CN-121849787-B - Liquid automatic balance control system for holding pole

CN121849787BCN 121849787 BCN121849787 BCN 121849787BCN-121849787-B

Abstract

The invention discloses a liquid automatic balance control system for a pole, which relates to the field of pole balance control and comprises a first flow rate calculation module, a maximum load identification module, a time marking module, a second flow rate calculation module, a balance control module and a lifting stopping module, wherein the first flow rate calculation module is used for calculating a first balance weight flow rate, the maximum load identification module is used for identifying a maximum load, the time marking module is used for defining a starting time stamp of a lifting stage, the second flow rate calculation module is used for calculating a second balance weight flow rate, the balance control module is used for balancing a side rocker arm load and a side B balance weight load, the lifting stopping module is used for repeatedly balancing the side A rocker arm load and the side B rocker arm load when a next sampling time stamp is lifted to a target position, and lifting is stopped until the side A cross arm is lifted to the target position.

Inventors

LU FEI
WANG TAO
GONG MIAO
YAO BIN
ZHANG QIANYE
YAO HAORAN
ZHU LIFEI

Assignees

华东送变电工程有限公司
扬州国电通用电力机具制造有限公司
劢戈自动化科技(上海)有限公司

Dates

Publication Date: 20260508
Application Date: 20260317

Claims (9)

1. A liquid state automatic balance control system for a pole, comprising: The first flow rate calculation module is used for calculating a first counterweight flow rate of the counterweight liquid between sampling time stamps in the ground separation stage; The maximum load identification module is used for balancing the A-side lifting hook load and the B-side lifting hook load according to the first counterweight flow rate and time stamps, and identifying the maximum load of the A-side lifting hook load; the time marking module is used for marking the time stamp of the lifting hook on the side A reaching the maximum load, and is defined as the starting time stamp of the lifting stage; The second flow rate calculation module is used for calculating a second balance weight flow rate of the balance weight liquid between sampling time stamps in the lifting stage; The balance control module is used for injecting balance liquid into the side B rocker arm water tank based on the second balance weight flow rate so as to balance the side A rocker arm load and the side B balance weight load before the next sampling time stamp; and the lifting stopping module is used for balancing the side A rocker arm load and the side B rocker arm load time by time stamp until the side A cross arm is lifted to the target position.
2. The liquid automatic balance control system for a pole of claim 1, wherein the first flow rate calculation module is specifically configured to: s1-1, based on a predefined first sampling step length, sequentially determining the instantaneous load difference of each sampling time stamp in the ground-leaving stage; s1-2, based on the instantaneous load difference of each sampling time stamp, sequentially calculating the first balance weight flow velocity of the balance weight liquid between the corresponding sampling time stamps.
3. A liquid autobalance control system for a pole according to claim 2, wherein determining the instantaneous load difference at each sampling time stamp during the lift-off phase comprises: S1-1-1, acquiring a lifting instruction, and driving an A-side lifting hook of the holding pole to lift the cross arm; S1-1-2, marking a timestamp of the first stress of the side A lifting hook in the process of lifting the cross arm, and defining the timestamp as a starting timestamp of the ground separation stage; S1-1-3, collecting the A side lifting hook load and the B side counterweight load of each sampling time stamp according to a first sampling step length from the starting time stamp of the ground leaving stage; S1-1-4, calculating the difference between the lifting hook load on the side A and the counterweight load on the side B, and obtaining the instantaneous load difference of each sampling time stamp in the ground separation stage.
4. A liquid autobalance control system for a pole according to claim 2, wherein calculating a first counterweight flow rate of the counterweight liquid within a respective first sampling step comprises: s1-2-1, comparing the instantaneous load difference with a set load difference threshold; s1-2-2, marking the instantaneous load difference as a first adjusting counterweight of the B-side rocker arm water tank if the absolute value of the instantaneous load difference is larger than a load difference threshold value, otherwise, resetting the first adjusting counterweight to zero; S1-2-3, calculating a first counterweight flow rate for injecting the counterweight liquid with the same weight into the side B rocker arm water tank according to the first adjusting counterweight and the first sampling step length.
5. The liquid automatic balancing control system for poles according to claim 1, wherein the maximum load identification module is specifically configured to: s2-1, anchoring the latest sampling time stamp, and establishing a time window containing N sampling time stamps by taking the latest sampling time stamp as an end point; S2-2, updating the A-side lifting hook loads of N sampling time stamps in a time window in real time; S2-3, calculating standard deviation of load change in a time window based on the A-side lifting hook loads of N sampling time stamps; S2-4, if the standard deviation of the load change is smaller than a set standard deviation threshold value, judging that the load of the lifting hook on the side A reaches the maximum load.
6. The liquid automatic balance control system for a pole of claim 5, wherein the second flow rate calculation module is specifically configured to: s4-1, sequentially determining the instant moment difference of each sampling time stamp in the lifting stage according to the starting time stamp of the lifting stage; s4-2, based on the instantaneous moment difference of each sampling time stamp, sequentially calculating the second balance weight flow velocity of the balance weight liquid between the corresponding sampling time stamps.
7. A liquid autobalance control system for a pole according to claim 6, wherein determining the instantaneous moment difference for each sampling time stamp during the lifting phase comprises: s4-1-1, sending a rocker arm lifting instruction at an initial timestamp of a lifting stage, and driving the side A rocker arm to rotate upwards around a pole rotating shaft so as to lift the cross arm; S4-1-2, starting from the starting time stamp of the lifting stage, acquiring an A side rocker arm inclination angle and a B side rocker arm inclination angle corresponding to each sampling time stamp in the lifting stage according to a second sampling step length; s4-1-3, respectively calculating moment generated by the rocker arm on the side A and the rocker arm on the side B on the basis of the rocker arm inclination angle on the side A and the rocker arm inclination angle on the side B corresponding to each sampling time stamp; S4-1-4, calculating the instant moment difference of each sampling time stamp in the lifting stage according to the moment generated by the side A rocker arm and the side B rocker arm on the pole-holding rotating shaft.
8. The liquid automatic balance control system for a pole of claim 6, wherein calculating a second counterweight flow rate of the counterweight liquid between respective sampling time stamps comprises: S4-2-1, comparing the instant moment difference with a set moment difference threshold; s4-2-2, if the absolute value of the instantaneous moment difference is larger than a set moment difference threshold value, calculating a second adjusting balance weight of the B side rocker arm water tank according to the instantaneous moment difference, and acquiring the current angular speed of the A side rocker arm; s4-2-3, calculating a second counterweight flow rate for injecting or discharging the equivalent weight counterweight liquid into or from the B side rocker arm water tank according to the second adjusting counterweight of the B side rocker arm water tank and the current angular speed of the A side rocker arm.
9. The liquid automatic balance control system for a pole of claim 8, wherein calculating a second adjustment weight for the B-side rocker tank based on the instantaneous torque differential comprises: d1, acquiring a preset effective length of a B-side swing arm and an inclination angle of the B-side swing arm at a current sampling time stamp; D2, determining the inclination cosine of the B-side rocker arm based on the inclination of the B-side rocker arm at the current sampling time stamp, calculating the product of the inclination cosine and the effective length, and generating an effective force arm of the B-side rocker arm on the pole-holding rotating shaft; and D3, dividing the instant moment difference by an effective moment arm to obtain a second adjusting counterweight which is required to be increased or decreased on the side B for balancing the instant moment difference.

