CN102331779A - Control method and control system for finished product cabin material conveying trolley of asphalt mixing station - Google Patents
Control method and control system for finished product cabin material conveying trolley of asphalt mixing station Download PDFInfo
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- CN102331779A CN102331779A CN201110135855A CN201110135855A CN102331779A CN 102331779 A CN102331779 A CN 102331779A CN 201110135855 A CN201110135855 A CN 201110135855A CN 201110135855 A CN201110135855 A CN 201110135855A CN 102331779 A CN102331779 A CN 102331779A
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Abstract
The invention discloses a control method and a control system for a finished product cabin material conveying trolley of an asphalt mixing station. Approach switches are respectively arranged at the original point and the middle point of a finished product cabin material conveying rail, when a finished product cabin material conveying trolley passes through the approach switch arranged at the original point of the material conveying rail, the interruption signals are generated, and the counting value of a pulse counter of a main controller is cleared; and when the finished product cabin material conveying trolley passes through the calibration approach switch arranged at the middle of the material conveying rail, the interruption signals are generated, and the pulse counter of the main controller is calibrated to the calibration pulse value. The speed change control strategy is adopted, and the precise stroke control is carried out on the finished product cabin material conveying trolley. The stroke control error increase phenomenon of the material conveying trolley caused by zero point accumulation errors of an increase type rotary encoder is eliminated, and the automatic error correction of the material conveying trolley is realized, so the finished product cabin control system is in stable operation for a long time. The control method and the control system have the advantages that the common fault diagnosis and processing in the finished product cabin material conveying trolley in the operation process are realized, and the probability of accidents caused by detection and control fault can be effectively reduced.
Description
Technical field
The present invention relates to industrial automation control field, be specifically related to a kind of pitch mixing station that is applied to, method and control corresponding system that its finished bin haul dolly is controlled.
Background technology
Asphalt blending station is the indispensable equipment of Expressway Construction unit when pavement construction.The purposes of asphalt blending station is to produce bituminous concrete, and its major function is to mix pitch, stone, cement by certain gesticulating, and heat to 150 degree is taped against on the expressway of construction with paver again.
Early stage pitch mixing station finished bin control system adopts electromagnetic speed-adjusting, cam stroke control hoist system or hydraulic winch control system more.
There are following technical matters in electromagnetic speed-adjusting, cam stroke control finished bin haul dolly: adopt mechanical trip control and braking, can't carry out finished bin haul dolly Stroke Control because of mechanical part Detection & Controling disabler easily.
There is following technical matters in hydraulic winch control finished bin haul dolly: adopt mechanical trip control and braking, can't carry out finished bin haul dolly Stroke Control because of mechanical part Detection & Controling disabler easily.Simultaneously, because the Hydraulic Station system design is complicated, participate in control signal many (like oil pressure, oil temperature), maintenance workload is big, and technical requirement is high, and long-term working stability is poor.
Present pitch mixing station finished bin control system adopts frequency converter and incremental-rotating coder to combine to carry out the Stroke Control of finished bin haul dolly more.But because there are the cumulative errors at zero point in incremental encoder, long-play because of the incremental-rotating coder constantly expansion of haul dolly Stroke Control error that zero point, cumulative errors caused, causes and can't the finished product material be discharged into the appointment finished bin.And generally lack common fault diagnosis and disposal route in the finished bin haul trolley travelling process, be prone to take place the haul dolly major accident that waits out of control.
In sum, there is following technical matters in pitch mixing station finished bin control system at present: 1, finished bin haul dolly Stroke Control is inaccurate, can't the finished product material be discharged into and specify the storehouse.2, lack common fault diagnosis and processing in the finished bin haul trolley travelling process, be prone to take place the haul dolly major accident that waits out of control.
Above-mentioned background technology to quote data as proof following:
[1] bituminous mixing plant finished product bin windlass control system [J]. road building machine and mechanization of building operation, 2008 (5): 35-37.
