CN102493949A - Fire vehicle water pump control system - Google Patents
Fire vehicle water pump control system Download PDFInfo
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- CN102493949A CN102493949A CN201110392157XA CN201110392157A CN102493949A CN 102493949 A CN102493949 A CN 102493949A CN 201110392157X A CN201110392157X A CN 201110392157XA CN 201110392157 A CN201110392157 A CN 201110392157A CN 102493949 A CN102493949 A CN 102493949A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 49
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- 238000000034 method Methods 0.000 claims description 3
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- 239000007788 liquid Substances 0.000 abstract description 9
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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 ofly guarantees that the fire-fighting truck water-aspirator pressure keeps constant control system.
Background technique
Domestic in recent years natural disaster that takes place frequently and accident cause concern and demand for the special equipment of rescue and relief work.The rescue and relief work equipment is the important branch of special car.This equipment need and complicated and abominable operating environment under, can accomplish the operation of each item rescue and relief work, comprising emergency communication, medical treatment rescue, fire extinguishing, sterilization, bridge and road rehabilitation, even personnel's transfer or the like.
The intelligent automation control system is indispensable necessary condition for realizing above-mentioned operations function.At present, introduce advanced automated control technology on homemade fire-fighting truck and the rescue equipment as yet, can not satisfy the intelligent indexs such as high maneuverability, capability of fast response, operating environment adaptive capacity of special front disaster relief equipment based on artificial-intelligent.Therefore, based on above-mentioned background, this patent has been invented to have a kind of of intelligence and guarantees that the fire-fighting truck water-aspirator pressure keeps constant control system, has solved problems such as the interface is unfriendly, complicated operation, unstable properties.
Summary of the invention
Equip deficiencies such as going up the interface is unfriendly, complicated operation, unstable properties in order to overcome existing homemade fire-fighting truck and rescue; Patent of the present invention provides a kind of fire-fighting truck control system of water pump; Introduce automation and informationization technology; Automation device such as friendly operation interface, programmable controller, industrial control equipment with touch screen carries out composite control; Through highly integrated visual information system, make the operation of complete machine, the demonstration of information, the collection of data, the analysis of data, the processing and the control of data, more stable, easy and directly perceived.
The present invention proposes a kind of fire-fighting truck control system of water pump, it is characterized in that, this system comprises information gathering and puocessing module, pump operated Logic control module and the real-time control module of pump pressure, wherein,
Said information gathering and puocessing module be used for collection and process user by key input signal and various sensor input signal, and the input signal after will handling send to said pump operated Logic control module and the real-time control module of pump pressure;
Said pump operated Logic control module is used for judging based on the input signal after the said processing, exports all kinds of control signals;
The real-time control module of said pump pressure is used for obtaining current exit of pump force value according to the sensor input signal that receives, according to current exit of pump force value and the user key-press input signal that receives pump pressure is carried out closed loop control.
The beneficial effect of patent of the present invention is; Automation device such as friendly operation interface, programmable controller, industrial control equipment with touch screen carries out composite control; Through highly integrated visual information system; Make the operation of complete machine, the demonstration of information, the collection of data, the analysis of data, the processing and the control of data, more stable, easy and directly perceived.
Description of drawings
Fig. 1 is the structural drawing of fire-fighting truck control system of water pump of the present invention.
Embodiment
For making the object of the invention, technological scheme and advantage clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, to further explain of the present invention.
Exit of pump pressure is relevant with the rotating speed and the water flow of water pump: when water flow was constant, exit of pump pressure was directly proportional with the rotating speed of motor, and promptly rotating speed is high more, and outlet pressure is big more, and rotating speed is low more, and outlet pressure is more little; When the invariablenes turning speed of water pump, water flow is big more, and outlet pressure is more little, and water flow is more little, and outlet pressure is big more.In actual use, change even often hope the flow of water, the outlet pressure of water pump still is constant, and can set the pressure of water outlet according to actual needs flexibly.For this reason, must control automatically the outlet pressure of water pump.
