CN203224773U - Automatic positioning control system used for belt-pulley dollies for coal blending in coking plants - Google Patents
Automatic positioning control system used for belt-pulley dollies for coal blending in coking plants Download PDFInfo
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- CN203224773U CN203224773U CN2013202395656U CN201320239565U CN203224773U CN 203224773 U CN203224773 U CN 203224773U CN 2013202395656 U CN2013202395656 U CN 2013202395656U CN 201320239565 U CN201320239565 U CN 201320239565U CN 203224773 U CN203224773 U CN 203224773U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The utility model relates to an automatic positioning control system of belt-pulley dollies for coal blending in coking plants, and specifically to a control system with functions of on-line detection of real-time addresses, location and automatic movement of belt pulley dollies during operation processes in coal blending workshops of the coking plants. The automatic-positioning control system is composed of an over-ground cyclic-coding emitting part, a cable coding part, an antenna part, an on-dolly decoding part, a single-chip-microcomputer address-calculating part, a PLC control part, and an external-connection control part. The utility model provides a reliable and exercisable scheme for serial address detection, system address detecting speed is raised; and an upper computer in a central control room can detect addresses immediately and transmit address signals back to dollies when the dollies move aside induction cables, and accuracies of automatic location and automatic coal blending of belt pulley dollies are raised.
Description
Technical field
The utility model relates to a kind of coal blending belt pulley dolly automatic positioning control system, be particularly suitable for the online detection of real-time address in the belt pulley trolley travelling process of coal blending workshop, coke-oven plant, realize the control system of functions such as dolly location and automatic traveling, Automatic coal blending.
Background technology
In iron company coke-oven plant coal blending process, the belt pulley dolly is during by interval a certain position, need to detect dolly in the specific address of this position, the position of correspondence and coal groove number and in the time that this coal groove stops when being used for the coal blending of record belt pulley dolly provide reference for the technician checks the coal blending plan and carries out coal analysis.When the belt pulley dolly passed through the cable area of laying, this system can identify corresponding address automatically, and can send useful signal and use for other system.The detection that puts in place of traditional dolly, the sensor that electromagnetic type or infrared type are arranged, its weak point is that sensor is installed cumbersome, generally can only provide contact signal, do not have the computing machine communication function, can not receive the order of other system, signal is subjected to the influence of on-the-spot factor bigger, the automatic control function that realizes is limited, and to be subjected to limitation be not very flexible so use.
The utility model content
The purpose of this utility model is at the shortcoming and defect in the background technology, and a kind of dependable performance, belt pulley dolly automatic positioning control system accurately rapidly are provided.
The technical solution of the utility model is: construct and a kind ofly induction cable is set in that the belt pulley dolly is other, running trolley can detect the address immediately, realizes automatically location, functions such as traveling and Automatic coal blending automatically according to the real-time address.The utility model is by ground loop coding radiating portion, the cable coded portion, antenna part, decoded portion on the car, single-chip microcomputer calculated address part, the PLC control section, external control section is formed, the loop coding radiating portion produces the 49KHz carrier signal on the ground, the output of carrier signal is connected with the input of cable coded portion, the cable coded portion produces address Gray code signal by line is intersected, antenna part is sensed address Gray code signal and to spatial emission, be connected with the input of decoded portion on the car, decoded portion converts the address Gray code signal of antenna part emission to the numeric code signal on the car, the numeric code signal is sent to the input end of single-chip microcomputer calculated address part, single-chip microcomputer calculated address part converts numeric code signal series to address signal by algorithm, the output signal of single-chip microcomputer calculated address part is sent to the PLC control section, the PLC control section address signal that calculated address partly produces according to single-chip microcomputer is controlled external control section, and the signal that external control section sends by PLC is controlled the drive apparatus of external unit.
The method of the loop coding radiating portion in the belt pulley dolly automatic positioning control system, this method comprises the following steps:
A) press the coding rule of flat cable, self-defined a string data stream sends carrier signal according to the sequential loop of data stream.
A) single-chip microcomputer timed sending carrier signal, and in the output of carrier signal with anti-phase terminal, carrier frequency is 49KHz;
B) input interface of speed-sensitive switch and cable joins, the output of cycle control carrier signal.
