CN104898458A - Software anti-electromagnetic interference method and software anti-electromagnetic interference system for dry quenching elevators - Google Patents
Software anti-electromagnetic interference method and software anti-electromagnetic interference system for dry quenching elevators Download PDFInfo
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Abstract
The invention relates to a software anti-electromagnetic interference method and a software anti-electromagnetic interference system for dry quenching elevators. A real-time tracking and positioning system is added, and the system can avoid all kinds of electromagnetic interference effectively and make elevators work normally. Thus, the cost of investment is reduced, and the limitations of traditional hardware and software filtering methods are overcome. The system adopts a dry quenching elevating operation trajectory segment fitting prediction and control strategy. When an elevator works normally, the elevating operation trajectory is tracked and predicted, and the prediction error is corrected in time. When communication is interrupted due to electromagnetic interference, data is obtained according to a prediction model to control the elevator so as to ensure normal operation of the elevator. Instable system operation caused by electromagnetic interference is avoided, system data information is not damaged or lost, scheduled operation can be performed correctly without machine halt or boiler stop, and normal production is ensured.
Description
Technical field
The present invention relates to a kind of software electromagnetism interference method and system of coke dry quenching hoister.
Background technology
CDQ is the advanced technology that current domestic coking industry is vigorously advocated, this technology directly reclaims red burnt recycle heat and utilizes, there is relative to wet quenching the advantages such as economize energy, environmental protection, lifting coke quality, for the red burnt 3,000,000 tons of dry coke quenching projects of year process: year generating 3.5 hundred million kilowatt hours, reclaim coke powder 80,000 tons, realize energy-conservation 16.4 ten thousand tons of standard coal equivalents, reducing emission of carbon dioxide 32.3 ten thousand tons, sulphuric dioxide 0.2 ten thousand tons, 3.2 ten thousand tons, dust, can realize energy-conservation income 1.98 hundred million yuan, profit 1.5 hundred million yuan year.Hoister is the key processing equipment of dry coke quenching auxiliary, is the throat of red Jiao's conveying channel, and its stable operation is that dry quenching system can the most important condition of the stable coke quality of yield and quality and generating steam.
Quenching hoister control system is a wide network coverage, and exchanges data amount is large, the large current load control system that data correlation degree is high.Due to hoister motor large current characteristic, it is made very easily to produce larger strong electromagnetic to the electric component such as network cable, position encoder, often there is communication failure in coke dry quenching hoister system, cause promoting encoder data pop-off, make elevator system unexpected out of service in automatic operational process, because electromagnetic interference (EMI) causes fault in production comparatively frequent, sometimes the duration is longer, quenching mode is had to change water into and is put out, and water puts out and will coke quality decline, production cost rising, environment be caused to be polluted.
In order to eliminate the impact of electromagnetic interference (EMI), traditional hardware amelioration method normally adopts the methods such as shield technology, Grounding design technology, power noise suppression technology to reduce generation and the propagation of electromagnetic interference (EMI), but have that hardware investment is large, construction period is long, limitation local rectification due to production environment does not reach and improves the stable object of system works, and effect is difficult to the defects such as guarantee; Traditional software amelioration method normally adopts the mean filter, intermediate value filter method, digital filter method, amplitude limit value filter method supervisor algorithm to weed out irrational data, retain rational data, thus avoid the impact of electromagnetic interference (EMI), but the data entanglement that these filtering methods can only be adapted to electromagnetic interference (EMI) generation is instantaneously or in the short time, after having crossed this short time, data can return to this special circumstances of normal value.But, electromagnetic interference (EMI) often has very large complicacy, often there is electromagnetic interference (EMI) long duration, this situation even can automatically do not recovered that the data entanglement produced is permanent, at this moment, these filter methods will thoroughly lose efficacy, and system causes normally working because long misdata is used as reasonable data to retain, and then affects daily production.
CDQ is the advanced technology that current domestic coking industry is vigorously advocated, and hoister is as the key processing equipment of dry quenching system, and its stable operation is that dry quenching system can the most important condition of the stable coke of the quality of production and generating steam.Current hoister normally runs the data of the position encoder that places one's entire reliance upon, because hoister motor large current characteristic makes its communication control network very easily be subject to the impact of electromagnetic interference (EMI), cause the large even loss of data of data acquisition errors, cause program to perform confusion, cause and control the serious consequences such as not normal.And traditional hardware and software amelioration method is difficult to the problem fundamentally solving electromagnetic interference (EMI) due to own characteristic and production environment singularity.
