CN103034158B - Frequency conversion speed control stable line feed control method of coke oven heavy load locomotive - Google Patents
Frequency conversion speed control stable line feed control method of coke oven heavy load locomotive Download PDFInfo
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- CN103034158B CN103034158B CN201110290934.XA CN201110290934A CN103034158B CN 103034158 B CN103034158 B CN 103034158B CN 201110290934 A CN201110290934 A CN 201110290934A CN 103034158 B CN103034158 B CN 103034158B
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Abstract
The invention relates to a frequency conversion speed control stable line feed control method of a coke oven heavy load locomotive. A control frequency converter of a main control system has two operation modes and utilizes speed (feedback) closed loop control as the main mode and torque control as the auxiliary mode to enable the coke oven heavy load locomotive to still run forward under the fault condition. In various states, torque of a driven control system control frequency converter is determined according to output torque of a main control system control frequency converter to enable the locomotive of a driven control system to be consistent with the locomotive of the main control system in step. By means of the method, a ranging coder is modified on a bearing line control wheel shaft of the main control system to avoid ranging errors caused by skidding of driving wheels.
Description
Technical field
A kind of control method that the present invention relates to four large locomotives in coke oven technique (pusher machine, coke guide, add coal car, coke quenching cart) the steady traveling of frequency control, belongs to coke oven electrical control field.
Background technology
In the prior art, the control mode of four-cart running motor balance is the closed loop variable frequency control mode of employing speed feedback substantially, conventionally running motor is made up of two covers or the identical system of three covers, every cover system comprises frequency converter, running motor, mechanical drive tooth case composition, every frequency converter all adopts independently Speed closed-link system, set up the control model of speed closed loop, its object is exactly to make the electric system characteristic of control hard, especially in the time of low speed, export large torque, improve response speed and dynamic property, thereby thereby it is uneven while preventing four cart locomotive heavy duties, to be out of step because of certain running motor, the load of carrying due to motor, the difference of the smooth situation of track etc., its effect is not very desirable in actual applications, often there is the phenomenon of laod unbalance, the empirical parameter difference that different manufacturers is grasped, effect is also different.Simultaneously because the provisional capital of walking of every group of motor is the closed-loop control that employing speed is fed back, if there is some deviations in mechanical drive, just there will be each autonomous system according to the closed-loop control of speed feedback, but all there is asynchrony phenomenon in locomotive system whole system, make locomotive occur the energy imbalances such as twisting, simultaneously because the environment of locomotive operation and vibration are larger, often cause speed measuring coder to break down, sometimes because the encoder fault hang-up of certain motor closed-loop control system, or certain scrambler joint is loosening also can cause two closed-loop systems to occur imbalance, or track injustice causes speed feedback car load uneven and that occur to twist phenomenon, thereby cause the necessary parking maintenance of whole locomotive, locomotive is stopped on track, cause standby car not enter, make to produce and stop continuously.
Stable another difficult point of controlling automatic traveling of four-cart locomotive heavy duty frequency conversion is that positioning error is large, because four-cart charging capacity is very large, these locomotives heavyly almost reach 200 tons from reloading, according to the technique of coming out of the stove, charging capacity so large locomotive needs high-speed cruising, in the very large situation of movement inertia, need in very short distance, stablize parking, only have error to be controlled at 30 centimetres with the interior automatic aligning that just can carry out, therefore very difficult.
Summary of the invention
The object of the invention is to: the shortcoming existing for above-mentioned prior art, proposes the steady traveling control method of a kind of coke oven heavy loading locomotive frequency control.
In order to achieve the above object, the steady traveling control method of coke oven heavy loading locomotive of the present invention frequency control, based on a set of master control system, some covers are realized from control system, described master control system comprises: control PLC, range finding scrambler, the control frequency converter being connected with locomotive running gear motor, with the coaxial speed measuring coder being connected of locomotive running gear motor output shaft, described range finding scrambler, control PLC, control frequency converter, speed measuring coder connects successively, describedly comprise control PLC from control system, with locomotive running gear motor control frequency converter that be connected and that be controlled by this control PLC, the described control frequency converter from control system adopts torque Controlling operation method, the output torque of master control system control frequency converter is as given from the torque of control system control frequency converter, the control frequency converter of described master control system has two kinds of methods of operation, the first method of operation: when the speed measuring coder of master control system is during in nominal situation, the duty of controlling frequency converter is set to speed closed loop control by the control PLC of master control system, described speed measuring coder feeds back to the rotary speed information of locomotive running gear motor output shaft in the control frequency converter of master control system, control frequency converter is adjusted accordingly output torque and is completed the control to locomotive running gear motor output shaft rotating speed, thereby realize speed closed loop control, the second method of operation: in the time of the speed measuring coder fault of master control system, the duty of master control system control frequency converter is set to torque Controlling operation method by the control PLC of master control system, and the torque of master control system control frequency converter is given by the control PLC of master control system.
