CN102901109A - Precise synchronous control system and control method for multiple feeders of garbage incinerator - Google Patents

Precise synchronous control system and control method for multiple feeders of garbage incinerator Download PDF

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Publication number
CN102901109A
CN102901109A CN201210383812XA CN201210383812A CN102901109A CN 102901109 A CN102901109 A CN 102901109A CN 201210383812X A CN201210383812X A CN 201210383812XA CN 201210383812 A CN201210383812 A CN 201210383812A CN 102901109 A CN102901109 A CN 102901109A
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pusher
displacement
pushers
value
valve
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CN201210383812XA
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吕庆忠
原峰
白茹
陈彦江
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吕庆忠
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Abstract

The invention discloses a precise synchronous control system for multiple feeders of a garbage incinerator. The control system comprises a plurality of feeders, a plurality of hydraulic valve groups, a plurality of displacement encoders, a PLC (programmable logic controller) and an operation station, wherein a hydraulic valve group and a displacement encoder are respectively arranged on each feeder; a hydraulic oil pipe is respectively connected with two ends of the hydraulic cylinder of the feeders; the displacement encoders are connected with the feeders; the PLC controller is connected with the hydraulic valve group and the displacement encoders; the operation station is connected with the PLC controller. The precise synchronous control method for the multiple feeders of the garbage incinerator comprises the following steps that: S1, the speed V1 of the feeders is set on the operation station; S2, the PLC calculates the displacement of the feeders to move in a unit speed within each scanning period according to a preset scanning period T1; and S3, the hydraulic valve group controls the feeders to move forwards or backwards in the speed of each scanning period deltaS1.

Description

The accurate synchronous control system of a plurality of pushers of a kind of incinerator and control method
Technical field
The present invention relates to the domestic garbage incineration equipment field, particularly the accurate synchronous control system of a plurality of pushers of one way of life incinerator and control method.
Background technology
Medium-and-large-sized stoker fired grate formula domestic waste incineration has the pusher that 2 or 3 can self-movement basically, the quality of pusher speed control and the synchronism between them have a great impact the uniformity of garbage feeding, and the uniformity of garbage feeding is to affect the essential condition that can incinerator stable operation.
The speed control of the pusher of a lot of medium-and-large-sized stoker fired grate formula domestic waste incinerations of Present Domestic can not realize the action of continous-stable, but spacing movement; Although perhaps have plenty of continuous action, speed and the synchronism between a plurality of pusher of action are very poor, thereby cause the inhomogeneous of garbage feeding.So it is very necessary solving the accuracy of pusher speed control and the synchronism of a plurality of pushers.
Summary of the invention
The present invention is directed to the prior art above shortcomings, provide a plurality of pushers of a kind of incinerator accurate synchronous control system, each pusher of this system carries out control and measurement by independent valve group and displacement encoder, can realize the accurate speed control of each pusher and the accurate Synchronization Control of a plurality of pushers, improve the uniformity of the garbage feeding of knowing clearly, improved the stability of combustion conditions.
The present invention is directed to the prior art above shortcomings, provide a plurality of pushers of a kind of incinerator accurate synchronisation control means, can realize the accurate speed control of each pusher and the accurate Synchronization Control of a plurality of pushers by the method, improve the uniformity of the garbage feeding of knowing clearly, improved the stability of combustion conditions.
The present invention is achieved through the following technical solutions:
The accurate synchronous control system of a plurality of pushers of a kind of incinerator, comprise: some pushers, some hydraulic valve bank, some displacement encoders, one PLC controller and an active station, be respectively arranged with a hydraulic valve bank and a displacement encoder on each pusher, the two ends of the hydraulic cylinder of pusher connect respectively a hydraulic oil pipe, displacement encoder is installed on the pusher, in order to measure the current shift value PV of pusher, the PLC controller is connected with displacement encoder with hydraulic valve bank, in order to the data that receive displacement encoder and control hydraulic valve bank, active station connects the PLC controller, the man-machine interface of the control of this complete equipment, in order to monitor, the operation of control operation pusher.
