CN102495644B - Compression air foam mixed control system of fire truck - Google Patents
Compression air foam mixed control system of fire truck Download PDFInfo
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- CN102495644B CN102495644B CN201110392161.6A CN201110392161A CN102495644B CN 102495644 B CN102495644 B CN 102495644B CN 201110392161 A CN201110392161 A CN 201110392161A CN 102495644 B CN102495644 B CN 102495644B
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- 239000006260 foam Substances 0.000 title claims abstract description 154
- 230000006835 compression Effects 0.000 title claims abstract description 9
- 238000007906 compression Methods 0.000 title claims abstract description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 40
- 238000002156 mixing Methods 0.000 claims abstract description 39
- 238000012545 processing Methods 0.000 claims abstract description 9
- 239000000203 mixture Substances 0.000 claims description 57
- 239000007788 liquid Substances 0.000 claims description 17
- 239000012530 fluid Substances 0.000 claims description 8
- 238000011010 flushing procedure Methods 0.000 claims description 6
- 230000010354 integration Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 238000001035 drying Methods 0.000 claims description 4
- 238000010438 heat treatment Methods 0.000 claims description 4
- 239000010721 machine oil Substances 0.000 claims description 4
- 239000003921 oil Substances 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 238000005286 illumination Methods 0.000 claims description 2
- 238000002347 injection Methods 0.000 claims description 2
- 239000007924 injection Substances 0.000 claims description 2
- 239000004973 liquid crystal related substance Substances 0.000 claims description 2
- 239000010705 motor oil Substances 0.000 claims description 2
- 238000013341 scale-up Methods 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 abstract description 3
- 238000007405 data analysis Methods 0.000 abstract 1
- 238000013480 data collection Methods 0.000 abstract 1
- 230000001276 controlling effect Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 244000287680 Garcinia dulcis Species 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
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- 230000004044 response Effects 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
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- 230000003068 static effect Effects 0.000 description 1
- 230000001954 sterilising effect Effects 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Landscapes
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
- Accessories For Mixers (AREA)
Abstract
The invention discloses a compression air foam mixing control system of a fire truck, which comprises an information collection and state display module, a foam mixing logical control module and a foam mixing proportion real-time control module. The foam mixing proportion real-time control module controls rotating speed of a foam mixing motor according to user panel key input signals transmitted by the information collection and state display module and current water flow and foam flow which are obtained by real-time collection through an internal digital PID controller to achieve the function of maintaining foam mixing proportion stability no matter how the water flow changes. The compression air foam mixing control system of the fire truck enables operation, information display, data collection, data analysis, data processing and data control of a whole machine to be more stable, simple, convenient and audio-visual through a highly integrated visual information system.
Description
Technical field
The present invention relates to automation control area, on especially a kind of no matter fire truck, how discharge changes, and remains the control system that foams mix ratio is stable.
Background technology
The disaster that recent year takes place frequently and accident, cause concern and demand for the special equipment of rescue and relief work.Rescue and relief work equipment is the important branch of special car.This equipment need to and complicated and severe operating environment under, can complete the operation of every rescue and relief work, comprising emergency communication, medical rescue, fire extinguishing, sterilization, bridge and road rehabilitation, even personnel's transfer etc.
Intelligent automation control system, for realizing above-mentioned every operation function, is indispensable necessary condition.At present, on domestic fire truck and rescue equipment, not yet introduce the advanced automated control technology based on artificial intelligence, can not meet the intelligent indexs such as high maneuverability, capability of fast response, operating environment adaptive faculty of special front disaster relief equipment.Therefore, the background based on above-mentioned, this patent has been invented discharge on a kind of no matter fire truck with intelligence and how have been changed, and remains the control system that foams mix ratio is stable, has solved the problems such as interface is unfriendly, complicated operation, unstable properties.
Summary of the invention
In order to overcome existing domestic fire truck and rescue equipment, above interface is unfriendly, complicated operation, the deficiencies such as unstable properties, patent of the present invention provides a kind of compression air foam mixed control system of fire truck, introduce robotization and informationization technology, the friendly operation interface with touch-screen, Programmable Logic Controller, the automation devices such as industrial control equipment combine control, by 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 of data and control, more stable, easy and directly perceived.
A kind of compressed-air foam hybrid control system proposed by the invention, is characterized in that, this system comprises information acquisition and state display module, foams mix Logic control module and the real-time control module of foams mix ratio, wherein,
Described information acquisition and state display module, for detection of and process Users panel key-press input signal and various sensor input signal, and the input signal after processing is sent to described foams mix Logic control module and the real-time control module of described foams mix ratio;
Described foams mix Logic control module, judges for the input signal based on after described processing, externally exports all kinds of switch controlling signals.