And control system of water pump proposed by the invention the function that will realize be exactly when water-spraying or water+foam mixing liquid, to make the outlet pressure of water pump keep constant as much as possible in the scene of fire when fire-fighting truck.
Shown in Figure 1 for the structural drawing of fire-fighting truck control system of water pump of the present invention.As shown in Figure 1, this fire-fighting truck control system of water pump comprises: information gathering and puocessing module, pump operated Logic control module, the real-time control module of pump pressure and led state show and the nixie tube information display module.
Wherein, Information gathering and puocessing module be used to gather user key-press input signal, various sensor input signal (such as; Exit of pump pressure transducer 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, air compressor speed probe input signal etc.); And the signal of said collection handled, such as analog-to-digital conversion or digital-to-analog conversion.User key-press input signal after said information gathering and puocessing module will be handled and various sensor input signal send to the real-time control module of pump pressure through COM (SCI), send to the pump operated Logic control module of upper-position unit through the CAN bus.
The user can press the outlet pressure of key assignments water pump through " pressure+" and " pressure-" on the operation panel; Promptly; Button is every is clicked " pressure+/-", and the exit of pump force value of setting is " increase/minimizing " class just, 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+/-" when button was pressed for a long time, the exit of pump force value of setting was with regard to continuous " increase/minimizing ".Information gathering and puocessing module are gathered the user key-press input signal, and send the user to pump pressure real-time control module through the force value by key assignments through COM (SCI), as the setting value of pump pressure closed loop control.
The signal that collects based on information gathering and puocessing module; Led state shows and the nixie tube information display module shows various status informations, such as battery electric quantity information, engine motor oil pressure information, engine temperature information, air pressure information, water hammer information, water temperature information, fault message, motor open/discontinuance show information, power take-off engagement information, voltage-stabilizing system work indication information, pressure increase/reduce indication information, throttle+/-indication information, pump starting indication information, vacuumize indication information, water pot absorb water/absorb water outward indication information, give a jar water filling indication information, pump drainage indication information, water pot draining indication information, pipeline remained water discharge indication information, jar automatically liquid level control indication information, jar manually liquid level control indication information, jar heating indication information, pipeline heating indication information, normal pressure reel indication information, high pressure reel indication information, pump chamber illumination information, information, engine temperature information, revolution speed information etc. when work adds up through pump.
Pump operated Logic control module receives the treated user key-press input signal and the various sensor input signal of information gathering and puocessing module transmission; Judge based on said input signal; And by all kinds of control signals of the external output of switching value output 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 draining signal, vacuum water diversion signal, outer suction valve control signal, high low pressure switching valve control signal, water pot row/water outlet control signal, jar automatically the water filling control signal, give water pot water filling control signal etc. through pump, carry out safety interlock and internal lock with the basic operation that realizes water pump and to operation.
Wherein, safety interlock and internal lock relation is:
(1) the outer suction/jar suction in power take-off engagement back, vacuum pump, vacuum are chain, Throttle Opening Control just works.
(2) locking is closed in the water pot draining of power take-off engagement back, foam tank discharge opeing, pump drainage.
(3) other operation delay actions (3-5 second) of power take-off engagement back.
(4) self-insurance valve, fire-fighting monitor-outlet valve, category-B air compressor oil pressure and warnings of oil temperature during vacuumizing, foams mix liquid valve,, a high pressure reel outlet left side right through pump flushing valve in jar water filling, CAFS flushing valve, category-B, a normal pressure reel outlet left side, the outlet of normal pressure reel, high pressure reel export the right side, the dry valve of CAFS, pump drainage valve and close locking.
(5) water pot suction and outer suction interlocking.
(6) jar liquid level control automatically: when liquid level is lower than lower bound, open control valve, when liquid level is higher than high closed control valve in limited time; When giving the jar water filling, when liquid level is higher than the high amenorrhoea pump that closes automatically in limited time to a jar water injection valve through pump.