[2] application [J] of variable-frequency control technique in Beaune asphalt concrete mixing plant. engineering machinery, 2003 (5): 47-49.
[3] comparative analysis [J] of finished product material hoister control system design proposal. road building machine and mechanization of building operation, 2007 (9): 62-64.
Summary of the invention
The problems referred to above to the finished bin control system existence of existing pitch mixing station; The applicant has carried out improving research; A kind of pitch mixing station finished bin haul dolly control method and control system are provided, can have eliminated the phenomenon that error increases, realized the function of the automatic error correction of haul dolly; Improve the accuracy of finished bin haul dolly Stroke Control, and realize common fault diagnosis and the processing in the operational process.
Technical scheme of the present invention is following:
A kind of pitch mixing station finished bin haul dolly control method is provided with respectively near switch at the initial point and the intermediate point of finished bin haul dolly haul track; When finished bin haul dolly passes through haul track initial point near switch, produce look-at-me, with the count value zero clearing of master controller impulse meter; When finished bin haul dolly is calibrated near switch through the haul track is middle, produce look-at-me, the master controller impulse meter is calibrated to the calibration pulse number.
Its further technical scheme is: a frequency converter is set, it is connected with master controller and motor, frequency converter is under the control of master controller, and drive motor traction finished bin haul dolly is realized at a slow speed/just changeed fast, reversing at a slow speed/fast and braking stops; The haul track is divided into the district at a slow speed at two ends and the quick district of centre, and finished bin haul dolly starts the back and is distinguishing slow running at a slow speed earlier, accelerates to top speed then and is distinguishing operation fast, is decelerated to low speed again in district's operation at a slow speed; The parking lead is set, stops in advance during near terminal point, utilize inertia that finished bin haul dolly is stopped in the target location of appointment.
Its further technical scheme is: an incremental-rotating coder is set; It is connected to electric machine main shaft through shaft coupling; Motor whenever revolves and turns around; Incremental-rotating coder produces the pulse of fixed qty, and the pulse of incremental-rotating coder inserts the high-speed pulse counting device input end of master controller; Motor just changes, and the high-speed pulse counting device count value of master controller increases; The motor counter-rotating, the high-speed pulse counting device count value of master controller reduces; Convert the count value in the master controller high-speed pulse counting device into the stroke of finished bin haul dolly, the position that draws finished bin haul dolly through converting.
And; Its further technical scheme is: after sending finished bin haul trolley travelling control command; Time-delay detects the pulse number that incremental-rotating coder is delivered to master controller, if pulse counter count value does not change, then judges the incremental-rotating coder release failure to occur.
The invention also discloses the little vehicle control of a kind of pitch mixing station finished bin haul, comprising:
One master controller is the control core of system;
One motor is used to draw finished bin haul moving of car;
One frequency converter connects said master controller and motor, is used under the control of master controller that drive motor traction finished bin haul dolly is realized at a slow speed/just changeed fast, reversing at a slow speed/fast and braking stops;
One incremental-rotating coder; Be connected to said electric machine main shaft through shaft coupling; Motor whenever revolves and turns around, and incremental-rotating coder produces the pulse of fixed qty, and the pulse of incremental-rotating coder inserts the high-speed pulse counting device input end of said master controller;
One track initial point is installed in the initial point of finished bin haul dolly haul track near switch, is connected to first interrupting input end of said master controller;
Calibration is installed in the intermediate point of finished bin haul dolly haul track near switch in the middle of one track, is connected to second interrupting input end of said master controller;
Its further technical scheme is: also comprise a monitoring PC, carry out communication through telecommunication cable and master controller, realize that haul dolly each item operational factor is provided with, and show the running status of haul dolly through graphics mode.
Its further technical scheme is: also comprise SS and button, be connected with master controller respectively, be used to carry out that finished bin is selected, manually operation, operation automatically, dolly location and make mistakes and confirm operation.
