CN115594058B - Braking torque control method, device and system of lifting system - Google Patents
Braking torque control method, device and system of lifting system Download PDFInfo
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- CN115594058B CN115594058B CN202211215281.3A CN202211215281A CN115594058B CN 115594058 B CN115594058 B CN 115594058B CN 202211215281 A CN202211215281 A CN 202211215281A CN 115594058 B CN115594058 B CN 115594058B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B19/00—Mining-hoist operation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
- B66B1/32—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on braking devices, e.g. acting on electrically controlled brakes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
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- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Cage And Drive Apparatuses For Elevators (AREA)
Abstract
The embodiment of the application is suitable for the technical field of elevators, and provides a braking torque control method, a braking torque control device and a braking torque control system of an elevator system, wherein the method is applied to the elevator system; the lifting system comprises a traction rope, a guide wheel, a disc brake for driving the traction rope to move on the guide wheel, and a first lifting container and a second lifting container which are positioned at two ends of the traction rope; the method comprises the following steps: determining a first braking moment when the traction rope moves according to the radius of the guide wheel, the first weight of the first lifting container and the second weight of the second lifting container; acquiring the angular acceleration of a guide wheel when the traction rope moves at a target speed at a uniform speed; determining a second braking moment to be output by the disc brake when the traction rope moves at a target speed at a constant speed according to the angular acceleration, the first braking moment, the preset equivalent resistance moment and the preset equivalent moment of inertia of the lifting system; the control disc brake outputs a second braking torque. The method can stably control the lifting container to move at the target speed.
Description
Technical Field
The application belongs to the technical field of elevators, and particularly relates to a braking torque control method, device and system of an elevator system.
Background
The mine hoisting system is an important device in the production process of coal mines and nonferrous metal mines. Among them, the mine hoisting system generally comprises a main hoist for taking charge of the transportation of ores, waste stones and a secondary hoist for taking charge of the transportation of the personnel descending the well.
The auxiliary hoist generally adopts a friction hoist, and can hoist the container by means of friction between the traction rope and the guide wheel and gravity difference between hoisting containers at two ends of the traction rope. In addition, the worker can control the lifting speed of the lifting container by controlling the braking force provided by the brake in the friction elevator using the control lever based on the lifting speed of the lifting container displayed in the speed meter of the auxiliary elevator.
However, the coefficient of friction between the traction rope and the friction roller is easily affected by the temperature and humidity of the field environment, and the gravity difference between the lifting containers at both ends of the traction rope is not constant. Therefore, when the friction type elevator is in operation, the control effect of the lifting speed of the lifting container is completely dependent on a worker who controls the control rod, so that the lifting speed of the lifting container is unstable, and the safety of a mine lifting system is reduced.
Disclosure of Invention
The embodiment of the application provides a braking torque control method, a braking torque control device and a braking torque control system for a lifting system, which can solve the technical problem that the lifting speed of a lifting container cannot be controlled stably in the prior art.
In a first aspect, an embodiment of the present application provides a braking torque control method of a lifting system, which is applied to the lifting system; the lifting system comprises a traction rope, a guide wheel, a disc brake for driving the traction rope to move on the guide wheel, and a first lifting container and a second lifting container which are positioned at two ends of the traction rope; the method comprises the following steps:
acquiring a first weight of the first lifting container and a second weight of the second lifting container;
Determining a driving moment when the traction rope moves according to the radius of the guide wheel, the first weight and the second weight;
Acquiring the angular acceleration of a guide wheel when the traction rope moves at a target speed at a uniform speed;
Determining a second braking torque to be output by the disc brake when the traction rope moves at a target speed at a constant speed according to the angular acceleration, the driving torque, the preset equivalent resistance torque of the lifting system and the preset equivalent moment of inertia of the lifting system;
controlling the disc brake to output a second braking torque;
According to the angular acceleration, the driving moment, the preset equivalent resistance moment of the lifting system and the preset equivalent moment of inertia of the lifting system, determining a second braking moment to be output by the disc brake when the traction rope moves at a target speed at a uniform speed, wherein the second braking moment comprises:
Calculating the product of the angular acceleration and preset equivalent moment of inertia; the second braking moment is calculated by adopting the following preset formula; the preset formula is:
MZ=MQ-Mf-Ja；
Wherein M Z is a second braking torque, M Q is a driving torque, M f is a preset equivalent resistance torque, J is a preset equivalent moment of inertia, a is an angular acceleration, and Ja is a product;
after controlling the disc brake to output the second braking torque, further comprising:
acquiring the current moving speed of the traction rope after the disc brake outputs the second braking torque;
If the speed difference between the current moving speed and the target speed is greater than a preset speed threshold value and the current moving speed is greater than the target speed, the second braking torque is increased to the first target braking torque; the first target braking moment and the second braking moment differ by a preset moment; the preset speed threshold is 0;
if the speed difference between the current moving speed and the target speed is smaller than a preset speed threshold value and the current moving speed is smaller than the target speed, reducing the second braking torque to a second target braking torque; the second target braking moment and the second braking moment differ by a preset moment;
and if the speed difference between the current moving speed and the target speed is equal to a preset speed threshold value, maintaining the second braking torque.