The real-time control module of described foams mix ratio, adjusts current foams mix ratio for the current discharge and current foam flow, the described Users panel key-press input signal that obtain according to described sensor input signal.
The invention has the beneficial effects as follows, compressed-air foam mixture control Real-time Collection discharge, foam flow and foam total amount, by internal digital PID regulator, realize no matter how discharge changes the function that remains that foams mix ratio is stable, the friendly operation interface also with touch-screen simultaneously, Programmable Logic Controller, the automation devices such as industrial control equipment combine control, by 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 of data and control, more stable, easy and directly perceived.
Accompanying drawing explanation
Fig. 1 is the structural drawing of compression air foam mixed control system of fire truck of the present invention.
Embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
Figure 1 shows that the structural drawing of compression air foam mixed control system of fire truck of the present invention (CAFS).As shown in Figure 1, this compression air foam mixed control system of fire truck (CAFS) comprising: information acquisition and state display module, foams mix Logic control module and the real-time control module of foams mix ratio.
Wherein, information acquisition and state display module are for detection of key-press input signal and the various sensor input signal of Users panel, after above-mentioned informix is processed, such as analog to digital conversion or digital-to-analog conversion, by LED and the various status informations of liquid crystal display, such as battery electric quantity information, engine oil pressure information, engine temperature information, air pressure information, water hammer information, water temperature information, failure message, engine opens/stops indication information, power takeoff engagement information, voltage-stabilizing system work indication information, pressure increases/reduces indication information, throttle +/-indication information, pump up moving indication information, vacuumize indication information, the water pot indication information that absorb water/absorbs water outward, 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 is controlled indication information, the manual liquid level of tank is controlled indication information, 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, warning message etc., and key-press input signal and the various sensor input signal of the Users panel after processing are sent to the real-time control module of foams mix ratio, and send to the foams mix Logic control module in host computer by CAN interface.
Such as, if when operation, desired foams mix ratio does not reach system requirements, supposes that setting foams mix ratio is 3%, and the water yield is 970 liters/min, and so needed foam flow is 30 liters/min.But the maximum mixing ability of system is only 24 liters/min, that is to say, system cannot reach default foams mix ratio, and now, display is display operation prompting warning message.
For another example, Kind of Foam Level Detecting Sensor is installed in foam tank, its outputting analog signal, after demarcating, can more accurately measure the liquid level of foam, when foam tank reaches preset liquid level, display shows following information: " the low liquid level of foam tank " reports to the police, after this information appears on display, system can be closed type foam mixing system and be shown " non-foam " warning message within 30 seconds.
Foams mix Logic control module receives key-press input signal and the various sensor input signal of the treated Users panel of information acquisition and the transmission of state display module, based on described input signal, judge, and externally export all kinds of switch controlling signals by switching value output port, such as foam motor driver main power switch signal, foam motor driver enable signal, foam motor driver speed control signal etc., to control the basic switch operation of foams mix, and carry out safety interlock and internal lock.
Described safety interlock and internal lock relation comprise:
(1) CAFS entry condition: water pot is not that sky+foam tank is not sky+alarm free information.
(2) when CAFS operates, do not allow flushing operation and CAFS drying process.
(3) when class A foam liquid valve, category-B foam liquid outlet valve, category-B foams mix liquid valve are opened, through pump, to tank water injection valve, close locking.
(4) when CAFS, SKY CAFS (adopting the different stop valve of air compressor machine to control CAFS) operate, allow the action of psychrometric ratio example variable valve.
(5) atmospheric operation, operation with high pressure, CAFS, SKY CAFS operate interlocking.
(6) inhaling foam breather valve during flushing operation opens.
(7) CAFS is dry interlocks with class A foam fluid, category-B foam liquid outlet, category-B foams mix fluid, outer suction foam.
(8) CAFS rinses and interlocks to tank water filling, class A foam fluid, category-B foam liquid outlet, category-B foams mix fluid, outer suction foam through pump.
(9) CAFS blow off valve, CAFS flushing valve and inhale foam breather valve and open during CAFS drying process.
(10) the air compressor machine condition of giving vent to anger: report to the police without air compressor machine oil pressure and oil temperature.
(11) air compressor machine oil pressure and oil temperature high alarm setting are closed CAFS system.