Useful technique effect of the present invention is:
1, the present invention the haul dolly through haul track initial point near switch and middle calibration during near switch; Carry out handling procedure; Elimination increases phenomenon because of incremental-rotating coder cumulative errors at zero point cause haul dolly Stroke Control error; And the function of the automatic error correction of realization haul dolly, make the operation steady in a long-term of finished bin control system.
2, the present invention combines advanced shifting control method to improve finished bin haul dolly Stroke Control accuracy, and parking spot offset target position control in the permissible error scope, is realized the finished product material is promoted to the appointment storehouse.And can the residing position of real-time judge haul dolly, realize accurately location.
3, the present invention realizes common fault diagnosis and the processing in the finished bin haul trolley travelling process; Comprise that detection of scrambler release failure and processing, target storehouse initial point detect and handle, and make pitch mixing station finished bin control system reduce greatly because of the probability that the Detection & Controling fault has an accident.
Description of drawings
Fig. 1 is the composition frame chart of control system of the present invention.
Fig. 2 is the automatic operational flow diagram of finished bin haul dolly of the present invention.
Fig. 3 is a finished bin haul dolly positioning trip process flow diagram of the present invention.
Fig. 4 is a haul trolley travelling state interface of the present invention.
Fig. 5 is haul trolley travelling parameter of the present invention interface.
Embodiment
Further specify below in conjunction with the accompanying drawing specific embodiments of the invention.
Fig. 1 shows the composition of control system of the present invention.As shown in Figure 1, control system main body of the present invention is made up of near switch near calibration in the middle of switch, the track master controller, motor, frequency converter, incremental-rotating coder, track initial point.
Master controller is the control core of total system, and master controller adopts the CPU-224 type PLC of Siemens Company in the present embodiment.Motor is used to draw finished bin haul moving of car.Frequency converter connects master controller and motor, be used under the control of master controller drive motor traction finished bin haul dolly realize up and descending at a slow speed/just change fast, reversing at a slow speed/fast and braking stops.Incremental-rotating coder is connected to the main shaft of motor through shaft coupling; Motor whenever revolves and turns around; Incremental-rotating coder produce fixed qty A mutually with B pulse mutually, the A of incremental-rotating coder mutually with the B high-speed pulse counting device input end (I0.0, I0.1) of pulse access master controller mutually.The track initial point is installed in the initial point of finished bin haul dolly haul track near switch, is connected to the interrupting input end (I0.2) of master controller.Calibrate the intermediate point that is installed in finished bin haul dolly haul track near switch in the middle of the track, be connected to the interrupting input end (I0.3) of master controller.
In addition, also be connected with SS, button, finished bin lid on the master controller and reach a travel switch and the finished bin cylinder of taking the lead.SS can carry out that the finished bin that the haul dolly is transported to is selected, operation/location selection of the manual Operation Mode Selection of haul dolly, haul dolly.Button can carry out the haul dolly manual operation, locate and the affirmation that makes mistakes.Finished bin lid reaches a travel switch and reaches at 1# Cang Gai and send a signal to master controller when position or 2# Cang Gai reach.Drive signal that finished bin takes the lead that reject bin that cylinder receives master controller is taken the lead or take the lead in the 1# storehouse is opened reject bin lid or 1# Cang Canggai.
Monitoring PC carries out communication through telecommunication cable and master controller, realizes that haul dolly each item operational factor is provided with, and passes through the running status that graphics mode shows the haul dolly, like Fig. 4, shown in Figure 5.
This pitch mixing station finished bin control system shown in Figure 1 can realize finished bin haul dolly three bin levels (reject bin, 1# storehouse, 2# storehouse) discharging.And three kinds of methods of operation are arranged: 1) manually operation: utilize action button to realize the startup of haul dolly, upstream and downstream, stop.2) operation automatically: the haul dolly is operation automatically continuously, and its operational scheme is as shown in Figure 2.3) dolly location: haul dolly positioning action, its operational scheme is as shown in Figure 3.