In a second aspect, an embodiment of the present application provides a braking torque control device applied to the lifting system of the first aspect, and the braking torque control device is applied to the lifting system; the lifting system comprises a traction rope, a guide wheel, a disc brake for driving the traction rope to move on the guide wheel, and a first lifting container and a second lifting container which are positioned at two ends of the traction rope; the device comprises:
a first acquisition module for acquiring a first weight of the first lifting container and a second weight of the second lifting container;
The first determining module is used for determining the driving moment when the traction rope moves according to the radius of the guide wheel, the first weight and the second weight;
the second acquisition module is used for acquiring the angular acceleration of the guide wheel when the traction rope moves at a target speed at a constant speed;
The second determining module is used for determining a second braking torque to be output by the disc brake when the traction rope moves at a target speed at a constant speed according to the angular acceleration, the driving torque, the preset equivalent resistance torque of the lifting system and the preset equivalent moment of inertia of the lifting system;
The control module is used for controlling the disc brake to output a second braking torque;
the second determination module is further configured to:
Calculating the product of the angular acceleration and preset equivalent moment of inertia; the second braking moment is calculated by adopting the following preset formula; the preset formula is:
MZ=MQ-Mf-Ja；
Wherein M Z is a second braking torque, M Q is a driving torque, M f is a preset equivalent resistance torque, J is a preset equivalent moment of inertia, a is an angular acceleration, and Ja is a product;
The braking torque control device further includes:
the third acquisition module is used for acquiring the current moving speed of the traction rope after the disc brake outputs the second braking torque;
The lifting module is used for lifting the second braking moment to the first target braking moment if the speed difference between the current moving speed and the target speed is larger than a preset speed threshold value and the current moving speed is larger than the target speed; the first target braking moment and the second braking moment differ by a preset moment; the preset speed threshold is 0;
The reducing module is used for reducing the second braking torque to a second target braking torque if the speed difference between the current moving speed and the target speed is smaller than a preset speed threshold value and the current moving speed is smaller than the target speed; the second target braking moment and the second braking moment differ by a preset moment;
And the maintaining module is used for maintaining the second braking torque if the speed difference between the current moving speed and the target speed is equal to a preset speed threshold value.
In a third aspect, an embodiment of the present application provides another braking torque control device for a lifting system, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the method according to the first aspect as described above when executing the computer program.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which when executed by a processor performs a method as in the first aspect.
In a fifth aspect, an embodiment of the application provides a computer program product for causing a brake torque control device to carry out the method of the first aspect described above when the computer program product is run on the brake torque control device.
In a sixth aspect, an embodiment of the present application provides a lifting system, including a first lifting container, a second lifting container, and a braking torque control device of the lifting system of the second aspect or the third aspect, where the first lifting container and the second lifting container are connected to the braking torque control device.
Compared with the prior art, the embodiment of the application has the beneficial effects that: the method comprises the steps of obtaining a first weight of a first lifting container and a second weight of a second lifting container, and determining driving moment generated by the first weight and the second weight at two ends of a traction rope when the traction rope moves according to the first weight, the second weight and the radius of a guide wheel in a lifting system; and then, by acquiring the angular acceleration of the guide wheel when the traction rope moves at the target speed at a uniform speed and determining the second braking moment to be output by the disc brake when the traction rope moves at the target speed at the uniform speed according to the angular acceleration, the driving moment, the preset equivalent resistance moment and the preset equivalent moment of inertia of the lifting system, so as to control the disc brake to output the second braking moment. Therefore, the braking force currently required to be generated by the disc brake can be accurately determined according to the actual first weight of the first lifting container and the actual second weight of the second lifting container, so that the lifting container can stably ascend or descend at a target speed, the stability of the lifting container in operation is improved, and the potential safety hazard of the lifting container in operation is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a lifting system according to an embodiment of the present application;
FIG. 2 is a flow chart illustrating a method for braking torque control for a lift system according to an embodiment of the present application;
FIG. 3 is a flow chart illustrating a method for braking torque control for a lift system according to another embodiment of the present application;
FIG. 4 is a schematic diagram of a braking torque control device according to an embodiment of the present application;
Fig. 5 is a schematic structural diagram of a braking torque control device according to another embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.