The real-time control module of foams mix ratio is connected with state display module with information acquisition, receive the blending ratio information of user's setting of its transmission, the flow information of the water flow sensor of Real-time Collection and foam stream quantity sensor, the real-time control module of foams mix ratio calculates the current blending ratio of water and foam according to current discharge and foam flow, the blending ratio of the current blending ratio of water and foam and user's setting is compared and obtains blending ratio deviation, according to blending ratio deviation signal, utilize PID controller to obtain the controlled quentity controlled variable of foams mix ratio, the controlled quentity controlled variable calculating is sent to foam motor driver, and then by controlling the rotating speed of foams mix motor, realize the constant control of foams mix ratio, the rotating speed of foams mix motor is higher, its foam producing is just more, that is to say, if the blending ratio that the current blending ratio of water and foam is set lower than user, so just increase the rotating speed of foams mix motor, produce more foam, until the current blending ratio of water and foam equals the blending ratio that user sets, conversely, if the blending ratio that the current blending ratio of water and foam is set higher than user, so just reduce the rotating speed of foams mix motor, foam volume is reduced, until the current blending ratio of water and foam equals the blending ratio that user sets, thereby keep constant foams mix ratio.
Particularly, the process of the blending ratio of control water and foam is:
First, set the blending ratio of water and foam.
On CAFS guidance panel, user can set by " blending ratio " knob the blending ratio of water and foam, this knob is the potentiometer that a band is confirmed keypress function, during turning knob, LCD screen shows by figure and two kinds of modes of numeral the ratio setting, when pressing, confirm that after button, this user's input information passes to the real-time control module of foams mix ratio by information acquisition and state display module.
Then, calculate the current blending ratio of water and foam.
The water flow sensor that the real-time control module of foams mix ratio sends by information acquisition and state display module and foam stream quantity sensor detect discharge and the foam flow in the pipeline obtaining in real time, calculate the current blending ratio of water and foam according to current discharge and foam flow.
Then, current blending ratio is controlled.
In automatically controlling, the PID controller (also claiming PID regulator) of controlling in the ratio of deviation (P), integration (I) and differential (D) is a kind of self-actuated controller being most widely used.
Simply say, the effect of each link of PID regulator is as follows:
(1) proportional component: reflect pro rata the deviation signal e (t) of control system in time, once deviation produces, controller produces regulating action immediately, to reduce deviation.
(2) integral element: be mainly used in eliminating 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 stronger.
(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 responsiveness of system, reduce the adjusting time.
The expression formula of digit position formula PID controller control algolithm 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 valve of PID controller constantly, and e (k) is k deviate constantly, K
pfor scale-up factor, K
ifor integration time constant, K
dfor derivative time constant.
In the present invention, the real-time control module of foams mix ratio compares the blending ratio of the current blending ratio of water and foam and user's setting, calculate both deviations, be e (k), by above-mentioned PID controller, calculated again the controlled quentity controlled variable of foams mix ratio, be U (k), last according to the type of foam motor driver, controlled quentity controlled variable is exported to foam motor driver by D/A or with the signal form of pulse-length modulation (Pulse Width Modulation PWM), so that the rotating speed of foams mix motor is regulated, thereby change the discharge capacity of foam motor, the accuracy requirement of setting finally to reach foams mix ratio.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; institute is 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 modification of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (8)
1. a compressed-air foam hybrid control system, is characterized in that, this system comprises information acquisition and state display module, foams mix Logic control module and the real-time control module of foams mix ratio, wherein,
Described information acquisition and state display module, for detection of and process Users panel key-press input signal and various sensor input signal, and the input signal after processing is sent to described foams mix Logic control module and the real-time control module of described foams mix ratio, after described input signal is processed, by LED and the various status informations of liquid crystal display, described status information comprises: battery electric quantity information, engine oil pressure information, engine temperature information, air pressure information, water hammer information, water temperature information, failure message, engine opens/stops indication information, power takeoff engagement information, voltage-stabilizing system work indication information, pressure increases/reduces indication information, throttle +/-indication information, pump up moving indication information, vacuumize indication information, the water pot indication information that absorb water/absorbs water outward, 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 is controlled indication information, the manual liquid level of tank is controlled indication information, 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 and warning message,
Described foams mix Logic control module, judges for the input signal based on after described processing, externally exports all kinds of switch controlling signals, to control the basic switch operation of foams mix, and carries out safety interlock and internal lock; Described switch controlling signal comprises: foam motor driver main power switch signal, foam motor driver enable signal and foam motor driver speed control signal; Described safety interlock and internal lock comprise: described compressed-air foam hybrid control system (CAFS) entry condition; During the operation of compressed-air foam hybrid control system, do not allow flushing operation and the drying process of compressed-air foam hybrid control system; When opening, class A foam liquid valve, category-B foam liquid outlet valve, category-B foams mix liquid valve to tank water injection valve, close locking through pump; Compressed-air foam hybrid control system allows the action of psychrometric ratio example variable valve while controlling compressed-air foam hybrid control system (SKY CAFS) operation with the different stop valve of employing air compressor machine; Atmospheric operation, operation with high pressure, compressed-air foam hybrid control system, the different stop valve of employing air compressor machine are controlled compressed-air foam hybrid control system operation interlocking; During flushing operation, inhaling foam breather valve opens; Compressed-air foam hybrid control system is dry to be interlocked with class A foam fluid, category-B foam liquid outlet, category-B foams mix fluid, outer suction foam; Compressed-air foam hybrid control system is rinsed and is interlocked to tank water filling, class A foam fluid, category-B foam liquid outlet, category-B foams mix fluid, outer suction foam through pump; During the drying process of compressed-air foam hybrid control system, compressed-air foam hybrid control system blow off valve, the flushing valve of compressed-air foam hybrid control system and suction foam breather valve are opened; The air compressor machine condition of giving vent to anger: report to the police without air compressor machine oil pressure and oil temperature; Air compressor machine oil pressure and oil temperature high alarm setting closes compression air foam hybrid control system;
The real-time control module of described foams mix ratio, adjusts current foams mix ratio for the current discharge and current foam flow, the described Users panel key-press input signal that obtain according to described sensor input signal.