Fig. 2 shows the process flow diagram that finished bin haul dolly moves continuously automatically.Kinetic characteristic during to finished bin haul dolly (large inertia load) uplink and downlink, the independent district at a slow speed that sets uplink and downlink/fast district, parking lead are to guarantee that the present invention is applicable to various pitch mixing station finished bin control system.After starting finished bin haul dolly; Finished bin haul dolly elder generation slow running certain distance (district at a slow speed); Accelerate to top speed, under this speed, move certain distance (district fast), be decelerated to slow running certain distance (district at a slow speed) again; Stop in advance during near terminal point, utilize inertia that finished bin haul dolly is stopped in the target location of appointment.
As shown in Figure 2, Y representes ' being ' among the figure, and N representes ' denying ', and concrete steps are:
Step 1, flow process begins, judge that the haul dolly is in the automatic method of operation? If then jump to step 2, if not then return, flow process finishes;
Does step 2 judge that the haul dolly starts? If then jump to step 3,, start up to the haul dolly if not then continue to judge;
Is step 3 judged that selected finished bin Cang Gai opens to put in place? If then jump to step 4,, open up to selected finished bin Cang Gai and put in place if not then continue to judge;
Step 4, the up slow start of haul dolly;
Does step 5 judge that the haul dolly covers at a slow speed the district? If then jump to step 6,, covered district at a slow speed up to the haul dolly if not then continue to judge;
Step 6, the up quick operation of haul dolly;
Does step 7 judge that the haul dolly covers quick district? If then jump to step 8,, covered quick district up to the haul dolly if not then continue to judge;
Step 8, the up slow running of haul dolly;
Does step 9 judge that the haul dolly arrives the target storehouse? If then jump to step 10,, arrived the target storehouse up to the haul dolly if not then continue to judge;
Does step 11 judge that the haul dolly accomplishes discharging? If then jump to step 12,, accomplished discharging up to the haul dolly if not then continue to judge;
Step 12, the descending slow start of haul dolly;
Does step 13 judge that the haul dolly covers at a slow speed the district? If then jump to step 14,, covered district at a slow speed up to the haul dolly if not then continue to judge;
Step 14, the descending quick operation of haul dolly;
Does step 15 judge that the haul dolly covers quick district? If then jump to step 16,, covered quick district up to the haul dolly if not then continue to judge;
Step 16, the descending slow running of haul dolly;
Does step 17 judge that the haul dolly gets back to origin position? If then jump to step 18,, got back to origin position up to the haul dolly if not then continue to judge;
Does step 19 judge that haul dolly initial point detects time-delay and arrives? If then jump to step 19, if not, then continue to judge, detect time-delay up to haul dolly initial point and arrive;
Does step 20 judge that PLC high-speed counter umber of pulse is less than the former point tolerance of haul dolly? If then jump to step 21, if not then return, flow process finishes;
Actions such as above-mentioned haul dolly is realized at a slow speed/just changeed fast, counter-rotating at a slow speed/fast, braking stop are to draw the haul dolly by frequency converter drive motor under the control of PLC to realize.
Fig. 3 is a finished bin haul dolly positioning trip process flow diagram.The dolly Positioning Principle is: when motor just changes, the high-speed pulse counting device count value of PLC increases; When the motor counter-rotating, the high-speed pulse counting device count value of PLC reduces.Count value in the PLC high-speed pulse counting device can be passed through conversion, converts the stroke of haul dolly into, promptly through the count value in the visit PLC high-speed pulse counting device, can judge the position of haul dolly.