Auxiliary elevators in mine hoisting systems are used for the transportation of personnel down-the-well. Currently, the auxiliary hoist generally employs a friction hoist that can hoist a container by means of friction between a traction rope and a guide wheel and a gravity difference between hoisting containers at both ends of the traction rope. In addition, the staff can also control the lifting speed of the lifting container by adopting a control rod to control the braking force provided by a brake in the friction type elevator based on the lifting speed of the lifting container displayed in a speed meter of the auxiliary elevator.
However, the friction coefficient between the traction rope and the guide wheel is affected by the temperature and humidity of the field environment, and the gravity difference between the lifting containers at the two ends of the traction rope is not constant, so that the control effect of the lifting speed of the lifting containers is completely dependent on the staff operating the control lever when the friction type elevator is operated. Therefore, the lifting system is difficult to reasonably provide braking force according to the actual running condition of the lifting container, the running speed of the lifting container is unstable, and the safety of the mine lifting system is reduced.
Based on the above, in order to reasonably provide braking force according to the actual running condition of the lifting container and improve the stability of the lifting speed of the lifting container, the embodiment of the application provides a braking torque control method of a lifting system, which can be used in the lifting system.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a lifting system according to an embodiment of the present application. The lifting system 100 comprises a first lifting container 110, a second lifting container 120 and a braking torque control device 130, wherein the first lifting container 110 and the second lifting container 120 are connected with the braking torque control device 130 for executing various steps in the following method embodiments.
Specifically, the lifting system further comprises a traction rope, a guide wheel, a disc brake and other devices. Wherein, the both ends of haulage rope are connected respectively first lifting vessel and second lifting vessel. The disc brake is used for driving the traction rope to move on the guide wheel. Specifically, the disc brake includes a brake disc, an oil chamber, and a brake shoe. Wherein, the oil cavity is connected with the brake shoe; the disc brake pushes the brake shoe to generate pressure on the brake disc by adjusting the oil quantity in the oil cavity; the brake disc is used for driving the traction rope according to pressure so that the traction rope moves on the guide wheel and further drives the first lifting container and the second lifting container at two ends of the traction rope to lift.
Referring to fig. 2, fig. 2 shows a flowchart of an implementation of a method for controlling a speed of a lifting container according to an embodiment of the present application, where the method includes the following steps:
s201, acquiring a first weight of the first lifting container and a second weight of the second lifting container.
In an embodiment, the first gravity and the second weight may be collected by a weight measuring device disposed in the first lifting container and a weight measuring device disposed in the second lifting container, respectively, and then transmitted to the lifting system, which is not limited. When any lifting container is not loaded with ore, the first weight and the second weight are generally equal.
When the first lifting system and the second lifting system are operated, the lifting system can acquire the first weight and the second weight in real time or at intervals of preset time, which is not limited.
S202, determining the driving moment when the traction rope moves according to the radius of the guide wheel, the first weight and the second weight.
In one embodiment, the driving moment is a force for driving the traction rope, which is generated by a gravity difference between the first lifting container and the second lifting container. Specifically, the lift system may calculate a difference between the first weight and the second weight; the product of the difference and the radius is then determined as the drive torque.
The lifting system can specifically calculate the driving moment according to the following preset moment calculation formula. The details are as follows:
；
Wherein, Representing the driving torque; representing a first weight; representing a second weight; r represents the radius of the guide wheel. The radius of the guide wheels can be measured beforehand by the staff and stored in the hoisting system.
The radius of the guide wheel can be preset in the lifting system, so that the guide wheel can be acquired by the lifting system at any time.
S203, acquiring the angular acceleration of the guide wheel when the haulage rope moves at the target speed at a uniform speed.
In one embodiment, the target speed may be set by a worker, which is not limited. In general, the angular acceleration of the guide wheel is typically different when the traction rope moves at a constant target speed. Since the traction rope moves by rolling of the guide wheel, it is considered that the moving speed of the traction rope (the first lift container and the second lift container) can be processed according to the speed (rotation speed) of the guide wheel. However, the rotational speed of the guide wheel may be processed according to the product of the angular acceleration of the guide wheel and time. Based on this, when the target is determined to move at a uniform speed, the angular acceleration of the guide wheel thereof may be correspondingly determined.
Specifically, the lifting system may determine a time length required for the lifting system to perform one lifting according to the target speed; and then, determining the angular acceleration of the guide wheel according to the target speed and the time length.
Wherein the lifting system is responsible for transportation of the personnel in the well, and therefore the lifting distance of the first lifting vessel and the second lifting vessel is typically the distance of the mine bottom from the mine entrance. Based on this, when the lifting system controls the first lifting container and the second lifting container to travel at a constant speed at the target speed, the time period required for one lifting may be calculated according to a calculation formula of the distance speed.
