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T1 and T2 can be measured by the shaft pin type sensor is arranged on the pulley, can also be calculated by difference measurement of hydraulic motor, two oil outlet pressure relatively, by measuring the tension of the shaft pin type sensors more quickly, in the application of quay crane and other industries more and.
The principle diagram of pulling force adaptive controller as shown in Figure 4, the T1 and T2 real-time acquisition of pulling force value, And take T1 as the parameter according to the formula work out .T1 is the traction drum front cable pulling force, as the equivalent coefficient of friction between wire rope and drum, drum for cable in the wrap angle pulling force, theory of. The comparator compares the difference and get the two, after PID operation after the output control signal to control the output flow variable pump, adjust the storage drum speed, thus to achieve the purpose of tension control.
The winch cable and cable collecting process, because the underwater cable length change, will make the traction changing cable tension reel, if we do not consider the mutant cable tension as the ship moves up and down by the waves caused by the cable tension, basically is proportional to change, the expression for the:.
for the traction drum front cable tension. ; for the instrument or heavy water weight ; for cables under water weight per meter ;for the underwater cable length.T1 changes, tension adaptive controller based on the measurements, through the speed adjusting storage drum operation, in order to make the traction tension between actual reel and the storage drum to close, keep the balance between the cable drum cable tension after and , so that the cable is not in the traction drum slip.
From the above analysis, regardless of changes in traction drum of cable tension T1, caused the changes between the traction drum and the storage drum cable tension T2 or cable in the storage drum circle and the circle of change, the core of control system is set up to adaptive controller, can complete the loop on the storage drum speed control, so as to adjust the traction cable between the drum and the storage drum tension with traction drum of cable tension to adapt, remain among the inpidual components of the system by force in balance usually, controller adopts the mature closed-loop control method, because the research object is the hydraulic system of nonlinear more prominent, and the work environment changes greatly, part parameters will change when working, so the controller to control the thinking into adaptive, can automatically make the controller parameters, the control of process parameters, makes the control process more accurate.
3.2.1 Analysis of the storage drum cable
Storage drum work is schematically shown in Figure 1, storage drum needs and guiding wheel, a travel switch control part to finished cable. The winch at work, drive in the cable traction mechanism at a steady speed V down or recovery, storage drum with angular velocity s follow traction drum operation .Figure 1 Schematic diagram of storage drum work
The storage drum on the cable as an example, the cable line indicates the current position, the dotted line represents the lower ring rope position, when the cable line location guide has a row of cable angle alpha between the sheave and rope, which will trigger the stroke switch 2, the cable screw rotation adjustment guide sheave position, the guide rope pulley to move a lead, eliminating cable arrangement angle, the stroke switch 2 disconnected screw motor drive circuit, the motor stops rotating screw. In the guide rope pulley to move at the same time, traction between the drum and the storage drum will add a short cable, storage drum load torque moment decreases, storage drum quickly increased speed, offset the increased cable length, cable tension recovery. Similarly, storage drum recycling cable when the guide rope pulley and a storage drum movement with the cable moves opposite.