Any one system in locomotive engine walking system is defined as to master control system, the vector controlled control method of the running motor employing speed feedback of this system.Four cart walkings belong to permanent torque control on control principle, because the weight of four carts own is very large, and traveling is on two parallel tracks, track is not very flat, there is certain waviness, in order to realize starting and to stop, especially when track is uneven in operational process steadily, main electric system adopts closed-loop control, so just can realize traveling and there is hard mechanical property, greatly still can set up rapidly very large detent torque although guarantee locomotive weight, reduce start-up time, ensure the requirement of technique, make main motor have reasonable speed governing effect, make it have good starting characteristic, make the device rate of controlling fall little, travelling speed is stable.
For main motor, other electric systems of traveling are as from control system, adopt analog quantity as given torque control, its torque analog input is provided by the Frequency Converter Control frequency converter in walking system, main variable frequency control system of motor and from carrying out communication by bus between control system, do not need to install photoelectric encoder from electric system, according to mechanical analysis, dolly of several system control, want that dolly is steady must march forward, it is consistent just must making several systems exert oneself, only having output torque is balance, dolly entirety is only balance, according to this theory, realize locomotive even running, the moment of its Frequency Converter Control frequency converter output must be identical, implement on motor, the torque of output is exactly consistent.For Frequency Converter Control frequency converter, realize motor output torque consistent, the most direct method adopts torque control exactly, so provide torque given locomotive frequency conversion system for forming by master control system, its whole system torque output is consistent, be subject to the commander of the control frequency converter of master control system, and whole system is also realizing the system of getting lines crossed that to be similar to by the control frequency converter of master control system be control center, instead of traditional independently ring system of each system.
Under main motor inverter velocity feedback loop joint malfunction from motor frequency conversion control mode switching: prior art, mention above, for the closed-loop system of speed feedback, if tested the speed, photoelectric encoder damages, whole speed system will collapse, this phenomenon the most easily occurs at coke oven scene, if the speed measuring coder of main system damages, the torque of whole system is given cannot export, systemic breakdown, so in this case, main frequency conversion system is designed to main equally, from controlling, under normal circumstances, adopt speed closed loop control, in the time that detecting velocity sag, PLC system switches to the torque control of analog input, main motor switch to torque control given by frequency converter input torque after, whole system can ensure service ability, can be fault locomotive operation to maintenance position, do not need other mechanical external forces to carry out towage.
After control mode has determined, another key issue of heavy loading locomotive is the accuracy of parking stability and contraposition, traditional design proposal is, range finding scrambler is installed on the wheel of locomotive, along with the rotation of locomotive wheel, scrambler will reflect range ability, the difference of setpoint distance and range ability is just ceaselessly changing like this, in the time that locomotive operation shifts to an earlier date certain distance to desired location, locomotive slows down, in the time that locomotive is out of service, actual motion distance is just consistent with setpoint distance, illustrate that locomotive contraposition is accurately, in actual moving process, stable in order to stop, on the wheel of heavy loading locomotive, band-type brake is installed, when locomotive is out of service, band-type brake locking, in case stop machine car is moved.Dissect such control program, seem no problem, but in actual motion, it is almost accurately impossible that this scheme realizes contraposition, see from scheme accurately whether key is range finding scrambler in contraposition, if scrambler occurs that whole locomotive process control of error is by out of control.Occur that error key is that heavy loading locomotive starts moment and front easy appearance of stopping and affect photoelectric encoder, starting moment, Locomotive Converters And Recovery Processing is exported detent torque and overcomes the static inertia of heavy loading locomotive on locomotive wheel, breaking through stiction moves locomotive, because locomotive inertia is large, the phenomenon that easily occurs relative displacement on wheel, is commonly called as: wheel-slip.Wheel one skids, and with the coaxial mounted range finding photoelectric encoder of wheel, relative displacement has also occurred like this, although occur that locomotive does not move, error, appears in the phenomenon that the scrambler of finding range has moved.Equally before parking, in the time that the difference between range finding scrambler and position setting value reaches certain value and slows down, although frequency converter slows down to the running motor of locomotive, but because locomotive heavy duty inertia, locomotive still keeps original speed operation, so just occur that locomotive drags the phenomenon that wheel moves, same and the coaxial range finding scrambler of locomotive wheel will be surveyed data less, can not correctly reflect the actual range of locomotive, add in locomotive operation process, the impact of other factors such as band-type brake is impossible realize contraposition accurately.So conventionally do not mate phenomenon in order to reduce this speed, the method that variable frequency control conventionally adopts free parking or strengthens down time reduces the error of range finding scrambler, but such control method, often to sacrifice the overall operation time as cost.