The guide wheel is of a circular structure, and the product of the angular acceleration of the rotation of the guide wheel and the time is the angular speed of the guide wheel. However, the first and second lifting containers are moved by the traction ropes, and the traction ropes are moved by the rotation of the guide wheels, and the product of the angular speed of the guide wheels, the time and the radius of the guide wheels can be considered as the speed (target speed) of the traction ropes. Based on the above, after the target speed is determined in time, the angular speed of the guide wheel can be correspondingly calculated.
S204, determining a second braking moment to be output by the disc brake when the traction rope moves at a target speed at a constant speed according to the angular acceleration, the driving moment, the preset equivalent resistance moment of the lifting system and the preset equivalent moment of inertia of the lifting system.
In one embodiment, the equivalent moment of inertia refers to the moment of inertia of the drive train (lift system) relative to the drive shaft (disc brake). The dynamics of the transmission system, which typically do not change, can be reflected.
When the traction rope runs at a target speed at a constant speed, the stress between the first lifting container and the second lifting container is balanced. Based on this, the lifting system may generate a balance model from the factor values of the plurality of system factors acquired at this time.
Specifically, when the balance model is generated, the first lifting container and the second lifting container are connected to the end part of the traction rope, so that the first lifting container, the traction rope and the second lifting container can be regarded as a whole for stress analysis. The hauling ropes are then regarded as mass homogenizers and the driving moment between the first and second hoisting vessels can be considered as unchanged when the hoisting vessels are lifted. In addition, the lifting system also typically has an equivalent drag torque of the system when in operation. Based on this, since the lifting container can be regarded as a lifting container in a balanced state when the lifting container is operated at a constant speed, the driving moment, the second braking moment and the preset equivalent resistance moment acting between the lifting containers will have the following relationship:
；
Wherein, Representing the driving moment of force,If the traction rope needs to be controlled to move at a target speed at a uniform speed, a second braking torque required to be output by the disc brake is required; j is preset equivalent rotational inertia of the lifting system, w is the angular speed of the guide wheel, and t is unit time when the lifting container moves at a constant speed; The preset equivalent resistance moment of the lifting system is obtained. The product of the angular speed of the guide wheel and the radius and time of the guide wheel is the speed of the guide wheel. Further, since the traction rope moves by the rolling of the guide wheel, it can be considered that the moving speed of the traction rope (the first lift container and the second lift container) is equivalent to the speed of the guide wheel.
Wherein, according to the above formula, the following speed expression when the lifting system performs one lifting of the lifting container can be obtained:
；
Wherein v is the speed of the haulage rope when lifting, namely the target speed; other letter definitions are explained above and will not be described again. The target speed v, the radius R of the guide wheel and the duration t may be determined in advance according to the above description. Thus, with each parameter determined, the lifting system can calculate the second braking torque to be output by the disc brake according to the above formula.
In addition, based on the above description, the product of the angular velocity of the guide wheel and the radius and time of the guide wheel is the velocity of the guide wheel. Thus, the above formula may also be:
；
That is, when the second braking torque needs to be calculated, the braking torque control may calculate the product of the angular acceleration and the preset equivalent moment of inertia; then, the second braking torque is calculated by adopting the following preset formula; the preset formula is:
MZ=MQ-Mf-Ja；
Wherein M Z is a second braking torque, M Q is a driving torque, M f is a preset equivalent resistance torque, J is a preset equivalent moment of inertia, a is an angular acceleration, and Ja is a product.
S205, controlling the disc brake to output a second braking moment.
In one embodiment, based on the explanation of S204, when the traction rope needs to be controlled to travel at a constant speed with any target speed, the second braking torque required to be output by the current disc brake may be calculated based on the above manner. Based on this, the braking torque control device can control the disc brake according to the second braking torque to maintain the stable operation of the traction rope. Further, stability of the lifting speed of each lifting container is ensured.
The disc brake drives the brake shoe connected with the oil cavity to generate pressure on the brake disc by adjusting the oil quantity in the oil cavity, and then outputs corresponding second braking torque. Thus, the lifting system can adjust the amount of oil of the disc brake in such a way as to control the disc brake to output the second braking torque.
Specifically, the lifting system may obtain the separation distance between the disc brake and the guide wheel; then, determining target pressure to be generated by the brake shoe on the brake disc when the disc brake outputs the second braking moment according to the second braking moment, the interval distance, the preset disc brake logarithm and the friction coefficient between the brake shoe and the brake disc; finally, the oil quantity in the oil cavity is adjusted to the target oil quantity according to the target pressure; and under the condition of the target oil quantity, the braking torque output by the disc brake is the second braking torque.
In an embodiment, the above-mentioned interval distance may be collected by a ranging sensor, or may be measured by a worker in advance and then stored in the lifting system, which is not limited. The coefficient of friction between the brake shoe and the brake disc, and the number of pairs of disc brakes can be obtained from the instructions given at the time of shipment of the disc brakes. The specification also generally describes structural parameters of various devices in the disc brake, and this will not be described.
