CN102493949B - Fire vehicle water pump control system - Google Patents
Fire vehicle water pump control system Download PDFInfo
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- CN102493949B CN102493949B CN201110392157.XA CN201110392157A CN102493949B CN 102493949 B CN102493949 B CN 102493949B CN 201110392157 A CN201110392157 A CN 201110392157A CN 102493949 B CN102493949 B CN 102493949B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 104
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- 239000000523 sample Substances 0.000 claims description 2
- 238000005086 pumping Methods 0.000 abstract 2
- 238000007405 data analysis Methods 0.000 abstract 1
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- 206010001928 Amenorrhoea Diseases 0.000 description 1
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- 230000007812 deficiency Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
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- 238000004659 sterilization and disinfection Methods 0.000 description 1
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- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention discloses a fire vehicle water pump control system which comprises an information collecting and processing module, a pump operation logic control module and a pumping pressure real-time control module, wherein the pumping pressure real-time control module carries out closed-loop control on the revolving speed of the engine according to a user key input signal and a sensor input signal transmitted from the information collecting and processing module; and therefore, when the fire vehicle injects water or the mixed liquid of water and foam in the fire hazard field, the outlet pressure of the water pump is kept constant as much as possible. According to highly-integrated visualizing information, the operation of the complete machine, data acquisition, information displaying, data analysis and data processing and controlling can be more stably, simply and visually carried out.
Description
Technical field
Patent of the present invention relates to automation field, especially a kind of control system guaranteeing fire engine water-pump maintain constant pressure.
Background technique
The natural disaster that recent year takes place frequently and accident, cause the concern for the special equipment of rescue and relief work and demand.Rescue and relief work equipment is the important branch of special car.This equipment need and complicated and severe operating environment under, the operation of every rescue and relief work can be completed, comprising emergency communication, medical rescue, fire extinguishing, sterilization, bridge and road rehabilitation, even redundant labor transfer etc.
Intelligent automation control system, for realizing above-mentioned every operation function, is indispensable necessary condition.At present, domestic fire-fighting truck and rescue equipment not yet introduce the advanced automated control technology based on artificial-intelligent, the intelligent index such as high maneuverability, capability of fast response, operating environment adaptive capacity of special front disaster relief equipment can not be met.Therefore, based on above-mentioned background, invention has a kind of control system guaranteeing fire engine water-pump maintain constant pressure of intelligence, solves the problems such as interface is unfriendly, complicated operation, unstable properties.
Summary of the invention
The deficiencies such as interface on existing domestic fire-fighting truck and rescue equipment is unfriendly in order to overcome, complicated operation, unstable properties, patent of the present invention provides a kind of fire vehicle water pump control system, introduce automation and informationization technology, the automation device such as friendliness interface, programmable controller, industrial control equipment with touch screen carries out combination and controls, by highly integrated visual information system, make the operation of complete machine, the display of information, the collection of data, the analysis of data, the process of data and control, more stable, easy and directly perceived.
The present invention proposes a kind of fire vehicle water pump control system, it is characterized in that, this system comprises information gathering and puocessing module, pump operated Logic control module and pump pressure real-time control module, wherein,
Described information gathering and puocessing module, for gathering and processing user key-press input signal and various sensor input signal, and send to described pump operated Logic control module and pump pressure real-time control module by the input signal after process;
Described pump operated Logic control module, for judging based on the input signal after described process, exports all kinds of control signal;
Described pump pressure real-time control module, for obtaining current water pump discharge pressure value according to the sensor input signal that receives, carries out closed loop control according to current water pump discharge pressure value and the user key-press input signal that receives to pump pressure.
The beneficial effect of patent of the present invention is, the automation device such as friendliness interface, programmable controller, industrial control equipment with touch screen carries out combination and controls, by highly integrated visual information system, make the operation of complete machine, the display of information, the collection of data, the analysis of data, the process of data and control, more stable, easy and directly perceived.
Accompanying drawing explanation
Fig. 1 is the structural drawing of fire vehicle water pump control system of the present invention.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
Rotating speed and the water flow of water pump discharge pressure and water pump are relevant: when water flow is constant, water pump discharge pressure is directly proportional to the rotating speed of motor, and namely rotating speed is higher, and outlet pressure is larger, and rotating speed is lower, and outlet pressure is less; When the invariablenes turning speed of water pump, water flow is larger, and outlet pressure is less, and water flow is less, and outlet pressure is larger.In actual use, even if often wish that the flow of water changes, the outlet pressure of water pump is still constant, and can set the pressure of water outlet according to actual needs flexibly.For this reason, automatically must control the outlet pressure of water pump.