2. system according to claim 1, is characterized in that, described information acquisition and state display module send to described foams mix Logic control module by CAN interface by the input signal after processing.
3. system according to claim 1, is characterized in that, described Users panel key-press input signal comprises the blending ratio that user sets.
4. system according to claim 3, is characterized in that, the real-time control module of described foams mix ratio further calculates the current blending ratio of water and foam according to current discharge and foam flow.
5. system according to claim 4, is characterized in that, the real-time control module of described foams mix ratio further compares the blending ratio of the described current blending ratio of water and foam and user's setting to obtain blending ratio deviation.
6. system according to claim 5, is characterized in that, the real-time control module of described foams mix ratio, further based on described blending ratio deviation, utilizes PID controller to obtain the controlled quentity controlled variable of foams mix ratio.
7. system according to claim 6, it is characterized in that, the real-time control module of described foams mix ratio further sends to foam motor driver by described controlled quentity controlled variable, and then control the blending ratio of foam by controlling the rotating speed of foams mix motor, thereby keep constant foams mix ratio.
8. system according to claim 6, is characterized in that, the expression formula of described PID controller control algolithm 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 valve of PID controller constantly, and e (k) is k deviate constantly, K
pfor scale-up factor, K
ifor integration time constant, K
dfor derivative time constant.
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102772874B (en) * | 2012-07-20 | 2015-01-07 | 中国科学院自动化研究所 | Fire monitor intelligent control system |
| CN104308991A (en) * | 2014-09-03 | 2015-01-28 | 河南华泰建材开发有限公司 | Foam concrete density automatic control system and method based on PLC technology |
| CN106730545B (en) * | 2016-12-26 | 2020-05-19 | 威特龙消防安全集团股份公司 | Additive metering injection system of water mist fire extinguishing system |
| CN112057784A (en) * | 2020-08-25 | 2020-12-11 | 长沙中联消防机械有限公司 | Foam ratio control method and system for compressed air foam system and fire fighting truck |
| CN114306996B (en) * | 2021-12-31 | 2022-12-20 | 上海震旦施密茨消防装备有限公司 | Compressed air foam generating device and using method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1555045A2 (en) * | 2004-01-14 | 2005-07-20 | Karl Perr | Control system for a Fire extinguishing system with pressurised air foam |
| CN2875499Y (en) * | 2006-02-17 | 2007-03-07 | 陕西航天动力高科技股份有限公司 | Automatic foam proportional mixing device |
| CN101543669A (en) * | 2009-04-03 | 2009-09-30 | 北京中卓时代消防装备科技有限公司 | Vehicular compressed air foam fire-extinguishing system |
| CN201529337U (en) * | 2009-11-06 | 2010-07-21 | 徐州重型机械有限公司 | Fire-fighting foam mixing ratio control system and fire engine with same |
| CN202005967U (en) * | 2011-03-24 | 2011-10-12 | 李春旭 | Full-automatic foam proportioner |
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- 2011-11-30 CN CN201110392161.6A patent/CN102495644B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1555045A2 (en) * | 2004-01-14 | 2005-07-20 | Karl Perr | Control system for a Fire extinguishing system with pressurised air foam |
| CN2875499Y (en) * | 2006-02-17 | 2007-03-07 | 陕西航天动力高科技股份有限公司 | Automatic foam proportional mixing device |
| CN101543669A (en) * | 2009-04-03 | 2009-09-30 | 北京中卓时代消防装备科技有限公司 | Vehicular compressed air foam fire-extinguishing system |
| CN201529337U (en) * | 2009-11-06 | 2010-07-21 | 徐州重型机械有限公司 | Fire-fighting foam mixing ratio control system and fire engine with same |
| CN202005967U (en) * | 2011-03-24 | 2011-10-12 | 李春旭 | Full-automatic foam proportioner |
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