The lifting system may specifically determine the target pressure by the formula:
；
Wherein FN represents a target pressure; Representing a second braking torque; n represents the number of disc brake pairs; indicating the coefficient of friction between the brake shoe and the brake disc; r represents the separation distance.
It should be added that after the target pressure is determined, the target oil amount required for generating the target pressure can be correspondingly determined. For example, the worker may previously establish a correlation table between the oil amount and the pressure, and then determine the corresponding target oil amount according to the correlation table. Specifically, the lifting system can gradually increase the oil quantity into the oil cavity, so that the oil quantity in the oil cavity is gradually increased from 0, and the pressure generated by the corresponding current oil quantity is obtained through the pressure measuring equipment, so that the association relation table is formed. And then, storing the association relationship so as to adjust the oil quantity in the oil cavity to the target oil quantity in real time.
In the embodiment, the driving moment generated by the first weight and the second weight at the two ends of the traction rope when the traction rope moves is determined by acquiring the first weight of the first lifting container and the second weight of the second lifting container and according to the first weight, the second weight and the radius of the guide wheel in the lifting system; and then, by acquiring the angular acceleration of the guide wheel when the traction rope moves at the target speed at a uniform speed and determining the second braking moment to be output by the disc brake when the traction rope moves at the target speed at the uniform speed according to the angular acceleration, the driving moment, the preset equivalent resistance moment and the preset equivalent moment of inertia of the lifting system, so as to control the disc brake to output the second braking moment. Therefore, the braking force currently required to be generated by the disc brake can be accurately determined according to the actual first weight of the first lifting container and the actual second weight of the second lifting container, so that the lifting container can stably ascend or descend at a target speed, the stability of the lifting container in operation is improved, and the potential safety hazard of the lifting container in operation is reduced.
In another embodiment, the movement speed of the traction rope may not be able to be adjusted to the target speed immediately after the second braking torque is outputted by the control disc brake. Therefore, the hoisting system can also adjust the second braking torque again according to the following steps S301-S304, so that the hoisting vessels at both ends of the hoisting ropes can be operated at the target speed.
S301, acquiring the current moving speed of the traction rope after the disc brake outputs the second braking torque.
S302, if the speed difference between the current moving speed and the target speed is larger than a preset speed threshold value and the current moving speed is larger than the target speed, the second braking torque is increased to the first target braking torque; the first target braking moment and the second braking moment differ by a preset moment.
S303, if the speed difference between the current moving speed and the target speed is smaller than a preset speed threshold value and the current moving speed is smaller than the target speed, reducing the second braking torque to a second target braking torque; the second target braking torque and the second braking torque differ by a preset torque.
And S304, if the speed difference between the current moving speed and the target speed is equal to a preset speed threshold value, maintaining the second braking torque.
In one embodiment, the current movement speed is the movement speed of the traction rope after the disc brake outputs the second braking torque. In general, the current movement speed should be the target speed. However, the current movement speed may be greater than or less than the target speed due to other external forces (e.g., temperature and humidity to raise the system operation).
The preset speed threshold and the preset torque may be set in advance according to actual conditions, which is not limited. For example, in this embodiment, the preset speed threshold may be 0.
Therefore, if the speed difference between the current moving speed and the target speed is greater than the preset speed threshold value and the current moving speed is greater than the target speed, the second braking torque output by the disc brake is indicated to be too small. Thus, the hoisting system may raise the second braking torque to the first target braking torque to reduce the current movement speed of the traction rope, gradually reducing the current movement speed to the target speed.
Also, as can be seen from the above explanation, if the speed difference between the current moving speed and the target speed is less than or equal to the preset speed threshold and the current moving speed is less than the target speed, it indicates that the second braking torque output by the disc brake is excessively large. Therefore, the lifting system can reduce the second braking torque to the first target braking torque so as to lift the current moving speed of the traction rope, and gradually lift the current moving speed to the target speed.
And, when the speed difference between the current moving speed and the target speed is equal to 0, the current moving speed may be regarded as the target speed. Accordingly, the disc brake can be controlled to continuously output the second braking torque to control the lifting of the traction rope at the target speed.
Referring to fig. 4, fig. 4 is a block diagram illustrating a brake torque control apparatus according to an embodiment of the present application. The braking torque control device in this embodiment includes modules for executing the steps in the embodiments corresponding to fig. 1 and 2. Refer specifically to fig. 1 and fig. 2 and the related description in the embodiments corresponding to fig. 1 and fig. 2. For convenience of explanation, only the portions related to the present embodiment are shown. The braking torque control device is applied to the lifting system; the lifting system comprises a traction rope, a guide wheel, a disc brake for driving the traction rope to move on the guide wheel, and a first lifting container and a second lifting container which are positioned at two ends of the traction rope. Referring to fig. 4, the braking torque control apparatus 400 may include: a first acquisition module 410, a first determination module 420, a second acquisition module 430, a second determination module 440, and a control module 450, wherein:
a first acquisition module 410 for acquiring a first weight of the first lifting container and a second weight of the second lifting container.