And the function that control system of water pump proposed by the invention will realize is exactly when fire-fighting truck is at scene of fire water-spraying or water+foam mixing liquid, the outlet pressure of water pump is made to keep constant as much as possible.
Figure 1 shows that the structural drawing of fire vehicle water pump control system of the present invention.As shown in Figure 1, this fire vehicle water pump control system comprises: information gathering and puocessing module, pump operated Logic control module, pump pressure real-time control module and LED state show and nixie tube information display module.
Wherein, information gathering and puocessing module are for gathering user key-press input signal, various sensor input signal (such as, water pump discharge pressure sensor input signal, water flow sensor input signal, foam flow quantity sensor input signal, pump rotary speed sensor input signal, air compressor air pressure probe input signal, air compressor temperature transducer input signal, rotational speed of air compressor sensor input signal etc.), and the signal of described collection is processed, such as analog-to-digital conversion or digital-to-analog conversion.User key-press input signal after processing and various sensor input signal are sent to pump pressure real-time control module by COM (SCI) by described information gathering and puocessing module, are sent to the pump operated Logic control module of upper-position unit by CAN.
User is by the outlet pressure of " pressure+" and " pressure-" on operation panel by key assignments water pump, namely, " pressure +/-" button is often clicked, the water pump discharge pressure value of setting just " increases/reduces " class, if the total pressure scope of water pump is 10MP, then both can be divided into 10 class (class is 1MP), also can be divided into 20 class (class is 0.5MP); When " pressure +/-" button is long pressed, the water pump discharge pressure value of setting " increases with regard to continuous print/reduces ".Information gathering and puocessing module gather user key-press input signal, and send user to pump pressure real-time control module, as the setting value of pump pressure closed loop control by the force value by key assignments by COM (SCI).
Based on the signal that information gathering and puocessing module collect, LED state display and nixie tube information display module show various status information, such as battery level information, engine oil pressure information, engine temperature information, air pressure information, water hammer information, water temperature information, fault message, motor opens/stops indication information, power take-off engagement information, voltage-stabilizing system work indication information, pressure increases/reduces indication information, throttle +/-indication information, pump up dynamic indication information, vacuumize indication information, water pot absorb water/absorbs water outward indication information, through pump to tank water filling indication information, pump drainage indication information, water pot draining indication information, pipeline remained water discharge indication information, tank automatic liquid level controls indication information, the manual Liquid level indication information of tank, tank heating indication information, pipeline heating indication information, normal pressure reel indication information, high pressure reel indication information, pump chamber illumination information, the tired clocking information of work, engine temperature information, revolution speed information etc.
The treated user key-press input signal that pump operated Logic control module reception information gathering and puocessing module send and various sensor input signal, judge based on described input signal, and externally export all kinds of control signal by output switch parameter port, such as, motor start stop signal, power take-off control signal, vacuum pump start stop signal, motor acceleration/deceleration signal, throttle control signal, water pot heating signal, pipeline heating signal, pump chamber illumination sign, pump road drain signal, vacuum water diversion signal, outer suction valve control signal, high/low pressure cut-over valve control signal, water pot row/water outlet control signal, tank automatic water filling control signal, through pump to water pot water filling control signal etc., to realize the basic operation of water pump and to carry out safety interlock and internal lock to operation.
Wherein, safety interlock and internal lock close and are:
(1) outer water suction/tank water suction after power take-off engagement, vacuum pump, vacuum are chain, Throttle Opening Control just works.
(2) locking is closed in water pot draining after power take-off engagement, foam tank discharge opeing, pump drainage.
(3) other operation delay actions (3-5 second) after power take-off engagement.
(4) self-insurance valve, fire-fighting monitor-outlet valve, category-B air compressor oil pressure and oil temperature warning during vacuumizing, foams mix liquid valve, through pump to flushing valve in tank water filling, CAFS flushing valve, category-B, the outlet of normal pressure reel is left, the outlet of normal pressure reel is right, the outlet of high pressure reel is left, high pressure reel outlet right side, the dry valve of CAFS, pump drainage valve are closed and locked.
(5) water pot water suction and outer water suction interlocking.
(6) tank automatic liquid level controls: when liquid level opens control valve lower than during lower bound, when liquid level to be prescribed a time limit closed control valve higher than height; When through pump to tank water filling time, when liquid level closes in limited time automatically amenorrhoea pump to tank water injection valve higher than height.