Summary of the invention
The main technical problem to be solved in the present invention is: the software electromagnetism interference method and system providing a kind of coke dry quenching hoister, when hoister normally runs, lifting running orbit is followed the tracks of and predicted, and revise predicated error in time, when causing communicating interrupt fault due to electromagnetic interference (EMI), Data Control hoister is obtained according to forecast model, effectively avoid various types of electromagnetic interference (EMI), hoister can both normally be worked, both save cost of investment, breach again the restriction of traditional soft and hardware filter method.
The technical scheme solved the problems of the technologies described above is: a kind of software anti-electromagneticinterference interference system of coke dry quenching hoister, comprising:
Multiple scrambler, forms encoder data model for the position data detecting hoister, there is not electromagnetic interference (EMI) under normal circumstances, for the locator data source as hoister; Encoder data model is also for the data source as the computing of lifting running orbit forecast model simultaneously;
Real-time tracing positioning system, the lifting running orbit forecast model comprised by adopting the method for segment data matching prediction to build carries out computing and to get a promotion running orbit predicted data; Real-time tracing positioning system is used for carrying out synchronous tracking and prediction to the position of hoister, and namely described lifting running orbit forecast model, when scrambler exists electromagnetic interference (EMI), is replaced encoder data model and predicted for the locator data of hoister;
Existing hoister control system, the hoister locator data of received code device data model or the hoister prediction locator data of lifting running orbit forecast model, run for controlling hoister.
Further technical scheme of the present invention is: described lifting running orbit forecast model, makes hoister when the operation under normal circumstances without electromagnetic interference (EMI), is obtained the coordinate of movement locus, simulate curvilinear equation by the measurement of hoister position encoder
, wherein y represents range of lift, and x represents the time, utilizes least square method to solve parameter a, b, c, d, e, determines curvilinear equation, with the coordinate figure of this prediction equation elevator system future time instance, provides the prediction locator data of hoister.
Described existing hoister control system comprises velocity computing model, described velocity computing model carries out computing according to the hoister prediction locator data of the hoister locator data of encoder data model or lifting running orbit forecast model, provides the movement velocity matched with hoister position.
Another technical scheme of the present invention is: a kind of software electromagnetism interference method of coke dry quenching hoister, comprises the following steps:
1) select whether drop into real-time tracing positioning system, if so, then enter step 2); If not, then existing hoister control system adopts encoder data model to control hoister as the locator data source of hoister;
2) judge whether hoister current location is in reference position, if so, then enters step 3); If not, step 2 is continued);
3) hoister starts to carry out to promote the computing of running orbit forecast model and to get a promotion the prediction locator data of machine;
4) detect whether any one position encoder exists electromagnetic interference (EMI), if so, then enter step 5); If not, then existing hoister control system continues to adopt encoder data model to control hoister as hoister locator data source;
5) promote running orbit prognoses system automatically to put into operation, replace the locator data source of encoder data model as hoister, existing hoister control system adopts the prediction locator data promoting running orbit prognoses system to control hoister as hoister locator data source.
The software electromagnetism interference method of this coke dry quenching hoister also includes step 6), after scrambler electromagnetic interference (EMI) disappears, selects whether recover scrambler control model, if so, then recovers to adopt encoder data model as hoister locator data source; If not, then continue to adopt the prediction locator data promoting running orbit prognoses system as hoister locator data source.
The present invention is directed to the complex situations of electromagnetic interference (EMI), the method of data fitting prediction is adopted to construct elevator system trajectory predictions and Controlling model, take time as x-axis, range of lift is y-axis, span is the data acquisition of 3 dimension variablees of Z axis variable, along with fitting function is constantly updated in the change promoting running orbit, realize between scrambler cell of origin that between time-tracking cell of origin, complete matching is original, thus realize the accurate control and prediction of lifting track.According to modelling real-time location tracking software monitoring system, for solving the problems such as the system hardover failure that causes because of electromagnetic interference (EMI) in production.Promoting running orbit multistage matching control and prediction is the one innovation solving electromagnetic interference (EMI), has broken by hardware modifications and has improved and solve the classic method of electromagnetic interference (EMI), effectively avoid again the limitation of software filtering.
Meaning of the present invention is that a kind of " soft " method exploring fitting function provides theoretical foundation and practical basis for solving dry quenching lifting system electromagnetic interference (EMI).The main innovation of the present invention is:
First: adopt piecewise fitting method prediction dry quenching lifting system track first.