Better, hydraulic valve bank further comprises:
In order to control the solenoid directional control valve of the pusher direction of motion, solenoid directional control valve is provided with some valves, comprises two hydraulic oil pipe valves, an inlet valve and an oil return valve, two hydraulic oil pipe valve difference connecting fluid pressuring oil pipes, inlet valve connects an oil inlet pipe, and oil return valve connects an oil return pipe;
In order to control the balanced valve of pusher easy motion, be arranged on the hydraulic oil pipe;
In order to control the flow control valve of pusher movement velocity, be connected on the oil inlet pipe.
Better, the functional module that the computing of PLC controller internal program needs comprises: multiplier, the pusher displacement setting value accumulator module of advancing, pusher retreats displacement and sets value the module of successively decreasing, selector, PID calculator and proportioning valve, multiplier is connected to advance displacement setting value accumulator module and pusher of pusher and retreats the displacement setting value and successively decrease on the module, the pusher displacement setting value accumulator module of advancing is connected the displacement setting value module of successively decreasing and connects selector with pusher, selector connects the PID calculator, the output of PID calculator is in order to the aperture of control ratio valve, and passing ratio valve opening size is regulated the movement velocity of the size control pusher of hydraulic fluid flow rate.
Better, the pusher displacement setting value accumulator module of advancing comprises:
Adder connects multiplier, obtains a desired value SV in order to the cumulative displacement of pusher within each scan period;
The accumulator module selector connects adder and displacement encoder, selects a value in order to the direction of motion according to pusher;
Little value selector connects the accumulator module selector, in order to guarantee the synchronism of a plurality of pushers on direction of advance.
Better, pusher retreats the displacement setting value module of successively decreasing and comprises:
Subtracter connects multiplier, obtains a desired value SV in order to the cumulative displacement of pusher within each scan period;
The module of successively decreasing selector connects subtracter and displacement encoder, selects a value in order to the direction of motion according to pusher;
Large value selector connects the module selector that successively decreases, in order to guarantee the synchronism of a plurality of pushers on direction of retreat.
Better, hydraulic oil pipe is provided with pressure measuring tie-in, and hydraulic joint is used for measuring oil pressure.
Better, hydraulic valve bank is provided with maintenance valve, is used for the accurate synchronous control system of a plurality of pushers of incinerator is debugged and overhauled.
The accurate synchronisation control means of a plurality of pushers of a kind of incinerator comprises the steps:
S1, set the speed V1 of pusher at active station;
S2, PLC controller be according to a default displacement S1 that pusher will move in each scan period when the scan period, T1 calculated unit speed, wherein, and S1=T1 * 1000/3600;
S3, hydraulic valve bank control pusher advance with the speed of each scan period Δ S1 or retreat, wherein, and Δ S1=V1 * S1.
Better, in the pusher forward travel state, the position of pusher is by the residing position of beginning, adder by the PLC controller adds up with the speed of each scan period Δ S1, and this value sent into the PID calculator as the desired value SV of pusher displacement, the displacement encoder of pusher is sent into the PID calculator to the measured value PV of the current displacement of pusher, and the aperture that the PID calculator is adjusted flow control valve according to the deviation of SV and PV is big or small, and SV and PV are reached unanimity.
Better, in the pusher fallback state, the position of pusher is by the residing position of beginning, subtracter by the PLC controller successively decreases with the speed of each scan period Δ S1, and this value sent into the PID calculator as the desired value SV of pusher displacement, the displacement encoder of pusher is sent into the PID calculator to the measured value PV of the current displacement of pusher, the PID calculator is adjusted the aperture size of flow control valve according to the deviation of SV and PV, regulate the translational speed of pusher, SV and PV are reached unanimity.