Another program of the present utility model provides the method for thick address and smart address decoder on the car in a kind of belt pulley dolly automatic positioning control system, and this method comprises the following steps:
A, thick address decoder
A) output signal of displacement control module is sent to the read signal values module, moves to left into 18 bit registers;
B) judge that low 9 is " 00000001G ", call the accurate address of test subroutine module; If low 9 is not " 00000001G ", then program enters and judges that whether most-significant byte is: " 00000001 " module;
C) if most-significant byte is " 00000001 ", program enters into the module of getting register value, with value and " 000000001111111111 " phase of this 18 bit register " with ", take out low 10 data again; If most-significant byte is not " 00000001 ", then program is returned;
D) to be sent to this Gray code conversion be the module of binary code to the output signal of getting the module of register value, is thick address.Program was returned after preserved thick address.
B, smart address decoder
A) be sent to from the output signal of calling test accurate address subroutine entry and get antenna T1 rectified value, after the A/D conversion, send into A1 variable module, its output signal is sent to gets antenna T2 rectified value, after the A/D conversion, sends into A2 variable module;
B) be sent to the ratio module of A1/ A2 from the output signal of A2 variable module, the value of this A1/ A2 table look-up value=seqnum, its output signal is sent to judges whether thick address lowest order is the module of ' 0 ';
C) judge: if main address lowest order is: " 0 ", then specific address=thick address+seqnum; If main address lowest order is: " 1 ", then specific address=thick address+1-seqnum; Fail and all return after rolling.
The utility model has the advantages that: the scheme that provides a kind of serial address reliable and that be easy to carry out to detect, can improve the detection speed of system address, the Central Control Room host computer can detect the address immediately when the running trolley of induction cable next door, and address signal returned to dolly, and can improve the belt pulley dolly accuracy of location and Automatic coal blending automatically.
Description of drawings
Fig. 1 is overall system block scheme of the present utility model
Fig. 2 is the circuit theory diagrams of above ground portion of the present utility model
Fig. 3 is cable proofreader figure of the present utility model
Fig. 4 is thick address decoder block scheme of the present utility model
Fig. 5 is accurate address of the present utility model antenna structure
Fig. 6 is the double antenna of the present utility model reception schematic diagram of reporting to the leadship after accomplishing a task
Fig. 7 is the circuit theory diagrams on car of the present utility model top
Fig. 8 is thick address detected software flow pattern of the present utility model
Fig. 9 is accurate address detected software flow pattern of the present utility model
Figure 10 is PLC control section of the present utility model and external control section wiring block diagram
Embodiment
As shown in Figure 1, the utility model is by ground loop coding radiating portion (1), cable coded portion (2), antenna part (3), decoded portion on the car (4), single-chip microcomputer calculated address part (5), PLC control section (6), external control section (7) is formed, loop coding radiating portion (1) produces the 49KHz carrier signal on the ground, the output of carrier signal is connected with the input of cable coded portion (2), cable coded portion (2) produces address Gray code signal by line is intersected, antenna part (3) is sensed address Gray code signal and to spatial emission, be connected with the input of decoded portion on the car (4), decoded portion on the car (4) is with the address Gray code signal converting digital symbol signal of antenna part (3) emission, the numeric code signal is sent to the input end of single-chip microcomputer calculated address part (5), single-chip microcomputer calculated address part (5) converts numeric code signal series to address signal by algorithm, the output signal of single-chip microcomputer calculated address part (5) is sent to PLC control section (6), PLC control section (6) is controlled external control section (7) according to the address signal that single-chip microcomputer calculated address part (5) produces, and the signal that external control section (7) sends by PLC is controlled the drive apparatus of external unit.
As shown in Figure 2, the square-wave signal of single-chip microcomputer IC5 timer clock triggering for generating is through R1, be converted to the sine wave signal of certain 49KHz after the integrating circuit low-pass filtering that C1 forms, sine wave signal is through amplifier integrated circuit (IC) 6, the IC7 two-stage outputs to power amplifier IC8 after amplifying, one road signal output of power discharging IC 8 is sent to high-speed power switch I C1, IC2, the signal input part of IC3, another road signal output of power discharging IC 8 is connected with the end input of the same name of transformer T1 in proportion, and the different name end of transformer T1 is exported as base address the inversion signal of line R is sent to high-speed power switch I C1, IC2, the signal input part of IC3.4 road address gating signals that single-chip microcomputer IC5 produces send code translator IC4 to, code translator IC4 by decoding respectively gating control address to the signal output of line G0-G9 with substantially to the output of positive and the inversion signal of line R.
As shown in Figure 3, the structure of cable section is made up of line the address, and 2 above addresses can be connected in series mutually to the element length of line during use.
