers and the initial number of turns on the drum corresponding to the second motor. Furthermore, it records the number of turns required to complete a single layer and acquires the resolution and initial count values ​​of the first and second encoders corresponding to each drum.

[0059] During system operation, the core variable affecting the balance position offset lies in the change in the number of rope layers. Therefore, the system reads the current count values ​​of the first and second encoders and combines them with the initial data to perform deduction and conversion. Logically, the system first calculates the increment of the count value of each encoder, divides it by the resolution (360° is one revolution) to convert it into the increment of the physical number of revolutions, and then combines it with the initial number of revolutions already wound and the number of revolutions required to fully wind a single layer, rounding down to deduce the current absolute number of layers.

[0060] The formula for calculating the current number of wire rope layers on the drum corresponding to the first motor is:

[0061] The formula for calculating the current number of wire rope layers on the drum corresponding to the second motor is:

[0062] Figure 2 This diagram schematically illustrates the actual radial increment between computational levels according to an embodiment of this application. For example... Figure 2 As shown, for common hoisting mechanisms, the effective rope radius of the corresponding drum is mainly composed of the drum's body radius and the rope stacking radius. Since the shared wire rope is not simply stacked vertically upwards when wound in multiple layers on the drum surface, but rather in a densely stacked manner with adjacent layers interlocking, the radial height of the center of the first layer of wire rope from the drum surface is equal to the wire rope's body radius. From the second layer onwards, the actual increase in radial height of each layer compared to the previous layer is derived geometrically as follows: The system can accurately calculate the effective winding radius in actual operation by combining the body radius of the drum, the foundation height of the first layer, and the radial height increment based on the current number of wire rope layers. This provides reliable underlying geometric data support for accurately matching the linear speeds of the first and second motors and achieving stable towing position under open-loop control of the dual winch mechanism.

[0063] After obtaining the current layer number, the system needs to map it to the actual physical lever arm. Since the wire ropes are not stacked vertically on the drum but densely interlaced, the actual radial increment between layers is... .

[0064] Therefore, the effective winding radius of the corresponding drum of the first motor is:

[0065] The effective winding radius of the corresponding drum of the second motor is:

[0066] To ensure balanced operation, the core logic of open-loop control for variable frequency motors is to guarantee that the linear velocity of the first motor equals the linear velocity of the second motor, while the angular velocity is equal to the command frequency. According to the formula... Given the desired operating frequency of the first motor, the effective winding radius of the corresponding drum, and the effective winding radius of the second motor's corresponding drum, the theoretical command frequency of the second motor can be calculated. It satisfies the following formula.

[0067]

[0068] However, due to other unquantifiable factors contributing to cumulative deviation in the operating conditions, the system needs to introduce a preset compensation coefficient obtained from experiments (typically between ±0.01 and 0.03 at a rated operating frequency of 50Hz). The system combines theoretical derivation with empirical adjustments to determine the final command frequency of the second motor. .

[0069] Ultimately, the controller controls the first motor to operate at the desired frequency and the second motor to operate at the final commanded frequency. Through this technical solution, the balance accuracy of the dual winch mechanism during a 350m stroke can be effectively controlled within 1m without relying on external sensors.

[0070] Figure 3 A schematic diagram illustrating the structure of a dual-winch traction balance control system according to an embodiment of this application is shown. Figure 3 As shown. The first and second motor assemblies, as the overall power source collection of the system, encompass the drive core and its related supporting hardware, used for signal connection with the controller and output of traction power. The first and second drums, as specific rotating mechanical carriers, respectively interface with their corresponding power units to provide the physical landing point for traction actions. The controller, as the intelligent hub coordinating global calculations and command allocation, is responsible for data collection and generating control commands based on rigorous logic. The signal connection represents the communication link between the intelligent hub and the underlying execution end for transmitting control pulses. Without the limitation of requiring external position feedback sensors, the system, relying on pre-configured inference algorithms, can achieve a balance accuracy within 1 meter and reduce the operating error to 0.2% during a long-stroke operation of 350 meters. This improves the overall dynamic calibration accuracy of the dual winch motors.