Pump pressure real-time control module is connected with puocessing module with information gathering, receives the treated user key-press input signal that it sends, i.e. the water pump discharge pressure value of user's setting, with various sensor input signal.Pump pressure real-time control module obtains the current water pump discharge pressure value of Real-time Collection by described sensor input signal, water pump discharge pressure value based on current water pump discharge pressure value and user's setting carries out closed loop control to water pump discharge pressure, the engine speed regulated signal (switching value or analog amount) produced is exported to electronic control unit (ECU by the control of pump pressure real-time control module, Electronic Control Unit) to control the rotating speed of motor, control finally to realize constant water pump discharge pressure.
The output of pump pressure real-time control module, namely engine speed regulated signal is divided into two kinds of forms by the output signal of ECU and ECU forward direction control channel regulator: dry contact exports and analog output.
1) dry contact exports
It is that Bang-Bang controls that dry contact exports the essence controlled, pump pressure real-time control module obtains setting value and the currency of the water pump discharge pressure of Real-time Collection, described setting value has a lower limit and a CLV ceiling limit value accordingly, when water pump discharge pressure currency is lower than described lower limit, pump pressure real-time control module exports a contact signal, the SPEED ADJUSTMENT signaling line of ECU is connected with SPEEDADJUSTMENT UP signaling line, the rotating speed controlling motor rises, thus water pump discharge pressure rises thereupon.When water pump discharge pressure rises to setting value, disconnect the connection of SPEED ADJUSTMENT and SPEED ADJUSTMENT UP.When water pump discharge pressure is higher than described CLV ceiling limit value, pump pressure real-time control module exports another contact signal, the SPEED ADJUSTMENT signaling line of ECU is connected with SPEED ADJUSTMENT DOWN signaling line, the rotating speed controlling motor declines, thus water pump discharge pressure decreases; When in the interval that water pump discharge pressure is reduced to setting value upper and lower bound, disconnect the connection of SPEED ADJUSTMENT and SPEED ADJUSTMENT DOWN.Thus, through the closed loop adjustment continued, water pump discharge pressure is stabilized near setting value.
2) analog output
In automatically controlling, the PID controller (also known as PID regulator) carrying out controlling in the ratio (P) of deviation, integration (I) and differential (D) is a kind of automatic controller be most widely used.
Briefly, the effect of each link of PID regulator is as follows:
(1) proportional component: the deviation signal e (t) reflecting control system in time pro rata, deviation is once produce, and controller produces regulating action immediately, to reduce deviation.
(2) integral element: be mainly used in eliminate static difference improve system without margin.The power of integral action depends on integration time constant, and integration time constant is larger, and integral action is more weak, otherwise then stronger.
(3) differentiation element: the variation tendency that can reflect deviation signal, the i.e. rate of change of deviation signal, and before deviation signal becomes very greatly, an effective early stage corrected signal can be introduced in systems in which, thus accelerate the movement speed of system, reduce regulating time.
The representation of digit position formula PID controller control algorithm is:
U(k)＝U(k-1)+K
p[e(k)-e(k-1)]+K
ie(K)+K
d[e(k)-2e(k-1)+e(k-2)]，
Wherein: U (k) is the output value of k moment controller, e (k) is the deviate in k moment, K
pfor scaling factor, K
ifor integration time constant, K
dfor derivative time constant.
In the present invention, water pump discharge pressure closed loop PID regulator is according to outlet pressure setting value and the collection signal from pressure transducer, i.e. current exit pressure levels, calculate deviation e (k), controlled quentity controlled variable U (k) is calculated again by above-mentioned PID controller formula, finally U (k) is quantized into the analog output of 0-5V, as control of engine speed instruction, finally realizes the closed-loop adjustment to water pump discharge pressure.
Above-described specific embodiment; object of the present invention, technological scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. a fire vehicle water pump control system, is characterized in that, this system comprises information gathering and puocessing module, pump operated Logic control module and pump pressure real-time control module, wherein,
Described information gathering and puocessing module, for gathering and processing user key-press input signal and various sensor input signal, and the input signal after process is sent to described pump operated Logic control module and pump pressure real-time control module, described sensor input signal comprises: water pump discharge pressure sensor input signal, water flow sensor input signal, foam flow quantity sensor input signal, pump rotary speed sensor input signal, air compressor air pressure probe input signal, air compressor temperature transducer input signal, rotational speed of air compressor sensor input signal;
Described pump operated Logic control module, for judging based on the input signal after described process, export all kinds of control signal, described control signal comprises motor start stop signal, power take-off control signal, vacuum pump start stop signal, motor acceleration/deceleration signal, throttle control signal, water pot heating signal, pipeline heating signal, pump chamber illumination sign, pump road drain signal, vacuum water diversion signal, outer suction valve control signal, high/low pressure cut-over valve control signal, water pot row/water outlet control signal, tank automatic water filling control signal, through pump to water pot water filling control signal,
Described pump pressure real-time control module, for obtaining current water pump discharge pressure value according to the sensor input signal that receives, carries out closed loop control according to current water pump discharge pressure value and the user key-press input signal that receives to pump pressure;
LED state display and nixie tube information display module, for showing various status information, described status information comprises battery level information, engine oil pressure information, engine temperature information, air pressure information, water hammer information, water temperature information, fault message, motor opens/stops indication information, power take-off engagement information, voltage-stabilizing system work indication information, pressure increases/reduces indication information, throttle +/-indication information, pump up dynamic indication information, vacuumize indication information, water pot absorb water/absorbs water outward indication information, through pump to tank water filling indication information, pump drainage indication information, water pot draining indication information, pipeline remained water discharge indication information, tank automatic liquid level controls indication information, the manual Liquid level indication information of tank, tank heating indication information, pipeline heating indication information, normal pressure reel indication information, high pressure reel indication information, pump chamber illumination information, the tired clocking information of work, engine temperature information, revolution speed information.