As shown in Figure 3, Y representes ' being ' among the figure, and N representes ' denying ', and concrete steps are:
Step (1), flow process begins, judge that the haul dolly is in the positioning trip mode? If then jump to step (2), if not then return;
Does step (2) judge whether to press navigation button? If then jump to step (3),, press up to navigation button if not then continue to judge;
Does step (3) judge that the haul dolly stops? If then jump to step (4), if not then jump to step (2);
Does step (4) judge that the haul dolly is in the middle calibrating position of track? If then jump to step (8), if not then jump to step (5);
Does step (5) judge that the position in storehouse of selecting is a reject bin? If then jump to step (9), if not then jump to step (6);
Does step (6) judge that the position in storehouse of selecting is the 1# storehouse? If then jump to step (10), if not then jump to step (7);
Does step (7) judge that the position in storehouse of selecting is the 2# storehouse? If then jump to step (11), if not then return;
Step (8) deposits the count value of current PLC high-speed pulse counting device in the calibration positioning unit; Return then;
Step (9) deposits the count value of current PLC high-speed pulse counting device in the reject bin positioning unit; Return then;
Step (10) deposits the count value of current PLC high-speed pulse counting device in 1# storehouse positioning unit; Return then;
Step (11) deposits the count value of current PLC high-speed pulse counting device in 2# storehouse positioning unit; Return then.
Fig. 4 is a haul trolley travelling state interface of the present invention.As shown in Figure 4, this state interface can be kept watch on following parameter:
1) x# storehouse position pulse number: show that the haul dolly runs to x# storehouse required pulse number from zero-bit, (x=reject bin, 1,2).
2) calibration pulse number: show that the haul dolly runs to calibrating position required pulse number from zero-bit.
3) current umber of pulse: show that in real time trolley travelling arrives the required umber of pulse of current location.
4) dolly state, speed, location (operation) target: show the running status that dolly is current in real time.
5) scrambler: show that in real time current encoder duty: √ representes normally; * presentation code device comes off.
See Fig. 4, this state interface also shows finished bin haul control system synoptic diagram.It comprises three bin levels (reject bin, 1# storehouse, 2# storehouse), and finished bin haul dolly can be in three bin level dischargings.And the initial point of haul track and intermediate point be respectively arranged with the track initial point near switch and track in the middle of calibration near switch.Detect haul track initial point near calibrating near switching signal in the middle of switching signal and the haul track through interrupt mode.In the haul process of haul dolly; Only need through wherein any one near switch; Counted number of pulses in the master controller impulse meter all can in time be calibrated; Guarantee each step operation thereafter accurately, increase phenomenon thereby eliminate because of incremental-rotating coder cumulative errors at zero point cause finished bin haul dolly Stroke Control error.
When finished bin haul dolly passes through haul track initial point near switch, through particular service, with the count value zero clearing of master controller impulse meter.When finished bin haul dolly is calibrated near switch through the haul track is middle,, the master controller impulse meter is calibrated to the calibration pulse number through particular service.
Haul track initial point is connected to PLC interrupting input end (I0.2) near switch, and (event number is: 4), when haul dolly process was somebody's turn to do near switch, PLC generation event number was 4 interruption, in this interrupt service routine, PLC high-speed counter count pulse is counted zero clearing.Middle calibration is connected to PLC interrupting input end (I0.3) near switch, and (event number is: 6), when haul dolly process was somebody's turn to do near switch, PLC generation event number was 6 interruption, in this interrupt service routine, will calibrate the umber of pulse assignment and give high-speed counter.Through these two interrupt service routines, eliminate because of incremental-rotating coder cumulative errors at zero point cause haul dolly Stroke Control error increase phenomenon, and realize the function of the automatic error correction of haul dolly.
Fig. 5 is haul trolley travelling parameter of the present invention interface.As shown in Figure 5, can carry out the setting of concrete number of pulses and on the interface, show real-time reading value through this interface.The numerical value that can set comprises: the parking lead umber of pulse of calibration pulse number, x# storehouse position pulse number, the up slow start umber of pulse of dolly and stop pulse number, the descending slow start umber of pulse of dolly and stop pulse number, each position in storehouse and zero-bit, initial point permissible error umber of pulse and detection delay pulse number, discharging time umber of pulse.
Explanation the present invention is to common fault diagnosis and processing in the finished bin haul trolley travelling process below.
1), the scrambler release failure detects and handles.
The scrambler release failure detects: after sending finished bin haul trolley travelling control command; Time-delay detects the pulse number that scrambler is delivered to PLC high-speed pulse counting device; If the counted number of pulses of PLC high-speed pulse counting device does not change, then the scrambler release failure appears in diagnosis.
