CN110817642A - A braking force feedback automatic adjustment control system and control method - Google Patents

Abstract

The invention belongs to the technical field of anti-skid rope sliding car protection devices for mine hoisting equipment, and in particular relates to a braking force feedback automatic adjustment control system and control method. Encoder II and angular acceleration sensor, the hoisting ropes located on both sides of the hoist shaft pass through the anti-skid rope sliding protection device, the frame of the anti-skid rope sliding protection device is equipped with a position sensor, and the anti-skid rope sliding protection device is installed on the frame. A displacement sensor is installed on the manipulator of the device, a pressure sensor I is installed on the hydraulic circuit between the anti-skid rope sliding protection device and the hydraulic pump station; a pressure sensor II is installed on the hydraulic circuit of the disc brake system of the hoist, and the winch An infrared temperature sensor is arranged on the roller friction pad; the invention can detect and feedback the braking force and braking effect during the braking process, adjust and control the braking force in real time, so as to achieve the purpose of braking the hoisting rope accurately and smoothly.

Description

A braking force feedback automatic adjustment control system and control method

technical field

The invention belongs to the technical field of anti-skid rope sliding car protection devices for mine hoisting equipment, and in particular relates to a braking force feedback automatic adjustment control system and a control method.

Background technique

In the mine shaft hoisting system, the anti-skid rope sliding protection device is the ultimate protection device for the friction hoisting system to prevent sliding rope and sliding accidents, and is an important part of the safety protection of the friction hoisting system. When the anti-skid rope sliding protection device performs braking protection, it is required to generate an accurate and constant buffer braking force, so that the hoisting system can stop smoothly at a certain deceleration.

During the braking process, factors such as the size of the hoisting rope, surface conditions, and mechanical errors will cause the braking force to fluctuate, resulting in inaccurate braking force and unstable braking process. At present, the control system of the anti-skid rope slide protection device only has the functions of judgment and execution, that is, to judge the state of the hoist slide rope slide car, and to start and stop the action of the antiskid rope slide car protection device. It is impossible to detect and feedback the braking force and braking effect during the braking process, and it is impossible to adjust and control the braking force in real time.

SUMMARY OF THE INVENTION

In order to overcome the above-mentioned shortcomings of the prior art, the present invention provides a braking force feedback automatic adjustment control system and control method, which can detect and feedback the braking force and braking effect during the braking process, adjust and control the braking force in real time. power, so as to achieve the purpose of braking the hoisting rope accurately and smoothly.

The invention is realized through the following technical solutions: a braking force feedback automatic adjustment control system, a rotary encoder I is installed on the rotating shaft of the hoist, and a rotary encoder II and an angular acceleration sensor are installed on the guide wheel of the hoist, which are located in the hoisting machine. The hoisting ropes on both sides of the rotating shaft of the machine pass through the anti-skid rope sliding protection device, a position sensor is installed on the frame of the anti-skid rope sliding protection device, and a displacement sensor is installed on the manipulator of the anti-skid rope sliding protection device. , a pressure sensor I is installed on the hydraulic circuit between the anti-skid rope sliding protection device and the hydraulic pump station; a pressure sensor II is installed on the hydraulic circuit of the disc brake braking system of the hoist, and the friction pad of the winch drum is installed Infrared temperature sensor; rotary encoder I, rotary encoder II, angular acceleration sensor, position sensor, displacement sensor, pressure sensor I, pressure sensor II and infrared temperature sensor are all connected with PLC programmable controller signal, PLC can be programmed The program controller is also connected with the motor start-stop controller I for controlling the action of the manipulator, the motor start-stop controller II for controlling the wedge action in the manipulator, the hydraulic valve controller of the hydraulic pump station and the fault alarm signal of the anti-skid rope sliding protection device. Control connection.

The present invention also provides a control method of the braking force feedback automatic adjustment control system. By using the above braking force feedback automatic adjustment control system, when working, the rotary encoder I and the rotary encoder II will detect the drum of the hoist with the The speed parameter of the guide wheel is transmitted to the PLC programmable controller, and the PLC programmable controller compares the two speeds:

When the speed deviation between the roller of the hoist and the guide wheel is less than the set value, it is determined that the hoisting system is operating normally, and the anti-skid rope sliding protection device does not act;

When the speed deviation between the roller and the guide wheel of the hoist is greater than or equal to the set value, and the temperature of the friction pad is detected by the infrared temperature sensor, it is determined that the hoisting system has slipped rope, or when the pressure sensor II It is detected that the pressure is close to 0, but the rotating speed of the drum and guide wheel of the hoist detected by the rotary encoder I and the rotary encoder II continues to exist, and it is determined that the hoisting system has slipped. Lift the system for braking;

When the PLC programmable controller determines that the anti-skid rope sliding protection device is working abnormally, it will send an alarm signal to the fault alarm.