Description

Liquid automatic balance control system for holding pole Technical Field The invention relates to a holding pole balance control system, in particular to a liquid automatic balance control system for a holding pole. Background In the transmission line iron tower assemblage construction, the double rocker arm holding pole realizes the stable lifting of the cross arm through the cooperation of the rocker arms at the two sides. Under the single-side hoisting working condition, one side rocker arm (marked as A side) is used for hanging and lifting the cross arm, and the other side rocker arm (marked as B side) is provided with a counterweight system so as to balance the overturning effect of the load on the A side on the holding pole. The traditional scheme mostly adopts solid counter weights (such as concrete blocks or steel ingots) with fixed mass, and the weight of the solid counter weights cannot be adjusted once the weight is set. However, the load on the side A has remarkable dynamic characteristics in the actual lifting process, namely the cross arm is gradually separated from the ground support in the ground leaving stage, the load on the lifting hook on the side A is continuously changed under the influence of ground counter force and friction, and after the lifting stage is carried out, the swing arm on the side A rotates upwards around the rotating shaft of the holding pole, and the action of the swing arm on the rotating shaft is converted into moment related to an inclination angle from simple weight and continuously evolves along with the angle. The patent publication No. CN119038386A discloses a lifting hook balance system of a double-flat-arm electric pole, which can realize balance control of the pole. However, the fixed counterweight cannot adapt to the change of the dominant moment caused by the dominant weight, and the unbalance risk in the initial shaking or lifting process of the holding pole is easily caused. In addition, the dynamic balance adjustment based on the weight liquid is introduced in the prior art, but the existing liquid system generally lacks of monitoring the stage of the lifting process, so that the critical switching moment of the cross arm when the cross arm is completely separated from the ground can not be accurately identified, and differential balance control is not established for unbalance in different stages, so that the adjustment action is further delayed from the change of load or moment, unbalance accumulation is caused, and the lifting stability is affected. Disclosure of Invention Aiming at the defects of the prior art, the invention provides a liquid automatic balance control system for a pole, which solves the technical problems in the background art by constructing staged identification and control of a ground clearance stage and a lifting stage. In order to achieve the above purpose, the invention is realized by the following technical scheme: a liquid automatic balancing control system for a pole, the system comprising the following execution modules: The first flow rate calculation module is used for calculating a first counterweight flow rate of the counterweight liquid between sampling time stamps in the ground separation stage; The maximum load identification module is used for balancing the A-side lifting hook load and the B-side lifting hook load according to the first counterweight flow rate and time stamps, and identifying the maximum load of the A-side lifting hook load; the time marking module is used for marking the time stamp of the lifting hook on the side A reaching the maximum load, and is defined as the starting time stamp of the lifting stage; The second flow rate calculation module is used for calculating a second balance weight flow rate of the balance weight liquid between sampling time stamps in the lifting stage; The balance control module is used for injecting balance liquid into the side B rocker arm water tank based on the second balance weight flow rate so as to balance the side A rocker arm load and the side B balance weight load before the next sampling time stamp; and the lifting stopping module is used for balancing the side A rocker arm load and the side B rocker arm load time by time stamp until the side A cross arm is lifted to the target position. In some specific embodiments, the first flow rate calculation module is specifically configured to: s1-1, based on a predefined first sampling step length, sequentially determining the instantaneous load difference of each sampling time stamp in the ground-leaving stage; s1-2, based on the instantaneous load difference of each sampling time stamp, sequentially calculating the first balance weight flow velocity of the balance weight liquid between the corresponding sampling time stamps. In some specific embodiments, determining the instantaneous load difference on each sampling timestamp in the lift-off phase comprises: S1-1-1, acquiring a lifting instruction, and driving an A-