As shown in Figure 4, thick address decoder is made up of antenna part (3), zero-crossing comparator, shift register, NOR gate circuit, antenna part is sent the input end that outputs to NOR gate circuit through the sine wave signal one tunnel after the amplification filtering, another road outputs to another input end of XOR gate after one-period T displacement, the numeric code signal of relatively exporting through XOR is input to the input end of single-chip microcomputer address again.
As shown in Figure 5, antenna part of the present utility model is made up of double antenna coil T1, T2, coil width is that the minimum of the line of G0 is intersected, the little intersection (0.2 meter) that the center of coil T1 and T2 differs to the line of G0 adds 0.1 meter of minimum unit length, T1 and T2 in the signal amplitude size variation of dolly induction shown in Fig. 5 (b).This antenna structure is fit to accurate address decoding process.
As shown in Figure 6, the double antenna reception schematic diagram of reporting to the leadship after accomplishing a task.Cable sends the carrier signal of 49KHz, by by line chart L, resistance R 2, the frequency-selecting resonant tank induction that capacitor C 2 is formed receives, and the signal that receives is by homophase input coupling capacitor C 3, and homophase input resistance R3 is sent to operational amplifier IC1, a part was through the input of feedback resistance R6 feedback after signal amplified, another part process is by C5, and coupling transformer T1 is given in the integrating circuit filtering that R7 forms, and coupling transformer T1 is with signal coupling output.R8 wherein, the circuit that R9 forms provides the DC level of 12V for the frequency-selecting resonant tank, capacitor C 6, C7, C8, the C9 protection offers the DC level of frequency-selecting resonant tank.
Single-chip microcomputer calculated address part (5) sends the real-time address that calculates to PLC control section (6) by serial ports, and PLC control section (6) is realized the automatic location of dolly, effective control of Automatic coal blending by the real-time address with from the signal of miscellaneous equipment collection.PLC control section (6) transmits the serial port that calculates by serial ports with signal, realizes computer management and animation function for monitoring.
As shown in Figure 7, the circuit of address decoder is realized on the car.The signal that antenna part is accepted to come is through preposition amplification, filtering, secondary amplifies the effective sinusoidal signal U1 that produces, U1 crosses zero balancing through voltage comparator circuit IC5, produce square-wave signal, send shift register IC2 to, shift register IC2 produces two paths of signals Ui1 and Ui2, Ui2 is the signal that Ui1 delays time and produces after 208 microseconds, two paths of signals is connected with the input end of NOR gate circuit IC4A, the signal that produces is connected with the input end of NOR gate circuit IC4B through the signal after R17 and the R18 low-pass filtering, another input end of NOR gate circuit IC4B joins with ground, the signal of output becomes regular numeric code signal and is sent to IC1, IC1 accepts this serial numeric code signal by software, be converted to binary code, this class binary code is exactly our required thick address.Signal U2 is the signal that signal U1 rectification obtains later on, and signal U3 is that another receiving antenna T1 accepts the signal come through preposition amplification, filtering, secondary amplifies, rectification obtains later on signal.Signal U2 and signal U3 are converted to address coding signal through A/D converter IC3, address coding signal sends the address input end mouth of IC1 to, IC1 calculates accurate address by software, then accurate address and thick address addition is obtained our required specific address.
The method of work of the utility model system:
The concrete work of ground radiating portion is: the gating address sends carrier wave to line G0-G9 and base address to line R successively, and one time span is that a code element is long, is the inverse of baud rate, sends into base address to the inversion signal of line; Baud rate is 4800bps, and carrier frequency is 49KHz; A carrier signal generation circuit that has power amplification, and with anti-phase output; Have a high speed controlled switch before each cable proofreader interface; The step of transmitting of each yard is: the timer clock triggering by single-chip microcomputer earlier enters interruption, timer clock determines the time of each code element of emission, by single-chip microcomputer gating code at that time is sent to decoder for decoding, by the output terminal of code translator control signal is sent to the control end of each speed-sensitive switch, only speed-sensitive switch of gating and a pair of cable send.
The flat cable compiling method is: the unified construction of cable is: 102.4 meters of length, and 1024 of base address unit, individually element length is 0.1 meter; Be provided with the address to 10 pairs on line, be G0-G9, base address is to a pair of R of line, and communication is L0, L1 to 2 pairs on line; The gray encoding rule is adopted to line in the address.