Further, when the anti-skid rope sliding protection device brakes, the PLC programmable controller sends a start signal to the motor start-stop controller I and the motor start-stop controller II;

After the motor start-stop controller Ⅰ receives the start signal sent by the PLC programmable controller, the manipulator starts to move, and the manipulator of the anti-skid rope sliding protection device is translated into position. When the PLC programmable controller receives the manipulator sent by the position sensor After the signal is in place, the PLC programmable controller sends a stop signal to the motor start-stop controller I;

After the motor start-stop controller II receives the start signal sent by the PLC programmable controller, the manipulator clamps the wedge and rope to brake, the displacement sensor detects the wedge falling distance, the pressure sensor detects the hydraulic circuit pressure, and transmits the parameter signal in real time. To the PLC programmable controller, it is converted into real-time braking force data by the PLC programmable controller; at the same time, the PLC programmable controller receives the parameter signal of the angular acceleration sensor in real time, and compares it with the set value range: when the parameter signal When it is within the set value range, it is judged that the manipulator braking is normal; when the parameter signal is greater than the maximum set value, it is judged that the manipulator braking force is too large, and the PLC programmable controller sends an opening signal to the hydraulic valve controller of the hydraulic pump station. Reduce the braking force of the manipulator; when the parameter signal is less than the minimum set value, it is determined that the braking force of the manipulator is too small, and the PLC programmable controller sends a start signal to the motor start-stop controller II to increase the braking force of the manipulator.

The beneficial effects of the present invention are: when the anti-skid rope sliding protection device brakes the hoisting system, the present invention can perform real-time detection and feedback on the braking force and braking effect, and according to the calculation and analysis results, real-time braking force Adjust and control, so that the anti-skid rope sliding protection device can continuously provide accurate and stable braking force, and ensure that the hoisting system can brake and stop smoothly in the event of sliding rope and sliding vehicle.

Description of drawings

Fig. 1 is the installation position diagram of the sensor of the present invention in the lifting system;

Fig. 2 is the installation position diagram of the sensor of the present invention on the anti-skid rope sliding car protection device;

Fig. 3 is the structural block diagram of the control system of the present invention;

Fig. 4 is a control flow block diagram of the present invention;

In Figure 1, 1-1, rotary encoder I, 1-2, hoist, 1-3, hoisting rope, 1-4, anti-skid rope sliding protection device, 1-5, angular acceleration sensor, 1-6, Rotary encoder II, 1-7, guide wheel, 1-8, lifting container, 1-9, disc brake system, 1-10, pressure sensor II, 1-11, infrared temperature sensor, 2-1, Frame, 2-2, position sensor, 2-3, displacement sensor, 2-4, wedge, 2-5, manipulator, 2-6, pressure sensor I, 2-7, hydraulic pump station.

Detailed ways

The present invention will be further described below according to the accompanying drawings and embodiments.

As shown in Figures 1 to 4, a braking force feedback automatic adjustment control system, a rotary encoder I1-1 is installed on the rotating shaft of the hoist 1-2, and the rotary encoder I1-1 is used to detect the rollers of the hoist 1-2 speed. Rotary encoder II 1-6 and angular acceleration sensor 1-5 are installed on the guide wheel 1-7 of the hoist 1-2. The rotary encoder II 1-6 is used to detect the speed of the guide wheel 1-7, and the angular acceleration sensor 1- 5 is used to detect the angular acceleration of the rotation of the guide wheel 1-7, so as to calculate the linear acceleration of the running of the hoisting rope 1-3. The hoisting ropes 1-3 located on both sides of the rotating shaft of the hoist 1-2 pass through the anti-skid rope sliding protection device 1-4, and the hoisting rope 1-3 is connected with a hoisting container 1-8, and the anti-skid rope sliding protection device A position sensor 2-2 is installed on the frame 2-1 of the device 1-4, and the position sensor 2-2 is used for detecting the moving position of the manipulator 2-5. A displacement sensor 2-3 is installed on the manipulator 2-5 of the anti-skid rope sliding protection device 1-4, and the displacement sensor 2-3 is used to detect the up-and-down distance of the wedge 2-4 in the manipulator 2-5. A pressure sensor I2-6 is installed on the hydraulic circuit between the anti-skid rope sliding protection device 1-4 and the hydraulic pump station 2-7. The pressure sensor I2-6 is used to detect the lateral pressure of the manipulator 2-5, so as to calculate The braking force generated by manipulators 2-5. The hydraulic circuit of the disc brake system 1-9 of the hoist 1-2 is provided with a pressure sensor II1-10. The pressure sensor II1-10 is used to detect whether the disc brake is put into braking, which is to determine whether a car slipping accident occurs. Judgment provides conditions. An infrared temperature sensor 1-11 is provided on the friction pad of the winch drum. The infrared temperature sensor 1-11 is used to detect the temperature change of the friction pad and assist in judging whether a rope slip accident occurs. Rotary encoder I1-1, rotary encoder II1-6, angular acceleration sensor 1-5, position sensor 2-2, displacement sensor 2-3, pressure sensor I2-6, pressure sensor II1-10 and infrared temperature sensor 1- 11 are all connected with the PLC programmable controller signal, and the PLC programmable controller is also connected with the motor start-stop controller I that controls the action of the manipulator 2-5, and the motor start-stop that controls the action of the wedge 2-4 in the manipulator 2-5. The controller II, the hydraulic valve controller of the hydraulic pump station 2-7 and the fault alarm signal control connection of the anti-skid rope sliding protection device 1-4. The PLC programmable controller converts, calculates and analyzes the signals collected by each sensor, and sends out control signals to each executive controller according to the preset program. The motor start-stop controller I is used for start-stop control of the translation motors of the manipulators 2-5 of the anti-skid rope sliding protection devices 1-4. The motor start-stop controller II is used for start-stop control of the lifting motors in the gripping wedges 2-4 of the manipulators 2-5. The hydraulic valve controller is used for the opening and closing control of the hydraulic valves on the hydraulic pump stations 2-7. The fault alarm is used for alarm indication when the anti-skid rope sliding protection devices 1-4 work abnormally.