2. system according to claim 1, is characterized in that, the input signal after processing is sent to pump pressure real-time control module by COM by described information gathering and puocessing module, sends to described pump operated Logic control module by CAN.
3. system according to claim 1, is characterized in that, described pump operated Logic control module is also for carrying out safety interlock and internal lock.
4. system according to claim 1, is characterized in that, described user key-press input signal comprises the water pump discharge pressure value of user's setting.
5. system according to claim 4, is characterized in that, described pump pressure real-time control module carries out closed loop control according to the water pump discharge pressure value of current water pump discharge pressure value and user's setting to water pump discharge pressure value further.
6. system according to claim 5, it is characterized in that, described closed loop control comprises pump pressure real-time control module further and produces engine speed regulated signal according to the water pump discharge pressure value of current water pump discharge pressure value and user's setting, described engine speed regulated signal is exported to the rotating speed that electronic control unit controls motor, to keep constant water pump discharge pressure by the control of pump pressure real-time control module.
7. system according to claim 6, is characterized in that, the control of pump pressure real-time control module exports as dry contact exports or analog output.
8. system according to claim 7, it is characterized in that, when the control output of pump pressure real-time control module exports for dry contact, pump pressure real-time control module regulates the conjunction of contact or disconnected by controlling engine speed compared with the water pump discharge pressure value that current water pump discharge pressure value and user set, thus performs the closed loop control for engine speed.
9. system according to claim 7, it is characterized in that, when the control of pump pressure real-time control module exports as analog output, pump pressure real-time control module produces control of engine speed analog output by PID controller, thus the closed loop control performed for engine speed, wherein, the algorithm representation of described PID controller is:
U(k)＝U(k-1)+K
p[e(k)-e(k-1)]+K
ie(K)+K
d[e(k)-2e(k-1)+e(k-2)]，
Wherein, U (k) is the output value of k moment PID controller, and e (k) is the deviate in k moment, K
pfor scaling factor, K
ifor integration time constant, K
dfor derivative time constant.
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| CN201110392157.XA CN102493949B (en) | 2011-11-30 | 2011-11-30 | Fire vehicle water pump control system |
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| AU2014250759B2 (en) * | 2013-04-12 | 2017-06-22 | Pentair Flow Technologies, Llc | Water booster control system and method |
| CN103603737A (en) * | 2013-10-17 | 2014-02-26 | 江苏振翔车辆装备股份有限公司 | Flow method for automatically controlling high-flow main battle tank |
| CN108131282A (en) * | 2017-12-21 | 2018-06-08 | 龙岩畅丰专用汽车有限公司 | A kind of constant-pressure control device |
| CN108018914B (en) * | 2017-12-21 | 2020-10-16 | 龙岩畅丰专用汽车有限公司 | Constant-pressure water supply system |
| CN109458329B (en) * | 2018-10-18 | 2020-07-03 | 北京机械设备研究所 | Method and device for controlling outlet pressure of one-way gear pump in constant pressure manner |
| CN109513140A (en) * | 2018-12-06 | 2019-03-26 | 陕西航天动力高科技股份有限公司 | A kind of control method of fixed B class A foam A extinguishing device and extinguishing device |
| CN110170133A (en) * | 2019-06-25 | 2019-08-27 | 徐工消防安全装备有限公司 | Fire-fighting liquid-supplying system and control method |
| CN112012837B (en) * | 2020-09-04 | 2023-10-31 | 上海华兴数字科技有限公司 | Control method, main controller, system and electronic equipment for water intake of fire truck |
| CN112154996B (en) * | 2020-09-17 | 2024-05-10 | 华南农业大学 | Dual PID control accurate variable pesticide application system and feedback adjustment method thereof |
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