The first determining module 420 is configured to determine a driving moment when the traction rope moves according to the radius of the guiding wheel, the first weight, and the second weight.
The second obtaining module 430 is configured to obtain an angular acceleration of the guiding wheel when the traction rope moves at a target speed at a constant speed.
The second determining module 440 is configured to determine a second braking torque to be output by the disc brake when the traction rope moves at the target speed at a constant speed according to the angular acceleration, the driving torque, the preset equivalent resistance torque of the lifting system, and the preset equivalent moment of inertia of the lifting system.
A control module 450 for controlling the disc brake to output a second braking torque;
the second determination module 440 is further configured to:
Calculating the product of the angular acceleration and preset equivalent moment of inertia; the second braking moment is calculated by adopting the following preset formula; the preset formula is:
MZ=MQ-Mf-Ja；
Wherein M Z is a second braking torque, M Q is a driving torque, M f is a preset equivalent resistance torque, J is a preset equivalent moment of inertia, a is an angular acceleration, and Ja is a product;
The braking torque control apparatus 400 further includes:
the third acquisition module is used for acquiring the current moving speed of the traction rope after the disc brake outputs the second braking torque;
The lifting module is used for lifting the second braking moment to the first target braking moment if the speed difference between the current moving speed and the target speed is larger than a preset speed threshold value and the current moving speed is larger than the target speed; the first target braking moment and the second braking moment differ by a preset moment; the preset speed threshold is 0;
The reducing module is used for reducing the second braking torque to a second target braking torque if the speed difference between the current moving speed and the target speed is smaller than a preset speed threshold value and the current moving speed is smaller than the target speed; the second target braking moment and the second braking moment differ by a preset moment;
And the maintaining module is used for maintaining the second braking torque if the speed difference between the current moving speed and the target speed is equal to a preset speed threshold value. .
In an embodiment, the first determining module 420 is further configured to:
calculating a difference between the first weight and the second weight; the product of the difference and the radius is determined as the driving torque.
In an embodiment, the second acquisition module 430 is further configured to:
determining the time length required by the lifting system to execute one-time lifting according to the target speed; and determining the angular acceleration of the guide wheel according to the target speed and the time length.
In one embodiment, a disc brake includes a brake disc, an oil chamber, and a brake shoe; the disc brake pushes a brake shoe connected with the oil cavity to generate pressure on the brake disc by adjusting the oil quantity in the oil cavity; the second determination module 440 is further configured to:
Acquiring the interval distance between the disc brake and the guide wheel; determining target pressure to be generated by a brake shoe on a brake disc when the disc brake outputs a second braking torque according to the second braking torque, the interval distance, a preset disc brake logarithm and a friction coefficient between the brake shoe and the brake disc; adjusting the oil quantity in the oil cavity to a target oil quantity according to the target pressure; and under the condition of the target oil quantity, the braking torque output by the disc brake is the second braking torque.
In one embodiment, the second determination module 440 may determine the target pressure using the following formula:
；
Wherein FN represents a target pressure; Representing a second braking torque; n represents the number of disc brake pairs; indicating the coefficient of friction between the brake shoe and the brake disc; r represents the separation distance.
It should be understood that, in the block diagram of the braking torque control device shown in fig. 4, each module is configured to perform each step in the embodiment corresponding to fig. 1 and 2, and each step in the embodiment corresponding to fig. 1 and 2 is explained in detail in the foregoing embodiment, and specific reference is made to fig. 1 and 2 and the related description in the embodiment corresponding to fig. 1 and 2, which are not repeated herein.
Fig. 5 is a block diagram of a brake torque control device according to another embodiment of the present application. As shown in fig. 5, the braking torque control apparatus 500 of this embodiment includes: a processor 510, a memory 520, and a computer program 530 stored in the memory 520 and executable on the processor 510, such as a program for a braking torque control method of a hoisting system. The processor 510, when executing the computer program 530, implements the steps of the various embodiments of the braking torque control method for the various lifting systems described above, such as S201-S205 shown in fig. 1. Or the processor 510 may perform the functions of the modules in the embodiment corresponding to fig. 4, for example, the functions of the modules 410 to 450 shown in fig. 4, when executing the computer program 530, refer to the related description in the embodiment corresponding to fig. 4.
For example, the computer program 530 may be divided into one or more modules, one or more modules stored in the memory 520 and executed by the processor 510 to implement the braking torque control method of the lifting system provided by the embodiments of the present application. One or more of the modules may be a series of computer program instruction segments capable of performing particular functions for describing the execution of the computer program 530 in the brake torque control device 500. For example, the computer program 530 may implement a braking torque control method for a lifting system provided by an embodiment of the present application.