Since easily there is such problem in the driving wheel of power vehicle, passive for the carrying vehicle of carrying weight with respect to power vehicle so, whole locomotive system, no matter with which type of speed operation, all show that carrying vehicle is moving, just has relative movement between carrying vehicle wheel and rail.
Therefore, the present invention further improves and is: described range finding scrambler is coaxially connected with the carrying vehicle road wheel axle of master control system.The displacement that range finding scrambler records like this conforms to actual displacement.Can ensure that range finding scrambler is accurately under prerequisite, locomotive system can realize DC injection braking stops fast.
The control frequency converter of master control system of the present invention has two kinds of methods of operation, and taking speed (feedback) closed-loop control as main, torque control is auxiliary, and its coke oven heavy loading locomotive under failure condition still can be moved forward; Under various states, all determine according to the output torque of master control system control frequency converter from the torque of control system control frequency converter, make to keep acting in agreement from the locomotive of control system and the locomotive of master control system; And the present invention reequips range finding scrambler to the carrying vehicle road wheel axle of master control system, avoid driving wheel to skid causing to range error.
brief description of the drawings
Fig. 1 is composition of the control system block diagram of the present invention.
Fig. 2 is master control system device structure schematic diagram of the present invention.
embodiment
The steady traveling control method of coke oven heavy loading locomotive frequency control of the present embodiment, based on a set of master control system as shown in Figure 1, some covers are realized from control system, described master control system comprises: control PLC, range finding scrambler (employing incremental optical-electricity encoder), the control frequency converter being connected with locomotive running gear motor, with the coaxial speed measuring coder being connected of locomotive running gear motor output shaft (employing incremental optical-electricity encoder), described range finding scrambler, control PLC, control frequency converter, speed measuring coder connects successively, comprise control PLC from control system, with locomotive running gear motor control frequency converter that be connected and that be controlled by this control PLC, adopt torque Controlling operation method from the control frequency converter of control system, the output torque of master control system control frequency converter is as given from the torque of control system control frequency converter, the control frequency converter of master control system has two kinds of methods of operation, the first method of operation: when the speed measuring coder of master control system is during in nominal situation, the duty of controlling frequency converter is set to speed closed loop control by the control PLC of master control system, described speed measuring coder feeds back to the rotary speed information of locomotive running gear motor output shaft in the control frequency converter of master control system, control frequency converter is adjusted accordingly output torque and is completed the control to locomotive running gear motor output shaft rotating speed, thereby realize speed closed loop control, the second method of operation: in the time of the speed measuring coder fault of master control system, the duty of master control system control frequency converter is set to torque Controlling operation method by the control PLC of master control system, and the torque of master control system control frequency converter is given by the control PLC of master control system.Master control system control frequency converter is connected by wire with the control frequency converter from control system, master control system control frequency converter is sent to the control frequency converter from control system by torque analog signals by this wire, exports accordingly torque from the control frequency converter of control system.
As shown in Figure 2, the coaxial range finding scrambler 6 of installing on the traveling wheel shaft of master control system carrying vehicle 1, the signal of scrambler is sent into control PLC (in Fig. 2 3), when power vehicle 2 is in the time that carrying vehicle 1 heavy load starts, locomotive band-type brake 5 is opened, main frequency-changing control system adopts the control mode operation of speed closed loop, moment provides very large staring torque, and because load is too large, locomotive will keep static inertia, locomotive wheel will skid in orbit like this, at this moment because range finding scrambler 6 is arranged on the wheel of carrying vehicle, and carrying vehicle is because inertia is static, be not moved, the deviation so range finding scrambler 6 is not found range.When the further rotation of locomotive running gear motor, friction force between locomotive wheel and rail further increases, so overcome the static inertia of heavy load, locomotive 2 drags carrying vehicle 1 and carries out fast moving, at this moment the scrambler 6 of finding range also starts accurately to test the distance of carrying vehicle operation, and the continual data that refresh in PLC.In Fig. 2, the 4 control frequency converters that are master control system, 7 is speed measuring coder.