When debugging, be easy to make the PV value of pusher to follow the tracks of well the SV value by the parameter of regulating the PID calculator.Each pusher just can be accurately mobile according to the velocity amplitude that sets at active station like this, if the setting speed of each pusher is the same, a plurality of like this pushers just can move with same speed, reaches the smart quasi synchronous control purpose of a plurality of pushers.
Description of drawings
Fig. 1 is the apparatus structure schematic diagram of the accurate speed control of a plurality of pushers of one embodiment of the invention and synchronized model control;
Fig. 2 is the structural representation of the PLC controller internal arithmetic program of one embodiment of the invention.
The specific embodiment
Below in conjunction with embodiment the present invention is elaborated, present embodiment is implemented under take technical solution of the present invention as prerequisite, has provided detailed embodiment, but protection scope of the present invention is not limited to following embodiment.
Please refer to Fig. 1, is example with 3 pushers 11,12 and 13 large-scale incinerator are arranged in the present embodiment, and pusher drives with hydraulic cylinder 10, and each pusher is furnished with independent hydraulic valve bank and displacement encoder 9, and each pusher can single movement.Displacement encoder 9 is used for detecting the current displacement of pusher, and this displacement signal is delivered to PLC controller 14 for calculating control; Flow control valve 3 is accepted the control signal that PLC controller 14 is sent, and what of hydraulic pressure oil mass of delivering to hydraulic cylinder by adjusting are realized the control to the pusher translational speed; Solenoid directional control valve 4 is also accepted the control signal that PLC controller 14 is sent, and is used for controlling forward motion and the backward movement of pusher, and this valve has 3 positions, when in the centre position, oil circuit is obstructed, and pusher is failure to actuate, when the right side electromagnet gets electric, P, A mouth are connected, and B, T mouth are connected, and at this moment pusher advances, when the left side electromagnet gets electric, P, B mouth are connected, and A, T mouth are connected, at this moment the pusher backward movement; Pusher is in the process of advancing, and balanced valve 5 is used for regulating standby pressure the on the return line, is used for suppressing pusher in the process of advancing because the action that the sudden change of resistance causes is unstable; PLC controller 14 comprises: advance accumulator module 92, the pusher of displacement setting value of multiplier 91, pusher retreats the proportioning valve 912 of the module 96 of successively decreasing, selector 910, PID calculator 911 and the control pusher velocity magnitude of displacement setting value, multiplier 91 is connected on accumulator module 92 and the module 96 of successively decreasing, accumulator module 92 connects selector 910 with the module 96 of be connecteding, selector 910 connects PID calculator 911, and PID calculator 911 connects proportioning valve 912; PLC controller 14 is delivered to controller to the signal of field instrument, carries out the relevant action instruction according to the control program of writing; Active station is exactly man-machine interface, is used for operating, the working condition of surveillance equipment; Adopt hydraulic oil flexible pipe 8 near hydraulic cylinder 10 places on the hydraulic oil pipe 7.
The PID controller is comprised of ratio unit (P), integral unit (I) and differentiation element (D).The PID controller remains most widely used industrial control unit (ICU) now as existing more than the 70 year history of practical the earliest controller, and the present invention no longer does the PID controller at this and gives unnecessary details.
Please refer to Fig. 2, this schematic diagram has been summarized the control algolithm that writes on 14 li of PLC controllers.