The braking torque control device 500 may include, but is not limited to, a processor 510, a memory 520. It will be appreciated by those skilled in the art that fig. 5 is merely an example of a braking torque control apparatus 500 and is not intended to limit the braking torque control apparatus 500, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the braking torque control apparatus may further include input and output devices, network access devices, buses, etc.
The processor 510 may be a central processing unit, as well as other general purpose processors, digital signal processors, application specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 520 may be an internal storage unit of the braking torque control device 500, such as a hard disk or a memory of the braking torque control device 500. The memory 520 may also be an external storage device of the braking torque control apparatus 500, such as a plug-in hard disk, a smart memory card, a flash memory card, etc. provided on the braking torque control apparatus 500. Further, the memory 520 may also include both an internal memory unit and an external memory device of the braking torque control apparatus 500.
The embodiment of the application provides a computer readable storage medium, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the torque control method of the lifting system in each embodiment.
Embodiments of the present application provide a computer program product which, when run on a braking torque control device, causes the braking torque control device to perform the braking torque control method of the hoisting system in the respective embodiments described above.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (8)
1. A braking torque control method of a lifting system is characterized by being applied to the lifting system; the lifting system comprises a traction rope, a guide wheel, a disc brake driving the traction rope to move on the guide wheel, and a first lifting container and a second lifting container which are positioned at two ends of the traction rope; the method comprises the following steps:
Acquiring a first weight of the first lifting container and a second weight of the second lifting container;
determining a driving moment when the traction rope moves according to the radius of the guide wheel, the first weight and the second weight;
Acquiring the angular acceleration of the guide wheel when the traction rope moves at a target speed at a uniform speed;
Determining a second braking torque to be output by the disc brake when the traction rope moves at the target speed at a constant speed according to the angular acceleration, the driving torque, the preset equivalent resistance torque of the lifting system and the preset equivalent moment of inertia of the lifting system;
controlling the disc brake to output the second braking torque;
The determining the second braking torque to be output by the disc brake when the traction rope moves at the target speed at a constant speed according to the angular acceleration, the driving torque, the preset equivalent resistance torque of the lifting system and the preset equivalent moment of inertia of the lifting system includes:
calculating the product of the angular acceleration and the preset equivalent moment of inertia; the second braking moment is calculated by adopting the following preset formula; the preset formula is as follows:
MZ=MQ-Mf-Ja；
Wherein M Z is the second braking torque, M Q is the driving torque, M f is the preset equivalent resistance torque, J is the preset equivalent moment of inertia, a is the angular acceleration, and Ja is the product;
after said controlling said disc brake to output said second braking torque, further comprising:
Acquiring the current moving speed of the traction rope after the disc brake outputs the second braking torque;
If the speed difference between the current moving speed and the target speed is greater than a preset speed threshold value and the current moving speed is greater than the target speed, the second braking torque is increased to a first target braking torque; the first target braking moment and the second braking moment differ by a preset moment; the preset speed threshold is 0;
If the speed difference between the current moving speed and the target speed is smaller than the preset speed threshold value and the current moving speed is smaller than the target speed, reducing the second braking torque to a second target braking torque; the second target braking moment and the second braking moment differ by the preset moment;
And if the speed difference between the current moving speed and the target speed is equal to the preset speed threshold value, maintaining the second braking torque.
2. The method of claim 1, wherein the determining the drive torque as the traction rope moves based on the radius of the guide wheel, the first weight, and the second weight comprises:
Calculating a difference between the first weight and the second weight;
The product of the difference and the radius is determined as the drive torque.
3. The method of claim 1, wherein the obtaining the angular acceleration of the guide wheel while the traction rope is moving at the target speed at the constant speed comprises:
determining the time length required by the lifting system to execute one lifting according to the target speed;
And determining the angular acceleration of the guide wheel according to the target speed and the time length.
4. A method according to any one of claims 1-3, wherein the disc brake comprises a brake disc, an oil chamber and a brake shoe; the disc brake pushes the brake shoe connected with the oil cavity to generate pressure on the brake disc by adjusting the oil quantity in the oil cavity; the brake disc is used for driving the traction rope according to the pressure; the controlling the disc brake to output the second braking torque includes:
acquiring the interval distance between the disc brake and the guide wheel;
Determining a target pressure to be generated by the brake shoe on the brake disc when the disc brake outputs the second braking torque according to the second braking torque, the interval distance, a preset disc brake logarithm and a friction coefficient between the brake shoe and the brake disc;
Adjusting the oil quantity in the oil cavity to a target oil quantity according to the target pressure; and under the target oil quantity, the braking torque output by the disc brake is the second braking torque.