In the time that range finding scrambler 6 detects that displacement enters in the scope of PLC setting value, locomotive runs slowly, if at this time deceleration time is too short, heavy loading locomotive is because load inertia is large so, still keep original speed operation, and the locomotive wheel speed of variable frequency control is slack-off, locomotive wheel is just slided in tow by inertia, if range finding scrambler is connected on locomotive wheel, the data distortion of scrambler so causes finding range, the scrambler of finding range in the technical program be arranged on carrying vehicle wheel coaxial on, so as long as vehicle mobile, carrying vehicle wheel will rotate thereupon so, the scrambler of finding range will reflect actual displacement.So no matter frequency converter is with which type of timed deceleration, do not affect the displacement detecting of range finding scrambler, under such prerequisite, adopt the mode of DC injection braking to carry out ramp to stop to locomotive main frequency converter, before DC injection braking stops, adopt the method for ramp to stop, be 10 seconds the deceleration time of setting, adopting the braking frequency of setting is 10HZ, braking time is 3 seconds, these key parameters can be adjusted according to on-site actual situations, prerequisite is that braking time will finish before parking, ensure after DC injection braking, locomotive does not stop completely, enter a very slow speed running status, to ensure that last utmost point low speed carries out automatic aligning, after contraposition completes, locomotive band-type brake 5 carries out rapidly locking, prevent that locomotive from moving.
In addition to the implementation, the present invention can also have other embodiments.All employings are equal to the technical scheme of replacement or equivalent transformation formation, all drop on the protection domain of requirement of the present invention.
Claims (4)
1. the steady traveling control method of coke oven heavy loading locomotive frequency control, based on a set of master control system, some covers are realized from control system, described master control system comprises: control PLC, range finding scrambler, the control frequency converter being connected with locomotive running gear motor, with the coaxial speed measuring coder being connected of locomotive running gear motor output shaft, described range finding scrambler, control PLC, control frequency converter, speed measuring coder connects successively, describedly comprise control PLC from control system, with locomotive running gear motor control frequency converter that be connected and that be controlled by this control PLC, the described control frequency converter from control system adopts torque Controlling operation method, the output torque of master control system control frequency converter is as given from the torque of control system control frequency converter, the control frequency converter of described master control system has two kinds of methods of operation, the first method of operation: when the speed measuring coder of master control system is during in nominal situation, the duty of controlling frequency converter is set to speed closed loop control by the control PLC of master control system, described speed measuring coder feeds back to the rotary speed information of locomotive running gear motor output shaft in the control frequency converter of master control system, control frequency converter is adjusted accordingly output torque and is completed the control to locomotive running gear motor output shaft rotating speed, thereby realize speed closed loop control, the second method of operation: in the time of the speed measuring coder fault of master control system, the duty of master control system control frequency converter is set to torque Controlling operation method by the control PLC of master control system, and the torque of master control system control frequency converter is given by the control PLC of master control system.
2. the steady traveling control method of coke oven heavy loading locomotive according to claim 1 frequency control, is characterized in that: range finding scrambler is coaxially connected with the carrying vehicle road wheel axle of master control system.
3. the steady traveling control method of coke oven heavy loading locomotive according to claim 2 frequency control, is characterized in that: described master control system control frequency converter is connected and is carried out communication by wire with the control frequency converter from control system.
4. the steady traveling control method of coke oven heavy loading locomotive according to claim 3 frequency control, is characterized in that: described speed measuring coder, range finding scrambler all adopt incremental optical-electricity encoder.
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| CN103414405A (en) * | 2013-08-28 | 2013-11-27 | 中国葛洲坝集团机械船舶有限公司 | Device for balancing bridge type hoist motor moment and control method |
| CN103838260B (en) * | 2014-03-26 | 2017-07-11 | 山信软件股份有限公司 | A kind of Asynchronous Motor Driving equipment position control device and method |
| CN110525420B (en) * | 2019-09-02 | 2023-04-11 | 厦门迈凯科机电设备有限公司 | STS cart gust-preventing control system |
| CN114337383A (en) * | 2021-11-30 | 2022-04-12 | 中国船舶重工集团公司第七一一研究所 | Multi-motor parallel drive control system and control method thereof |
| CN114274983B (en) * | 2021-12-28 | 2023-11-17 | 中铁工程装备集团隧道设备制造有限公司 | Tunnel traction electric locomotive and power control system thereof |
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| CN1223649C (en) * | 2003-03-14 | 2005-10-19 | 北京金日新事业技术有限公司 | Infrared encoded positioning based automatic operation control system for four machines of cokery |
| CN1323129C (en) * | 2005-07-30 | 2007-06-27 | 大连重工·起重集团有限公司 | Identifying and automatic aligning system for coking furnace machinery furnace number |
| CN100511063C (en) * | 2007-07-13 | 2009-07-08 | 中煤西安设计工程有限责任公司 | Coal pushing and charging car automatic aligning control method based on machine vision technology |
| US7692499B2 (en) * | 2007-12-31 | 2010-04-06 | Integrated Device Technology, Inc. | Digitally compensated highly stable holdover clock generation techniques using adaptive filtering |
| CN201362685Y (en) * | 2009-02-23 | 2009-12-16 | 武汉钢铁(集团)公司 | Position centering device of coke-oven locomotive moving mechanism |
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