The invention relates to a redundancy self-adaptive cable arrangement control method for a myriameter deep sea winch. The redundancy self-adaptive cable arrangement control method comprises the following steps that S1, a cable is wound around a cable storage winding drum through a cable arrangement device; starting a cable arrangement motor to drive a cable arrangement device to move left and right, and starting a reel motor to drive a cable storage reel to rotate; s2, acquiring the actual pulse number s1 of a cable storage encoder in real time, calculating the horizontal displacement S1 of the cable storage, and inputting the horizontal displacement S1 into a driving system; s3, acquiring an actual pulse number s2 of a cable arrangement encoder in real time, calculating to obtain a cable arrangement horizontal displacement S2, and inputting the cable arrangement horizontal displacement S2 into a driving system; s4, whether the cable arrangement device triggers a limit signal or not is judged, after the limit signal is triggered, the cable arrangement motor stops running and returns to the step S2, and if not, the step S5 is executed; and S5, a cable arrangement deflection angle value theta is calculated and compared with the maximum allowable deflection angle theta m, when theta is larger than or equal to theta m, a deflection angle redundancy control program is carried out, and otherwise, position closed-loop control is carried out. The method has redundancy guarantee and adaptivity, and is high in control precision and reliable in control process.

    本发明涉及一种万米深海绞车冗余自适应排缆控制方法,包括以下步骤:S1、将缆绳经过排缆器卷绕在储缆卷筒上;启动排缆电机驱动排缆器左右移动,启动卷筒电机带动储缆卷筒转动;S2、实时获取储缆编码器的实际脉冲数s1,并计算储缆水平位移S1,并输入驱动系统;S3、实时获取排缆编码器的实际脉冲数s2,计算得到排缆水平位移S2,并输入驱动系统;S4、判断排缆器是否触发极限信号,触发极限信号后,排缆电机停止运转并返回步骤S2,否则进入步骤S5;S5、计算排缆偏角值θ,并与最大容许偏角θm比较,当θ≥θm时,则进行偏角冗余控制程序,否则进入位置闭环控制。本发明具有冗余保障和自适应性,控制精度高,控制过程可靠。


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    Title :

    Redundant adaptive cable arrangement control method for myriameter deep sea winch


    Additional title:

    一种万米深海绞车冗余自适应排缆控制方法


    Contributors:
    WANG CHENXING (author) / MAO LIFENG (author) / DONG MINGXI (author) / HE YUHUA (author) / XU KE (author) / ZHAO YILIN (author)

    Publication date :

    2023-06-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66D Haspeln , CAPSTANS



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