The scrambler release failure is handled: in system's operational process, after detecting encoder fault, the haul dolly stops at once, and reports to the police through pilot lamp.Operating personnel after confirming fault, can through manually at a slow speed mode control haul dolly return trajectory initial point, carry out trouble hunting.
2), target storehouse initial point detects.
Have only the selection of just accepting the ownership goal storehouse when finished bin haul dolly during at haul track initial point, avoid finished bin haul dolly in operational process, to accept new finished bin and select, cause the finished bin haul dolly major accident that waits out of control.
Above-described only is preferred implementation of the present invention, the invention is not restricted to above embodiment.Be appreciated that other improvement and variation that those skilled in the art directly derive or associate under the prerequisite that does not break away from spirit of the present invention and design, all should think to be included within protection scope of the present invention.
Claims (7)
1. pitch mixing station finished bin haul dolly control method, it is characterized in that: initial point and intermediate point at finished bin haul dolly haul track are provided with respectively near switch; When finished bin haul dolly passes through haul track initial point near switch, produce look-at-me, with the count value zero clearing of master controller impulse meter; When finished bin haul dolly is calibrated near switch through the haul track is middle, produce look-at-me, the master controller impulse meter is calibrated to the calibration pulse number.
2. according to the said pitch of claim 1 mixing station finished bin haul dolly control method; It is characterized in that: a frequency converter is set; It is connected with master controller and motor; Frequency converter is under the control of master controller, and drive motor traction finished bin haul dolly is realized at a slow speed/just changeed fast, reversing at a slow speed/fast and braking stops; The haul track is divided into the district at a slow speed at two ends and the quick district of centre, and finished bin haul dolly starts the back and is distinguishing slow running at a slow speed earlier, accelerates to top speed then and is distinguishing operation fast, is decelerated to low speed again in district's operation at a slow speed; The parking lead is set, stops in advance during near terminal point, utilize inertia that finished bin haul dolly is stopped in the target location of appointment.
3. according to the said pitch of claim 1 mixing station finished bin haul dolly control method; It is characterized in that: an incremental-rotating coder is set; It is connected to electric machine main shaft through shaft coupling; Motor whenever revolves and turns around, and incremental-rotating coder produces the pulse of fixed qty, and the pulse of incremental-rotating coder inserts the high-speed pulse counting device input end of master controller; Motor just changes, and the high-speed pulse counting device count value of master controller increases; The motor counter-rotating, the high-speed pulse counting device count value of master controller reduces; Convert the count value in the master controller high-speed pulse counting device into the stroke of finished bin haul dolly, the position that draws finished bin haul dolly through converting.
4. according to the said pitch of claim 3 mixing station finished bin haul dolly control method; It is characterized in that: after sending finished bin haul trolley travelling control command; Time-delay detects the pulse number that incremental-rotating coder is delivered to master controller; If pulse counter count value does not change, then judge the incremental-rotating coder release failure to occur.
5. little vehicle control of pitch mixing station finished bin haul is characterized in that comprising:
One master controller is the control core of system;
One motor is used to draw finished bin haul moving of car;
One frequency converter connects said master controller and motor, is used under the control of master controller that drive motor traction finished bin haul dolly is realized at a slow speed/just changeed fast, reversing at a slow speed/fast and braking stops;
One incremental-rotating coder; Be connected to said electric machine main shaft through shaft coupling; Motor whenever revolves and turns around, and incremental-rotating coder produces the pulse of fixed qty, and the pulse of incremental-rotating coder inserts the high-speed pulse counting device input end of said master controller;
One track initial point is installed in the initial point of finished bin haul dolly haul track near switch, is connected to first interrupting input end of said master controller;
Calibration is installed in the intermediate point of finished bin haul dolly haul track near switch in the middle of one track, is connected to second interrupting input end of said master controller.