Address decoder comprises thick address decoder and accurate address decoder two parts on the car, and the concrete work of thick address decoder is:
Hardware components adopts: sine wave signal is converted into the zero-crossing comparator of square-wave signal, and the shift register of time-delay one-period, XOR is gate circuit relatively;
As shown in Figure 8, the software flow pattern of thick address decoder on the car.Its concrete implementation method is: the output signal of step 100 displacement control module is sent to the read signal values module, and step 102 moves to left into 18 bit registers.Step 104 judges whether low 9 be " 00000001G ", calls the accurate address of test subroutine module if enter step 106; If low 9 is not " 00000001G ", then program enters step 108 and judges that whether most-significant byte is: " 00000001 " module.If most-significant byte is " 00000001 ", program enters into the module that step 110 is got register value, with value and " 000000001111111111 " phase of this 18 bit register " with ", take out low 10 data again; If most-significant byte is not " 00000001 ", then program is returned.It is the module of binary code with this Gray code conversion that the output signal of getting the module of register value is sent to step 112, is thick address.Program was returned after preserved thick address.
Concrete job step is: the symbol signal that the signal that antenna T0 receives is converted to level through zero balancing is delivered to an input end of NOR gate circuit; The signal that antenna T0 receives is converted to the symbol signal of level by the shift register of time-delay n doubling time through zero balancing; Deliver to another input port of NOR gate circuit behind the signal lag of shift register; Two paths of signals becomes required symbol level signal through behind the NOR gate circuit; This serial code is read in control through scm software, obtains the serial address yardage.
The concrete work of accurate address decoder is on the car: adopt the double antenna receiving method, a day line width is two address location length, and two antennas are installed the little intersection that differs to the line of G0 and added 0.1 meter; After surface launching G0 in ground is stable, the single-chip microcomputer on the car by the A/D conversion after, read in the DC level after the detection.
As shown in Figure 9, the software flow pattern of accurate address decoder on the car.Its concrete implementation method is: be sent to step 202 from the output signal of the accurate address of invocation step 200 test subroutine entry and get antenna T1 rectified value, after the A/D conversion, send into A1 variable module, its output signal is sent to step 204 and gets antenna T2 rectified value, after the A/D conversion, send into A2 variable module.Be sent to the ratio module of step 206 A1/ A2 from the output signal of A2 variable module, the value of this A1/ A2 table look-up value=seqnum, its output signal is sent to whether determining step 208 thick address lowest orders are the modules of " 0 ".Judge: if thick address lowest order is: " 0 ", then step 210 specific address=thick address+seqnum; If thick address lowest order is: " 1 ", then step 212 specific address=thick address+1-seqnum; Fail and all return after rolling.
The concrete method of work of PLC control section is: the PLC control section comprises that signal accepts module, signal processing module, signal transmitting module.
Signal is accepted module: single-chip microcomputer is converted to the signal that binary-coded decimal sends to PLC with the binary signal of handling and accepts module.PLC accepts module will collect the on-the-spot signaling point that needs collection.Communication is to the useful signal on line L0, the L1, and the numeric code signal that comes out by the MODEM demodulation sends the signal of PLC to and accepts module.
Signal processing module: in each coal groove, set a different reference address.The belt pulley dolly is adjusted the gait of march of dolly automatically according to the specific address of online detection and the distance distance of reference address.The specific address of the online detection of dolly equates with reference address, produces dolly positioning signal point.
Signal transmitting module: the needed positioning signal in pulpit, address signal etc. send by signal transmitting module.The useful signal that host computer will be gathered transmits by signal transmitting module.External electrical equipment on the dolly transmits useful signal by signal transmitting module and realizes functions such as coal blending begins, coal blending finishes, advance, stop.
As shown in Figure 9, listed belt pulley dolly automatic positioning control system among the figure in order to realize controlling automatically function, the wiring diagram of PLC control section and external control section.When the specific address that the PLC control section collects equated with reference address, PLC sent the signal that puts in place to the sound broadcast system by (RS232/RS485) serial port, realized the function of newspaper groove automatically.The PLC control section is realized Automatic coal blending, the function of walking automatically by the comparison to specific address and reference address.The comparison of PLC self-clocking and dolly berthing time in the coal groove realizes the function of Automatic coal blending.Output point Q1.0, the Q1.1 of signal, Q1.2, Q1.3 are connected with relay R ELAY1, RELAY2, RELAY3, RELAY4 line bag respectively, the switching value that realizes corresponding function on the normal battle (NO) of relay and the car is in parallel, and the switching value of realization corresponding function is connected on the normally closed point (NC) of relay and the car.When PLC has signal to send out, can realize corresponding function.
In method of the present utility model, about 4ms locomotive can be examined once the address of oneself, and this method dolly detects the big quickening of speed of own address, can improve accuracy and accuracy that dolly moves and locatees automatically.