5. The method of claim 4, wherein the target pressure is determined using the formula:
；
Wherein FN represents the target pressure; Representing the second braking torque; n represents the number of pairs of disc brakes; representing a coefficient of friction between the brake shoe and the brake disc; r represents the separation distance.
6. A braking torque control device for a hoisting system applied to a method according to any one of claims 1-5, characterized by being applied to a hoisting system; the lifting system comprises a traction rope, a guide wheel, a disc brake driving the traction rope to move on the guide wheel, and a first lifting container and a second lifting container which are positioned at two ends of the traction rope; the device comprises:
A first acquisition module for acquiring a first weight of the first lifting container and a second weight of the second lifting container;
The first determining module is used for determining the driving moment when the traction rope moves according to the radius of the guide wheel, the first weight and the second weight;
the second acquisition module is used for acquiring the angular acceleration of the guide wheel when the traction rope moves at a target speed at a uniform speed;
The second determining module is used for determining a second braking torque to be output by the disc brake when the traction rope moves at the target speed at a constant speed according to the angular acceleration, the driving torque, the preset equivalent resistance torque of the lifting system and the preset equivalent moment of inertia of the lifting system;
the control module is used for controlling the disc brake to output the second braking torque;
The second determining module is further configured to:
calculating the product of the angular acceleration and the preset equivalent moment of inertia; the second braking moment is calculated by adopting the following preset formula; the preset formula is as follows:
MZ=MQ-Mf-Ja；
Wherein M Z is the second braking torque, M Q is the driving torque, M f is the preset equivalent resistance torque, J is the preset equivalent moment of inertia, a is the angular acceleration, and Ja is the product;
The braking torque control device further includes:
The third acquisition module is used for acquiring the current moving speed of the traction rope after the disc brake outputs the second braking torque;
The lifting module is used for lifting the second braking torque to a first target braking torque if the speed difference between the current moving speed and the target speed is larger than a preset speed threshold value and the current moving speed is larger than the target speed; the first target braking moment and the second braking moment differ by a preset moment; the preset speed threshold is 0;
The reducing module is used for reducing the second braking torque to a second target braking torque if the speed difference between the current moving speed and the target speed is smaller than the preset speed threshold value and the current moving speed is smaller than the target speed; the second target braking moment and the second braking moment differ by the preset moment;
And the maintaining module is used for maintaining the second braking torque if the speed difference between the current moving speed and the target speed is equal to the preset speed threshold value.
7. Braking torque control device of a hoisting system, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any one of claims 1 to 5 when executing the computer program.
8. A lifting system comprising a first lifting vessel, a second lifting vessel and a braking torque control device of the lifting system according to claim 6 or 7, wherein the first lifting vessel and the second lifting vessel are both connected to the braking torque control device.
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| CN115594057A (en) * | 2022-09-30 | 2023-01-13 | 深圳市中金岭南有色金属股份有限公司凡口铅锌矿（Cn） | Speed control method, device and system of lifting system |
| CN115594056A (en) * | 2022-09-30 | 2023-01-13 | 深圳市中金岭南有色金属股份有限公司凡口铅锌矿（Cn） | Speed control method, device and system for lifting container |
| CN115744528A (en) * | 2022-10-31 | 2023-03-07 | 深圳市中金岭南有色金属股份有限公司凡口铅锌矿 | Control method and device of lifting system and lifting system |
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| JP3817218B2 (en) * | 2002-11-20 | 2006-09-06 | 三菱電機ビルテクノサービス株式会社 | Elevator brake torque measuring device and measuring method |
| EP2072445A1 (en) * | 2007-12-21 | 2009-06-24 | Inventio Ag | Operational method for a lift with two lift cabins and a common counterweight |
| JP5369616B2 (en) * | 2008-10-31 | 2013-12-18 | 株式会社日立製作所 | Elevator |
| JP2011148632A (en) * | 2010-01-25 | 2011-08-04 | Toshiba Elevator Co Ltd | Control system for elevator |
| FI123238B (en) * | 2011-02-02 | 2012-12-31 | Kone Corp | Method and arrangement for renewing the braking force of a hoisting machine brake |
| CN107500173B (en) * | 2017-08-21 | 2019-06-07 | 枣庄矿业（集团）有限责任公司蒋庄煤矿 | A kind of devices of brake systems in lifting and friction type winder |
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| CN115594056A (en) * | 2022-09-30 | 2023-01-13 | 深圳市中金岭南有色金属股份有限公司凡口铅锌矿（Cn） | Speed control method, device and system for lifting container |
| CN115744528A (en) * | 2022-10-31 | 2023-03-07 | 深圳市中金岭南有色金属股份有限公司凡口铅锌矿 | Control method and device of lifting system and lifting system |
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