The present invention also provides a control method for the braking force feedback automatic adjustment control system. As shown in Figures 3 and 4, during operation, the rotary encoder I1-1 and the rotary encoder II1-6 will detect the hoist 1 The speed parameters of the -2 rollers and guide wheels 1-7 are sent to the PLC programmable controller, and the PLC programmable controller compares the two speeds:

When the speed deviation between the drum of the hoist 1-2 and the guide wheel 1-7 is less than the set value, it is determined that the hoisting system is operating normally, and the anti-skid rope sliding protection device 1-4 does not act;

When the speed deviation between the roller of the elevator 1-2 and the guide wheel 1-7 is greater than or equal to the set value, and the temperature of the friction pad is detected by the infrared temperature sensor 1-11 at the same time, it is determined that the elevator system has occurred. In the case of sliding rope, or when the pressure sensor II1-10 detects that the pressure is close to 0 (the disc brake is engaged in braking), but the drum of the hoist 1-2 detected by the rotary encoder I1-1 and the rotary encoder II1-6 is different from the When the rotational speed of the guide wheels 1-7 persists, it is determined that the hoisting system has slipped; at this time, the anti-skid rope slipping protection device 1-4 needs to brake the hoisting system;

When the PLC programmable controller determines that the anti-skid rope sliding protection device 1-4 is abnormal, it will send an alarm signal to the fault alarm.

When the anti-skid rope sliding protection device 1-4 is braking, the PLC programmable controller sends a start signal to the motor start-stop controller I and the motor start-stop controller II;

After the motor start-stop controller Ⅰ receives the start signal sent by the PLC programmable controller, the manipulator 2-5 starts to act, and the manipulator 2-5 of the anti-skid rope sliding protection device 1-4 moves in place. After the controller receives the in-position signal of the manipulator 2-5 sent by the position sensor 2-2, the PLC programmable controller sends a stop signal to the motor start-stop controller I;

After the motor start-stop controller II receives the start signal sent by the PLC programmable controller, the wedge 2-4 in the manipulator 2-5 is clamped by the rope, and the displacement sensor 2-3 detects the descending distance of the wedge 2-4, the pressure Sensors 2-6 detect the hydraulic circuit pressure, and transmit the parameter signal to the PLC programmable controller in real time, which is converted into real-time braking force data by the PLC programmable controller; at the same time, the PLC programmable controller receives the angular acceleration sensor in real time. The parameter signals of 1-5 are compared with the set value range: when the parameter signal is within the set value range, it is judged that the braking of the manipulator 2-5 is normal; when the parameter signal is greater than the highest set value, it is judged that the manipulator 2-5 If the braking force is too large, the PLC programmable controller sends an opening signal to the hydraulic valve controller of the hydraulic pump station 2-7 to reduce the braking force of the manipulator 2-5; when the parameter signal is less than the minimum set value, it is determined that the manipulator 2 The braking force of -5 is too small, and the PLC programmable controller sends a start signal to the motor start-stop controller II to increase the braking force of the manipulator 2-5.