At the speed V1 of active station 15 setting pushers, V1 and S1 multiplied each other and draw the distance that pusher will move within each times scan period of PLC controller 14.Selector 94 and 98 conditions of selecting are to select (1) to locate the calculating that data are used for the back when pusher moves to rear position (pusher retreats to last position) or anteposition (pusher advances to the most front position), select (0) to locate the calculating that data are used for the back when not in rear position or anteposition.The condition of selector 910 is to select (1) to locate calculating for the back when pusher advances, and selects (0) to locate the calculating that data are used for the back when retreating.We begin to move a circulation take pusher and describe as example from position, rear position, when pusher during in rear position, selector 94 will be selected the data of (1), and (1) locates data is current physical locations of pusher that encoder measures.Its medium and small value selector 95 is the synchronisms for the process of advancing that guarantees a plurality of pushers, all will begin accumulation calculating from the shift value of rear position.When pusher leaves rear position and begins to advance, selector 94 will select (0) to locate, the like this velocity amplitude addition that will move the shift value at the current place of pusher and previous calculations pusher out of adder 93, the desired value that moves of pusher will increase with the speed of setting like this.Such one with the SV value of the cumulative setting value of given pace as PID calculator 11, the pusher that displacement encoder 9 is measured at that time shift value as the PV value of PID calculator 11, so just realized the control calculating of the process of advancing by the adjusting of PID calculator 11, until pusher moves to the anteposition position, solenoid directional control valve 4 cuts off oil circuit stops pusher; Fallback procedures at pusher is calculated as follows: when pusher during in anteposition, selector 98 will be selected the data of (1), and (1) locates data is current physical locations of pusher that displacement encoder 9 measures.Wherein large value selector 99 is the synchronisms for the fallback procedures that guarantees a plurality of pushers, all will begin from the shift value of anteposition the calculating of successively decreasing.When pusher leaves anteposition and begins to retreat, selector 98 will select (0) to locate, subtracter 97 will subtract each other the velocity amplitude that the shift value at the current place of pusher and previous calculations pusher out move like this, and the desired value that moves of pusher will be with the decrease of speed of setting like this.Such setting value of successively decreasing with given pace is as the SV value of PID calculator 11, the pusher that displacement encoder 9 is measured at that time shift value as the PV value of PID calculator 11, so just realized the control calculating of fallback procedures by the adjusting of PID calculator 11, until pusher moves to position, rear position, solenoid directional control valve 4 cuts off oil circuit stops pusher; Each pusher like this reciprocation cycle moves according to the speed of setting.
The course of work of present embodiment is as follows:
Start each pusher at active station 15, and the translational speed of pusher is set, each pusher is according to action command reciprocation cycle action between anteposition position and position, rear position like this.The speed of the movement of pusher is to move according to the speed that sets.
Start pusher at active station 15,14 positions that can control according to the inside programmed instruction solenoid directional control valve 4 of PLC controller are used for controlling advancing, retreat, stopping of pusher.When advancing, it is electric that the right side electromagnet is got, and P, A mouth are connected, and B, T mouth are connected, and at this moment pusher will advance; When retreating, it is electric that the left side electromagnet is got, and P, B mouth are connected, and A, T mouth are connected, and at this moment pusher will retreat; When stopping, the electromagnet of both sides all must not be electric, and spool mediates, and oil circuit is obstructed, and pusher is failure to actuate.
The computing of PLC controller 14 will be set fixing scan period T1 (s), the displacement S1 (mm) (S1=T1 * 1000/3600) that pusher will move in each time scan period when calculating unit speed (m/h) according to the time T 1 of scan period, if the pusher speed setting value is V1(m/h), in the process of advancing, the position of pusher should (speed of Δ S1=V1 * S1) be advanced with each scan period Δ S1 (mm), in fallback procedures, the position of pusher should (speed of Δ S1=V1 * S1) retreats with each scan period Δ S1 (mm).When forward travel state, the position of pusher is by position, the residing rear position of beginning, adder by the PLC controller adds up with the speed of each scan period Δ S1 (mm), and this value sent into the PID calculator as the desired value (SV value) of pusher action, the displacement encoder of pusher is sent into the PID calculator to pusher current location measured value (PV value), the aperture that the PID calculator is adjusted flow control valve according to the deviation of SV value and PV value is big or small, and SV value and PV value are reached unanimity.When fallback state, the position of pusher is by the residing anterior locations of beginning, subtracter by the PLC controller successively decreases with the speed of each scan period Δ S1 (mm), and this value sent into PID as the desired value (SV value) of pusher action, the displacement encoder of pusher is sent into PID to pusher current location measured value (PV value), the aperture that the PID calculator is adjusted flow control valve according to the deviation of SV value and PV value is big or small, and SV value and PV value are reached unanimity.When debugging, be easy to make the PV value of pusher to follow the tracks of well the SV value by the parameter of regulating PID.Each pusher just can be accurately mobile according to the velocity amplitude that sets at active station like this, if the setting speed of each pusher is the same, a plurality of like this pushers just can move with same speed, reaches the smart quasi synchronous control purpose of a plurality of pushers.