Second: for dry quenching lifting system increases a set of " hot redundancy " real time tracing system, solve because electromagnetic interference (EMI) causes dry quenching lifting system machine halt trouble.Promote running orbit prognoses system according to material time section division principle, the position signalling of hoister is divided into the set one by one between cell of origin, along with matched curve parameter is constantly updated in the change promoting running orbit, realize between scrambler cell of origin that between time-tracking cell of origin, complete matching is original.When system is normally run, the deciding field of hoister decides between the positioning area by scrambler, simultaneously, promote running orbit prognoses system to run in background synchronization, but do not participate in working control, just synchronous tracking, once there is the faults such as electromagnetic interference influence system location, no matter be which kind of situation, promote the input control operation at once of running orbit prognoses system, replace original scrambler and carry out system positioning work, until can catch up with completely until burnt tank get back to hook open position (i.e. scrambler zero-bit) carry out clearing reset after, system recovers normal operation again.
The present invention proposes dry coke quenching and promotes running orbit piecewise fitting control and prediction, explores the real time tracing system of a kind of high-level efficiency, low cost.Namely when hoister normally runs, lifting running orbit is followed the tracks of and predicted, and revise predicated error in time, when causing communicating interrupt fault due to electromagnetic interference (EMI), obtain Data Control hoister according to forecast model, effectively avoid various types of electromagnetic interference (EMI), hoister can both normally be worked, both saved cost of investment, breached again the restriction of traditional soft and hardware filter method, ensured that hoister normally ran.Avoid because electromagnetic interference (EMI) causes fault in production comparatively frequent, the quenching mode brought is had to change water into and is put out, and water puts out and will cause the problems such as coke quality declines, production cost rises, environment is polluted.
Below, in conjunction with the accompanying drawings and embodiments the technical characteristic of the software electromagnetism interference method and system of a kind of coke dry quenching hoister of the present invention is further described.
Accompanying drawing explanation
Fig. 1: the software anti-electromagneticinterference interference system structural representation of a kind of coke dry quenching hoister of the present invention.
Fig. 2: the software electromagnetism interference method flow diagram of a kind of coke dry quenching hoister of the present invention.
Fig. 3: the lifting operation curve figure of coke dry quenching hoister.
In Fig. 3: V1-lifting low speed V2-lifting middling speed V3-lifting high speed V4-traveling high speed V5-traveling low speed.
Embodiment
Embodiment 1: a kind of software anti-electromagneticinterference interference system of coke dry quenching hoister, comprising:
Multiple scrambler, forms encoder data model for the position data detecting hoister, there is not electromagnetic interference (EMI) under normal circumstances, for the locator data source as hoister; Encoder data model is also for the data source as the computing of lifting running orbit forecast model simultaneously;
Real-time tracing positioning system, the lifting running orbit forecast model comprised by adopting the method for segment data matching prediction to build carries out computing and to get a promotion running orbit predicted data; Real-time tracing positioning system is used for carrying out synchronous tracking and prediction to the position of hoister, and namely described lifting running orbit forecast model, when scrambler exists electromagnetic interference (EMI), is replaced encoder data model and predicted for the locator data of hoister;
Described lifting running orbit forecast model, be hoister when the operation under normal circumstances without electromagnetic interference (EMI), by the measurement of hoister position encoder obtain move coordinate, simulate curvilinear equation
, wherein y represents range of lift, and x represents the time, utilizes least square method to solve parameter a, b, c, d, e, determines curvilinear equation, with the coordinate figure of this prediction equation elevator system future time instance, provides the prediction locator data of hoister.
Existing hoister control system, for the hoister locator data of received code device data model or the hoister prediction locator data of lifting running orbit forecast model, runs for controlling hoister.Namely described existing hoister control system comprises velocity computing model, described velocity computing model carries out computing according to the hoister prediction locator data of the hoister locator data of encoder data model or lifting running orbit forecast model, there is provided the movement velocity matched with hoister position, the movement velocity that existing hoister control system provides according to velocity computing model controls hoister inverter.
The position of coke dry quenching hoister and the speed (i.e. the lifting operation curve figure of coke dry quenching hoister shown in Fig. 3) matched with position are the known technologies of those skilled in the art, repeat no more herein.
Embodiment 2: a kind of software electromagnetism interference method of coke dry quenching hoister, comprises the following steps:
1) select whether drop into real-time tracing positioning system, if so, then enter step 2); If not, then existing hoister control system adopts encoder data model to control hoister as the locator data source of hoister.
2) judge whether hoister current location is in reference position, if so, then enters step 3); If not, step 2 is continued).