Claims (3)

1. A braking force feedback automatic adjustment control system, characterized in that: a rotary encoder I (1-1) is installed on the rotating shaft of the hoist (1-2), and a guide wheel (1- 7) Rotary encoder II (1-6) and angular acceleration sensor (1-5) are installed on it, and the hoisting ropes (1-3) located on both sides of the rotating shaft of the hoisting machine (1-2) are protected from the slip-resistant rope. The device (1-4) passes through, a position sensor (2-2) is installed on the frame (2-1) of the anti-skid rope sliding protection device (1-4), and the anti-skid rope sliding protection device ( A displacement sensor (2-3) is installed on the manipulator (2-5) of 1-4), and a hydraulic circuit between the anti-skid rope sliding protection device (1-4) and the hydraulic pump station (2-7) is installed There is pressure sensor I (2-6); pressure sensor II (1-10) is provided on the hydraulic circuit of the disc brake system (1-9) of the hoist (1-2), and the friction pad of the winch drum is provided with a pressure sensor II (1-10). Equipped with infrared temperature sensor (1-11); rotary encoder I (1-1), rotary encoder II (1-6), angular acceleration sensor (1-5), position sensor (2-2), displacement sensor (2-3), pressure sensor I (2-6), pressure sensor II (1-10) and infrared temperature sensor (1-11) are all connected with the PLC programmable controller signal, and the PLC programmable controller is also With the motor start-stop controller I for controlling the action of the manipulator (2-5), the motor start-stop controller II for controlling the action of the wedge (2-4) in the manipulator (2-5), and the hydraulic pump station (2-7) The fault alarm signal control connection of the hydraulic valve controller and the skid rope sliding protection device (1-4). 2. A control method for a braking force feedback automatic adjustment control system, characterized in that: using the braking force feedback automatic adjustment control system according to claim 1, when working, the rotary encoder I (1-1) and the rotary encoder II (1-6) transmits the detected rotational speed parameters of the drum and guide wheel (1-7) of the hoist (1-2) to the PLC programmable controller. Compare: When the speed deviation between the drum of the hoist (1-2) and the guide wheel (1-7) is less than the set value, it is determined that the hoisting system is running normally, and the anti-skid rope sliding protection device (1-4) does not act; When the rotational speed deviation between the roller of the hoist (1-2) and the guide wheel (1-7) is greater than or equal to the set value, the temperature of the friction pad is detected by the infrared temperature sensor (1-11) to increase significantly. High, it is judged that the hoisting system has slipped rope, or when the pressure sensor II (1-10) detects that the pressure is close to 0, but the rotary encoder I (1-1) and the rotary encoder II (1-6) detect the lifting The rotation speed of the drum and guide wheel (1-7) of the machine (1-2) continues to exist, and it is determined that the hoisting system has slipped; at this time, the anti-skid rope slipping protection device (1-4) needs to brake the hoisting system ; When the PLC programmable controller determines that the anti-skid rope sliding protection device (1-4) is abnormal, it will send an alarm signal to the fault alarm. 3. A control method for a braking force feedback automatic adjustment control system according to claim 2, characterized in that: when the anti-skid rope sliding protection device (1-4) is braked, the PLC programmable controller Motor start-stop controller I and motor start-stop controller II send start signals; After the motor start-stop controller I receives the start signal sent by the PLC programmable controller, the manipulator (2-5) starts to act, and the manipulator (2-5) of the anti-skid rope sliding protection device (1-4) is translated into place , when the PLC programmable controller receives the in-position signal of the manipulator (2-5) from the position sensor (2-2), the PLC programmable controller sends a stop signal to the motor start-stop controller I; After the motor start-stop controller II receives the start signal sent by the PLC programmable controller, the manipulator (2-5) clamps the wedge (2-4) to the rope for braking, and the displacement sensor (2-3) detects the clamp wedge ( 2-4) For the descending distance, the pressure sensor (2-6) detects the hydraulic circuit pressure, and transmits the parameter signal to the PLC programmable controller in real time, and the PLC programmable controller converts it into real-time braking force data; at the same time, the PLC The programmable controller receives the parameter signal of the angular acceleration sensor (1-5) in real time and compares it with the set value range: when the parameter signal is within the set value range, it is determined that the manipulator (2-5) brakes normally; When the parameter signal is greater than the maximum set value, it is determined that the braking force of the manipulator (2-5) is too large, and the PLC programmable controller sends an opening signal to the hydraulic valve controller of the hydraulic pump station (2-7), so that the manipulator (2-7) 5) The braking force is reduced; when the parameter signal is less than the minimum set value, it is determined that the braking force of the manipulator (2-5) is too small, and the PLC programmable controller sends a start signal to the motor start-stop controller II, so that the manipulator (2-5) -5) Braking force increases.

Images