The real-time control module of pump pressure links to each other with puocessing module with information gathering, receives the treated user key-press input signal of its transmission, i.e. the exit of pump force value of user's setting is with various sensor input signals.The current exit of pump force value that the real-time control module of pump pressure is gathered by said sensor input signal in real time; Exit of pump force value based on current exit of pump force value and user's setting is carried out closed loop control to exit of pump pressure; The engine speed regulated signal (switching value or analog amount) that produces is exported to electronic control unit (ECU through the control of the real-time control module of pump pressure; Electronic Control Unit) to control the rotating speed of motor, with the constant exit of pump pressure control of final realization.
The output of the real-time control module of pump pressure, promptly the engine speed regulated signal is divided into two kinds of forms through the output signal of ECU and ECU forward direction control channel regulator: dry contact output and analog amount output.
1) dry contact output
The essence of dry contact output control is Bang-Bang control; The setting value and the currency of the exit of pump pressure that the real-time control module of pump pressure is gathered in real time; Said setting value has a lower limit and a CLV ceiling limit value accordingly; When exit of pump pressure currency was lower than said lower limit, contact signal of the real-time control module output of pump pressure made the SPEED ADJUSTMENT signaling line of ECU be connected with SPEED ADJUSTMENT UP signaling line; The rotating speed of control motor rises, thereby exit of pump pressure rises thereupon.When exit of pump pressure rose to setting value, disconnection SPEED ADJUSTMENT was connected with SPEED ADJUSTMENT UP's.When exit of pump pressure is higher than said CLV ceiling limit value; Another contact signal of the real-time control module output of pump pressure; Make the SPEED ADJUSTMENT signaling line of ECU be connected with SPEED ADJUSTMENT DOWN signaling line; The rotating speed of control motor descends, thereby exit of pump pressure decreases; When exit of pump pressure was reduced in setting value upper and lower bound interval, disconnection SPEED ADJUSTMENT was connected with SPEED ADJUSTMENT DOWN's.Thus, through the closed loop adjustment that continues, with the exit of pump pressure stability near setting value.
2) analog amount output
In controlling automatically, the PID controller of controlling in ratio (P), integration (I) and the differential (D) of deviation (also claiming the PID regulator) is to use the most a kind of automatic controller.
Say that simply the effect of each link of PID regulator is following:
(1) proportional component: in time reflect the deviation signal e (t) of control system pro rata, in a single day deviation produces, and controller produces regulating action immediately, to reduce deviation.
(2) integral element: be mainly used in and eliminate the no margin that static difference improves system.The power of integral action depends on integration time constant, and integration time constant is big more, integral action more a little less than, otherwise then strong more.
(3) differentiation element: the variation tendency that can reflect deviation signal; Be the rate of change of deviation signal, and can before deviation signal becomes very greatly, in system, introduce an effectively early stage corrected signal; Thereby accelerate the movement speed of system, reduce the adjusting 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 k output value of controller constantly, and e (k) is a k deviate constantly, K
pBe scaling factor, K
iBe integration time constant, K
dBe derivative time constant.
In the present invention; Exit of pump pressure closed loop PID regulator is according to the outlet pressure setting value and from the collection signal of pressure transducer, and promptly current outlet pressure value calculates deviation e (k); Calculate controlled quentity controlled variable U (k) by above-mentioned PID controller formula again; At last U (k) is quantized into the analog amount output of 0-5V, as the engine speed control command, the final closed-loop adjustment that realizes exit of pump pressure.
Above-described specific embodiment; The object of the invention, technological scheme and beneficial effect have been carried out further explain, and institute it should be understood that the above is merely specific embodiment of the present invention; Be not limited to the present invention; All within spirit of the present invention and principle, any modification of being made, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a fire-fighting truck control system of water pump is characterized in that, this system comprises information gathering and puocessing module, pump operated Logic control module and the real-time control module of pump pressure, wherein,
Said information gathering and puocessing module be used for collection and process user by key input signal and various sensor input signal, and the input signal after will handling send to said pump operated Logic control module and the real-time control module of pump pressure;
Said pump operated Logic control module is used for judging based on the input signal after the said processing, exports all kinds of control signals;
The real-time control module of said pump pressure is used for obtaining current exit of pump force value according to the sensor input signal that receives, according to current exit of pump force value and the user key-press input signal that receives pump pressure is carried out closed loop control.