On data setting, make a plurality of pushers start simultaneously, stop, the speed of each pusher is also set the same, has so just realized precise speed control and the Synchronization Control of a plurality of pushers.
Native system is implemented in a plurality of projects, and from situation about using, the speed of pusher and theoretical velocity almost do not have difference, and the synchronism between a plurality of pushers also can be controlled in the 2mm.
More than disclosed only be the application's a specific embodiment, but the application is not limited thereto, the changes that any person skilled in the art can think of all should drop in the application's the protection domain.

Claims (10)

1. accurate synchronous control system of a plurality of pushers of incinerator, it is characterized in that, comprise: some pushers, some hydraulic valve bank, some displacement encoders, one PLC controller and an active station, be respectively arranged with a hydraulic valve bank and a displacement encoder on each pusher, the two ends of the hydraulic cylinder of described pusher connect respectively a hydraulic oil pipe, described displacement encoder is connected on the described pusher, in order to measure the current shift value PV of described pusher, described PLC controller is connected on described hydraulic valve bank and the displacement encoder, in order to the data that receive described displacement encoder and control described hydraulic valve bank, described active station connects described PLC controller, in order to control described PLC controller, described PLC controller is controlled the operation of described pusher.
2. the accurate synchronous control system of a plurality of pushers of incinerator as claimed in claim 1 is characterized in that, described hydraulic valve bank further comprises:
In order to control the solenoid directional control valve of the described pusher direction of motion, described solenoid directional control valve is provided with some valves, comprise two hydraulic oil pipe valves, an inlet valve and an oil return valve, described two hydraulic oil pipe valves connect respectively described hydraulic oil pipe, described inlet valve connects an oil inlet pipe, and described oil return valve connects an oil return pipe;
In order to control the balanced valve of described pusher easy motion, be arranged on the described hydraulic oil pipe;
In order to control the flow control valve of described pusher movement velocity, be connected on the described oil inlet pipe.
3. the accurate synchronous control system of a plurality of pushers of incinerator as claimed in claim 1, it is characterized in that, the functional module that described PLC controller internal program computing needs comprises: multiplier, the pusher displacement setting value accumulator module of advancing, pusher retreats displacement and sets value the module of successively decreasing, selector, PID calculator and proportioning valve, described multiplier is connected to advance displacement setting value accumulator module and pusher of described pusher and retreats the displacement setting value and successively decrease on the module, the described pusher displacement setting value accumulator module of advancing is connected the displacement setting value module of successively decreasing and connects described selector with pusher, described selector connects described PID calculator, described PID calculator connects described proportioning valve, the movement velocity of the described pusher of described proportional valve control.
4. the accurate synchronous control system of a plurality of pushers of incinerator as claimed in claim 3 is characterized in that, the described pusher displacement setting value accumulator module of advancing comprises:
Adder connects described multiplier, obtains a desired value SV in order to the cumulative displacement of described pusher within each scan period;
The accumulator module selector connects described adder and described displacement encoder, selects a value in order to the direction of motion according to described pusher;
Little value selector connects described accumulator module selector, in order to guarantee the synchronism of a plurality of pushers on direction of advance.