6. according to the little vehicle control of the said pitch of claim 5 mixing station finished bin haul; It is characterized in that: also comprise a monitoring PC; Carry out communication through telecommunication cable and master controller, realize that haul dolly each item operational factor is provided with, and show the running status of haul dolly through graphics mode.
7. according to the little vehicle control of the said pitch of claim 5 mixing station finished bin haul; It is characterized in that: also comprise SS and button; Be connected with master controller respectively, be used to carry out that finished bin is selected, manually operation, operation automatically, dolly location and make mistakes and confirm operation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110135855 CN102331779B (en) | 2011-05-25 | 2011-05-25 | Control method and control system for finished product cabin material conveying trolley of asphalt mixing station |
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| CN 201110135855 CN102331779B (en) | 2011-05-25 | 2011-05-25 | Control method and control system for finished product cabin material conveying trolley of asphalt mixing station |
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| CN102331779B CN102331779B (en) | 2013-08-14 |
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| CN103163795A (en) * | 2013-04-02 | 2013-06-19 | 山东省科学院海洋仪器仪表研究所 | Traction control system and method for positioning, calculating and correcting traction position |
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| CN111077895A (en) * | 2020-01-02 | 2020-04-28 | 上海振华重工(集团)股份有限公司 | Synchronous control system and method for transverse moving trolley |
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| CN113670358A (en) * | 2021-08-11 | 2021-11-19 | 追觅创新科技(苏州)有限公司 | Compensation method, compensation device and storage medium |
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| CN102587258A (en) * | 2012-02-21 | 2012-07-18 | 福建南方路面机械有限公司 | Finished product lifting system for asphalt stirring equipment |
| CN102756909A (en) * | 2012-07-26 | 2012-10-31 | 中国神华能源股份有限公司 | Control system and method for tripper |
| CN103163795A (en) * | 2013-04-02 | 2013-06-19 | 山东省科学院海洋仪器仪表研究所 | Traction control system and method for positioning, calculating and correcting traction position |
| CN103163795B (en) * | 2013-04-02 | 2015-03-04 | 山东省科学院海洋仪器仪表研究所 | Traction control system and method for positioning, calculating and correcting traction position |
| CN105498379A (en) * | 2016-01-07 | 2016-04-20 | 徐工集团工程机械股份有限公司 | Dust removal system control method and device, dust removal system and asphalt mixing station |
| CN105676771B (en) * | 2016-03-08 | 2018-06-05 | 昆山华恒焊接股份有限公司 | The control method and system of three-dimensional container |
| CN105676771A (en) * | 2016-03-08 | 2016-06-15 | 昆山华恒焊接股份有限公司 | Three-dimensional container control method and system |
| CN106758689A (en) * | 2016-11-25 | 2017-05-31 | 三汽车制造有限公司 | Bituminous mixing plant selects storehouse system and method |
| CN106758689B (en) * | 2016-11-25 | 2019-08-27 | 三一汽车制造有限公司 | Bituminous mixing plant selects storehouse system and method |
| CN109727797A (en) * | 2017-10-30 | 2019-05-07 | 科华控股股份有限公司 | A kind of protective door electrical interlocking mechanism that can prevent industrial accident from occurring |
| CN111077895A (en) * | 2020-01-02 | 2020-04-28 | 上海振华重工(集团)股份有限公司 | Synchronous control system and method for transverse moving trolley |
| CN111851205A (en) * | 2020-06-12 | 2020-10-30 | 福建省铁拓机械股份有限公司 | Finished product bin system of asphalt mixture stirring equipment |
| CN111851205B (en) * | 2020-06-12 | 2021-11-05 | 福建省铁拓机械股份有限公司 | Finished product bin system of asphalt mixture stirring equipment |
| CN113670358A (en) * | 2021-08-11 | 2021-11-19 | 追觅创新科技(苏州)有限公司 | Compensation method, compensation device and storage medium |
| CN115027710A (en) * | 2022-06-22 | 2022-09-09 | 湖北三江航天机电设备有限责任公司 | Movable automatic packing and weighing system |
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