2. system according to claim 1 is characterized in that, said system comprises that further a led state shows and the nixie tube information display module, is used to show various status informations.
3. system according to claim 1 is characterized in that, the input signal after said information gathering and puocessing module will be handled sends to the real-time control module of pump pressure through COM, sends to said pump operated Logic control module through the CAN bus.
4. system according to claim 1 is characterized in that, said pump operated Logic control module also is used to carry out safety interlock and internal lock.
5. system according to claim 1 is characterized in that, said user key-press input signal comprises the exit of pump force value that the user sets.
6. system according to claim 5 is characterized in that, the real-time control module of said pump pressure is further carried out closed loop control according to the exit of pump force value of current exit of pump force value and user's setting to the exit of pump force value.
7. system according to claim 6; It is characterized in that; Said closed loop control comprises that further the real-time control module of pump pressure produces the engine speed regulated signal according to the exit of pump force value of current exit of pump force value and user's setting; Said engine speed regulated signal is exported to the rotating speed of electronic control unit controls motor through the control of the real-time control module of pump pressure, to keep constant exit of pump pressure.
8. system according to claim 7 is characterized in that, the control of the real-time control module of pump pressure is output as dry contact output or analog amount output.
9. system according to claim 8; It is characterized in that; When the control of the real-time control module of pump pressure is output as dry contact output; The real-time control module of pump pressure is controlled engine speed through current exit of pump force value is compared with the exit of pump force value that the user sets and is regulated closing of contact or disconnected, thereby carries out the closed loop control for engine speed.
10. system according to claim 8; It is characterized in that; When the control of the real-time control module of pump pressure was output as analog amount output, the real-time control module of pump pressure produced the output of engine speed control analog amount through the PID controller, thereby carries out the closed loop control for engine speed; Wherein, the algorithm representation of said 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 k output value of PID controller constantly, and e (k) is a k deviate constantly, K
pBe scaling factor, K
iBe integration time constant, K
dBe 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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| CN201110392157.XA CN102493949B (en) | 2011-11-30 | 2011-11-30 | Fire vehicle water pump control system |
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| CN102493949A true CN102493949A (en) | 2012-06-13 |
| CN102493949B CN102493949B (en) | 2015-04-15 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN105492772A (en) * | 2013-04-12 | 2016-04-13 | 滨特尔泵集团公司 | Water booster control system and method |
| CN108018914A (en) * | 2017-12-21 | 2018-05-11 | 龙岩畅丰专用汽车有限公司 | A kind of constant pressure water supply system |
| 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 |
| CN109458329A (en) * | 2018-10-18 | 2019-03-12 | 北京机械设备研究所 | A kind of ratchet pump discharge pressure constant pressure control method and device |
| 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 |
| CN112012837A (en) * | 2020-09-04 | 2020-12-01 | 上海华兴数字科技有限公司 | Fire fighting truck water taking control method, main controller, system and electronic equipment |
| CN112154996A (en) * | 2020-09-17 | 2021-01-01 | 华南农业大学 | Dual PID control accurate variable pesticide application system and feedback adjustment method thereof |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105492772A (en) * | 2013-04-12 | 2016-04-13 | 滨特尔泵集团公司 | 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 |
| CN108018914A (en) * | 2017-12-21 | 2018-05-11 | 龙岩畅丰专用汽车有限公司 | A kind of constant pressure water supply system |
| 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 |
| CN109458329A (en) * | 2018-10-18 | 2019-03-12 | 北京机械设备研究所 | A kind of ratchet pump discharge pressure constant pressure control method and device |
| 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 |
| CN112012837A (en) * | 2020-09-04 | 2020-12-01 | 上海华兴数字科技有限公司 | Fire fighting truck water taking control method, main controller, system and electronic equipment |
| 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 |
| CN112154996A (en) * | 2020-09-17 | 2021-01-01 | 华南农业大学 | Dual PID control accurate variable pesticide application system and feedback adjustment method thereof |
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