5. the accurate synchronous control system of a plurality of pushers of incinerator as claimed in claim 3 is characterized in that, described pusher retreats the displacement setting value module of successively decreasing and comprises:
Subtracter connects described multiplier, obtains a desired value SV in order to the cumulative displacement of described pusher within each scan period;
The module of successively decreasing selector connects described subtracter and described displacement encoder, selects a value in order to the direction of motion according to described pusher;
Large value selector connects the described module selector that successively decreases, in order to guarantee the synchronism of a plurality of pushers on direction of retreat.
6. the accurate synchronous control system of a plurality of pushers of incinerator as claimed in claim 1 is characterized in that, described hydraulic oil pipe is provided with pressure measuring tie-in, and described hydraulic joint is used for measuring oil pressure.
7. the accurate synchronous control system of a plurality of pushers of incinerator as claimed in claim 1 is characterized in that, described hydraulic valve bank is provided with maintenance valve, is used for the accurate synchronous control system of a plurality of pushers of incinerator is debugged and overhauled.
8. the accurate synchronisation control means of a plurality of pushers of incinerator is characterized in that, comprises the steps:
S1, set the speed V1 of pusher at active station;
S2, PLC controller be according to a default displacement S1 that pusher will move in each scan period when the scan period, T1 calculated unit speed, wherein, and S1=T1 * 1000/3600;
S3, hydraulic valve bank control pusher advance with the speed of each scan period Δ S1 or retreat, wherein, and Δ S1=V1 * S1.
9. the accurate synchronisation control means of a plurality of pushers of incinerator as claimed in claim 8, it is characterized in that, in the pusher forward travel state, the position of pusher is by the residing position of beginning, adder by the PLC controller adds up with the speed of each scan period Δ S1, and this value sent into the PID calculator as the desired value SV of pusher displacement, the displacement encoder of pusher is sent into the PID calculator to the measured value PV of the current displacement of pusher, the aperture that the PID calculator is adjusted flow control valve according to the deviation of SV and PV is big or small, and SV and PV are reached unanimity.
10. the accurate synchronisation control means of a plurality of pushers of incinerator as claimed in claim 9, it is characterized in that, in the pusher fallback state, the position of pusher is by the residing position of beginning, subtracter by the PLC controller successively decreases with the speed of each scan period Δ S1, and this value sent into the PID calculator as the desired value SV of pusher displacement, the displacement encoder of pusher is sent into the PID calculator to the measured value PV of the current displacement of pusher, the aperture that the PID calculator is adjusted flow control valve according to the deviation of SV and PV is big or small, and SV and PV are reached unanimity.
CN201210383812XA 2012-10-11 2012-10-11 Precise synchronous control system and control method for multiple feeders of garbage incinerator Pending CN102901109A (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2660195Y (en) * 2003-06-30 2004-12-01 张家港市合丰机械制造有限公司 Synchronous work controller of hydraulic cylinder
CN201999971U (en) * 2011-01-27 2011-10-05 福建乾达重型机械有限公司 Pushing device adopting electro-hydraulic proportional system for controlling synchronization of double cylinders
CN102235676A (en) * 2010-04-30 2011-11-09 光大环保科技发展(北京)有限公司 System and method for controlling combustion of mechanical grate incinerator
CN202884937U (en) * 2012-10-11 2013-04-17 吕庆忠 Multiple feed pusher precise synchronous control system of garbage incinerator

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2660195Y (en) * 2003-06-30 2004-12-01 张家港市合丰机械制造有限公司 Synchronous work controller of hydraulic cylinder
CN102235676A (en) * 2010-04-30 2011-11-09 光大环保科技发展(北京)有限公司 System and method for controlling combustion of mechanical grate incinerator
CN201999971U (en) * 2011-01-27 2011-10-05 福建乾达重型机械有限公司 Pushing device adopting electro-hydraulic proportional system for controlling synchronization of double cylinders
CN202884937U (en) * 2012-10-11 2013-04-17 吕庆忠 Multiple feed pusher precise synchronous control system of garbage incinerator

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Application publication date: 20130130