3) hoister starts to carry out to promote the computing of running orbit forecast model and to get a promotion the prediction locator data of machine; But now the locator data source of hoister is still from multiple position encoder.
4) CPU constantly carry out scan round detect whether there is electromagnetic interference (EMI) in any one position encoder, if so, then enter step 5); If not, then existing hoister control system continues to adopt encoder data model to control hoister as hoister locator data source.
5) once there is electromagnetic interference (EMI), encoder data is lost or mistake, promote running orbit prognoses system automatically to put into operation, replace the locator data source of encoder data model as hoister, existing hoister control system adopts the prediction locator data promoting running orbit prognoses system to control hoister as hoister locator data source; Guarantee the normal production run of dry quenching system.
6) after scrambler electromagnetic interference (EMI) disappears, select whether recover scrambler control model, if so, then recover to adopt encoder data model as hoister locator data source; If not, then continue to adopt the prediction locator data promoting running orbit prognoses system as hoister locator data source.
The selection of step 6) can be operated by man-machine interface, namely after electromagnetic interference (EMI) disappears, eject dialog box demand operating personnel and " whether recover scrambler control model ", if selection "No", then continue to adopt to promote running orbit prognoses system, replace scrambler and carry out raised position prediction and control; If selection "Yes", then recover scrambler and carry out raised position prediction and control, no matter which kind of pattern, can guarantee the normal production run of dry quenching system.
research process scheme of the present invention:adopt and promote running orbit multistage matching control and prediction according to material time section division principle, the position signalling of hoister is divided into the set one by one between cell of origin, along with fitting a straight line parameter is constantly updated in the change promoting running orbit, realize between scrambler cell of origin that between time-tracking cell of origin, complete matching is original.
Promote " hot redundancy " system that running orbit multistage matching control and prediction is equivalent to dry coke quenching Lifting Control System.When system is normally run, hoister running orbit prognoses system does not participate in working control, only passes through the data acquisition fitting function parameter of calculation code device on backstage, and real-time synchronization is followed the tracks of.Once electromagnetic interference (EMI) causes communicating interrupt, encoder data is lost, and promotes running orbit prognoses system and automatically drops into controlling run, replaces scrambler and carries out raised position prediction and control, elevator system is run according to prediction locus, guarantees the normal production run of dry quenching system.The present invention studies carefully result also for suppressing electromagnetic interference (EMI) to provide a kind of new analytical approach.
Main research of the present invention: study discrete variable continuous variable being converted into and meeting running orbit, research promotes running orbit forecast model, implements the research of tracking location system, promotes the experimental research of running orbit Forecast and control, and particular content is as follows:
1. continuous variable is converted into the discrete variable research meeting movement locus.
Hoister mainly completes the lifting of burnt tank, traversing, loading action in whole process, and is sent back on burnt tank chassis by burnt for sky tank after coke loading terminates.Lifting, the traversing distance of hoister calculate, the switching of travelling speed all provides signal by position encoder.The signal of scrambler is continuous variable, and fitting function is it is desirable that discrete variable, and therefore this research contents studies the discrete magnitude how scientific and rational for continuous variable transformation being called realistic data distribution characteristics, makes discrete magnitude infinitely approach running orbit.The foundation that the research of this content is running orbit model provides modeling data and verification msg, and also changing discrete magnitude into for continuous variable is scientific and rational provides a kind of theoretical foundation simultaneously.
2. promote the research of track forecast model.
It is complicated that dry coke quenching promotes running orbit, single linear function cannot be adopted to be described, to adopt the principle of least square to carry out sectional linear fitting, when hoister normally runs for this reason, obtained the coordinate moved by the measurement of hoister position encoder, simulate curvilinear equation
, utilize least square method to solve parameter a, b, c, d, e, determine curvilinear equation, with the coordinate figure of this prediction equation elevator system future time instance.Along with the change promoting running orbit, constantly update matched curve parameter.According to the running orbit historical data sequence that " continuous variable being converted into the discrete variable research meeting movement locus " obtains, emulated by MATLAB and verify, build and promote running orbit model, revise error of fitting with the crucial check point detection signal of hoisting gear, realize real-time estimate, tracking.
3. the research of real-time tracing positioning system.