[0071] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0072] This application also provides a machine-readable storage medium storing instructions that cause a machine to perform the above-described method.

[0073] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0074] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0075] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0076] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0077] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0078] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0079] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0080] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0081] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A dual-winch traction balance control method, characterized in that, The method includes: The theoretical command frequency of the second motor is determined based on the effective rope winding radius of the drums corresponding to the first and second motors and the expected operating frequency of the first motor; the first motor and the second motor drive their respective drums to wind a shared wire rope to pull the goods. The final command frequency of the second motor is determined based on the expected operating frequency, the theoretical command frequency, and the preset compensation coefficient. The first motor is controlled to operate at the desired operating frequency, and the second motor is controlled to operate at the final command frequency, so that the cargo remains balanced during traction.

2. The method according to claim 1, characterized in that, Determining the theoretical command frequency of the second motor includes: The theoretical command frequency is determined according to the following formula: in, The theoretical command frequency; The desired operating frequency; The effective winding radius of the drum of the first motor; The effective rope radius of the second motor's drum.

3. The method according to claim 2, characterized in that, Determining the final command frequency of the second motor includes: The final instruction frequency is determined according to the following formula: in, The final instruction frequency; The preset compensation coefficient is denoted as .

4. The method according to claim 3, characterized in that, The effective winding radius of the drum of the first motor satisfies the following formula: in, The effective winding radius of the drum of the first motor; The radius of the roll body; The radius of the wire rope body; This represents the current number of wire rope layers on the drum of the first motor.

5. The method according to claim 4, characterized in that, The effective winding radius of the second motor's drum satisfies the following formula: in, The effective winding radius of the second motor's drum; The radius of the roll body; The radius of the wire rope body; This represents the current number of wire rope layers on the drum of the second motor.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: The initial number of wire rope layers, the initial number of turns, and the number of turns required to fully wind a single layer are obtained from the drum, as well as the resolution, initial count value, and current count value of the first encoder and the second encoder; there is a one-to-one correspondence between the encoder and the drum; The increment of the encoder's count value is determined based on the current count value and the initial count value of each encoder; The encoder's revolution increment is determined based on the count increment and the resolution. The layer increment of the corresponding roll is determined based on the roll increment, the initial number of rolls already wound, and the required number of rolls. The current number of wire rope layers on the corresponding drum is determined based on the layer increment and the initial number of wire rope layers.

7. The method according to claim 6, characterized in that, The current number of wire rope layers on the drum of the first motor is determined to satisfy the following formula: in, This represents the current number of wire rope layers on the drum corresponding to the first motor. The initial number of wire rope layers on the drum corresponding to the first motor; The resolution is mentioned; This is the current count value of the first encoder; This is the initial count value of the first encoder; This represents the initial number of turns of the drum corresponding to the first motor; The required number of revolutions.

8. The method according to claim 6, characterized in that, The current number of wire rope layers on the drum of the second motor is determined to satisfy the following formula: in, This represents the current number of wire rope layers on the drum corresponding to the second motor. This represents the initial number of wire rope layers on the drum corresponding to the second motor. The resolution is mentioned; This is the current count value of the second encoder; This is the initial count value of the second encoder; This represents the initial number of turns of the drum corresponding to the second motor; The required number of revolutions.

9. A dual-winch traction balance control system, characterized in that, It includes a first motor assembly, a second motor assembly, a first drum, a second drum, a wire rope, and a controller; the first motor assembly is used to drive the first drum to rotate, and the second motor assembly is used to drive the second drum to rotate. The two ends of the wire rope are respectively wound around the first drum and the second drum and pull the goods through the middle; The controller is signal-connected to the first motor assembly and the second motor assembly respectively, and is configured to perform the method according to any one of claims 1 to 8.

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