Claims (6)
1. a coke-oven plant coal blending is with belt pulley dolly automatic positioning control system, it is characterized in that by ground loop coding radiating portion (1), cable coded portion (2), antenna part (3), decoded portion on the car (4), single-chip microcomputer calculated address part (5), PLC control section (6), external control section (7) is formed, loop coding radiating portion (1) produces the 49KHz carrier signal on the ground, the output of carrier signal is connected with the input of cable coded portion (2), cable coded portion (2) produces address Gray code signal by line is intersected, antenna part (3) is sensed address Gray code signal and to spatial emission, be connected with the input of decoded portion on the car (4), decoded portion on the car (4) converts the address Gray code signal of antenna part (3) emission to the numeric code signal, the numeric code signal is sent to the input end of single-chip microcomputer calculated address part (5), single-chip microcomputer calculated address part (5) converts numeric code signal series to address signal by algorithm, the output signal of single-chip microcomputer calculated address part (5) is sent to PLC control section (6), PLC control section (6) is controlled external control section (7) according to the address signal that single-chip microcomputer calculated address part (5) produces, and the signal that external control section (7) sends by PLC is controlled the drive apparatus of external unit.
2. coke-oven plant according to claim 1 coal blending is with belt pulley dolly automatic positioning control system, it is characterized in that described ground loop coding radiating portion (1) is made up of carrier wave generation circuit, single-chip microcomputer, code translator and speed-sensitive switch that 49KHz has power amplification, 49KHz has the carrier wave generation circuit output positive carrier signal of power amplification and the input end that anti-phase carrier signal is sent to the high-speed power switch respectively, the output of single-chip microcomputer is connected with the input of code translator, and code translator is connected with the control end of speed-sensitive switch respectively after decoding.
3. coke-oven plant according to claim 1 coal blending is with belt pulley dolly automatic positioning control system, the construction of cable that it is characterized in that described cable coded portion (2) is 102.4 meters of length, 1024 of base address unit, individual address element length are 0.1 meter; Be provided with 10 pairs of address wires, be G0-G9, base address is to a pair of R of line, and communication is L0, L1 to 2 pairs on line; The gray encoding rule is adopted to line in the address.
4. coke-oven plant according to claim 1 coal blending is with belt pulley dolly automatic positioning control system, it is characterized in that described antenna part (3) adopts the double antenna receive mode of reporting to the leadship after accomplishing a task, the coil width of two antennas is that the length of G0 is 0.2 meter minimum intersection, and the minimum intersection that mounting distance equals G0 adds one 0.1 meter address location length.
5. coke-oven plant according to claim 1 coal blending is with belt pulley dolly automatic positioning control system, it is characterized in that decoded portion on the described car (4) is made up of thick address decoder and accurate address decoder two parts.
6. coke-oven plant according to claim 5 coal blending is with belt pulley dolly automatic positioning control system, it is characterized in that described thick address decoder is made up of antenna part (3), zero-crossing comparator, shift register, NOR gate circuit; Accurate address decoder is made up of double antenna coil T1, T2 and A/D converter.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013202395656U CN203224773U (en) | 2013-05-06 | 2013-05-06 | Automatic positioning control system used for belt-pulley dollies for coal blending in coking plants |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2013202395656U CN203224773U (en) | 2013-05-06 | 2013-05-06 | Automatic positioning control system used for belt-pulley dollies for coal blending in coking plants |
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| CN2013202395656U Expired - Fee Related CN203224773U (en) | 2013-05-06 | 2013-05-06 | Automatic positioning control system used for belt-pulley dollies for coal blending in coking plants |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103257643A (en) * | 2013-05-06 | 2013-08-21 | 长沙思强自动化科技有限公司 | Automatic positioning control method of belt pulley trolley for coal blending in coking plant |
| CN112484620A (en) * | 2019-09-11 | 2021-03-12 | 上海梅山钢铁股份有限公司 | Automatic double-Gray bus address coding switching device |
-
2013
- 2013-05-06 CN CN2013202395656U patent/CN203224773U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103257643A (en) * | 2013-05-06 | 2013-08-21 | 长沙思强自动化科技有限公司 | Automatic positioning control method of belt pulley trolley for coal blending in coking plant |
| CN112484620A (en) * | 2019-09-11 | 2021-03-12 | 上海梅山钢铁股份有限公司 | Automatic double-Gray bus address coding switching device |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131002 Termination date: 20150506 |
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| EXPY | Termination of patent right or utility model |