Real-time tracing positioning system is according to material time section division principle, the position signalling of hoister is divided into the set one by one between cell of origin, along with fitting a straight line parameter is constantly updated in the change promoting running orbit, realize between scrambler cell of origin that between time-tracking cell of origin, complete matching is original.When system is normally run, the deciding field of hoister decides between the positioning area by scrambler, simultaneously, real-time tracing positioning system is run in background synchronization, but do not participate in working control, just synchronous tracking, once there is the faults such as electromagnetic interference influence system location, no matter be which kind of situation, real-time tracing positioning system at once input control is run, replace original scrambler and carry out system positioning work, until can catch up with completely until burnt tank get back to hook open position (i.e. scrambler zero-bit) carry out clearing reset after, system recovers normal operation again.This research contents is the calculating using the method for software programming to realize promoting running orbit model, determines the coordinate figure of elevator system, provides software control system basis for this achievement in research is applied to Practical Project.
4. promote the experimental research of running orbit Forecast and control.
The document being solved dry quenching lifting system by matched curve is little, the knowwhy that can use for reference and experimental data few, based on continuity, the security of coke production, production equipment cannot be used for experimental research, just so, promote the experimental research of track running orbit Forecast and control and just seem of crucial importance.Experimental provision of the present invention, by the existing overhead travelling crane simulated experiment platform of transformation, makes its walking process substantially identical with dry quenching lifting system walking process, carries out lifting running orbit prognosis modelling experimental check.
(1) analysis of running orbit basic law is promoted.
(2) analysis of running orbit forecast model is promoted.
(3) experiment of electromagnetic interference problem is solved.
Claims (5)
1. a software anti-electromagneticinterference interference system for coke dry quenching hoister, is characterized in that comprising:
Multiple scrambler, forms encoder data model for the position data detecting hoister, there is not electromagnetic interference (EMI) under normal circumstances, for the locator data source as hoister; Encoder data model is also for the data source as the computing of lifting running orbit forecast model simultaneously;
Real-time tracing positioning system, the lifting running orbit forecast model comprised by adopting the method for segment data matching prediction to build carries out computing and to get a promotion running orbit predicted data; Real-time tracing positioning system is used for carrying out synchronous tracking and prediction to the position of hoister, and namely described lifting running orbit forecast model, when scrambler exists electromagnetic interference (EMI), is replaced encoder data model and predicted for the locator data of hoister;
Existing hoister control system, the hoister locator data of received code device data model or the hoister prediction locator data of lifting running orbit forecast model, run for controlling hoister.
2. the software anti-electromagneticinterference interference system of a kind of coke dry quenching hoister according to claim 1, it is characterized in that: described lifting running orbit forecast model, make hoister when the operation under normal circumstances without electromagnetic interference (EMI), obtained the coordinate of movement locus by the measurement of hoister position encoder, simulate curvilinear equation
, wherein y represents range of lift, and x represents the time, utilizes least square method to solve parameter a, b, c, d, e, determines curvilinear equation, with the coordinate figure of this prediction equation elevator system future time instance, provides the prediction locator data of hoister.
3. the software anti-electromagneticinterference interference system of a kind of coke dry quenching hoister according to claim 2, it is characterized in that: described existing hoister control system comprises velocity computing model, described velocity computing model carries out computing according to the hoister prediction locator data of the hoister locator data of encoder data model or lifting running orbit forecast model, provides the movement velocity matched with hoister position.
4. a software electromagnetism interference method for coke dry quenching hoister, is characterized in that: comprise the following steps:
1) select whether drop into real-time tracing positioning system, if so, then enter step 2); If not, then existing hoister control system adopts encoder data model to control hoister as the locator data source of hoister;
2) judge whether hoister current location is in reference position, if so, then enters step 3); If not, step 2 is continued);
3) hoister starts to carry out to promote the computing of running orbit forecast model and to get a promotion the prediction locator data of machine;
4) detect whether any one position encoder exists electromagnetic interference (EMI), if so, then enter step 5); If not, then existing hoister control system continues to adopt encoder data model to control hoister as hoister locator data source;
5) promote running orbit prognoses system automatically to put into operation, replace the locator data source of encoder data model as hoister, existing hoister control system adopts the prediction locator data promoting running orbit prognoses system to control hoister as hoister locator data source.
5. the software electromagnetism interference method of a kind of coke dry quenching hoister according to claim 4, it is characterized in that: the software electromagnetism interference method of this coke dry quenching hoister also includes step 6), after scrambler electromagnetic interference (EMI) disappears, select whether recover scrambler control model, if so, then recover to adopt encoder data model as hoister locator data source; If not, then continue to adopt the prediction locator data promoting running orbit prognoses system as hoister locator data source.
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Application publication date: 20150909 |