CN106638178B - Servo operation control device and control method for railway material transport vehicle and screen scarifier - Google Patents
Servo operation control device and control method for railway material transport vehicle and screen scarifier Download PDFInfo
- Publication number
- CN106638178B CN106638178B CN201610908663.2A CN201610908663A CN106638178B CN 106638178 B CN106638178 B CN 106638178B CN 201610908663 A CN201610908663 A CN 201610908663A CN 106638178 B CN106638178 B CN 106638178B
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- transport vehicle
- screen scarifier
- material transport
- screen
- controller
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- 239000000463 material Substances 0.000 title claims abstract description 124
- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims description 15
- 230000001105 regulatory effect Effects 0.000 claims description 15
- 238000004140 cleaning Methods 0.000 claims description 11
- 230000010354 integration Effects 0.000 claims description 3
- 230000036632 reaction speed Effects 0.000 claims description 3
- 230000003750 conditioning effect Effects 0.000 claims 1
- 239000002689 soil Substances 0.000 description 2
- 239000013589 supplement Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B27/00—Placing, renewing, working, cleaning, or taking-up the ballast, with or without concurrent work on the track; Devices therefor; Packing sleepers
- E01B27/06—Renewing or cleaning the ballast in situ, with or without concurrent work on the track
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B2203/00—Devices for working the railway-superstructure
- E01B2203/04—Cleaning or reconditioning ballast or ground beneath
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A follow-up operation control device for a railway material transport vehicle and a screen scarifier and a control method thereof relate to railway screen scarfing operation, in particular to a follow-up operation control device for the railway material transport vehicle and the screen scarifier and a control method thereof, which realize automatic control by adopting a continuous hanging operation mode and enabling the material transport vehicle to work synchronously with the screen scarifier. The control device comprises a screen cleaner follow-up controller and a material transport vehicle follow-up controller, wherein the screen cleaner follow-up controller is arranged on a screen cleaner, the material transport vehicle follow-up controller is arranged on a material transport vehicle, and the screen cleaner follow-up controller is connected with the material transport vehicle follow-up controller through a wireless signal. The invention relates to a follow-up operation control device for a railway material transport vehicle and a screen scarifier and a control method thereof.
Description
Technical field
The present invention relates to railway sorting operation, and especially a kind of to use hanging job pattern, material transport vehicle is with screen scarifier
Synchronous working, realizes that the railway material transport vehicle automatically controlled is servo-actuated operation controller and its control method with screen scarifier.
Background technology
During railway sorting operation, a large amount of dirt soil for needing to discard can be produced, while also to supplement new railway ballast, are made in cleaning
In industry, the purposes of railway material transport vehicle is just to provide the new railway ballast of supplement, while the dirt soil that loading operation produces.And with
The raising of railway screen scarifier operating efficiency, material transport vehicle Weight Loaded is big, generally can all be equipped with and itself walk action edge, makees every time
Industry is required for several material transport vehicles to follow operation.
At present, lack a kind of control method, allow every material transport vehicle all with the working condition of screen scarifier starts at the same time,
Traveling and braking.Two kinds of existing work patterns, the first is that material transport vehicle is even hung, it is necessary to a bit manipulation with screen scarifier disengagement
Personnel look on the distance examined with screen scarifier in material transport vehicle, and adjust traveling speed by knob in real time matches with screen scarifier；Should
Power loss and power transmission component damage caused by pattern can avoid screen scarifier dragging material transport vehicle, but reach scene needs
Operation is even hung in extra releasing, and the operation to Field Force is more demanding, and has certain dangerous hidden danger, while in screen scarifier emergency stop
Material transport vehicle cannot react in time during operation.Second is that material transport vehicle does not export power, and cleaning is leaned on after even hanging
Machine drags operation, which can reduce site operation personnel's labor intensity, but have loss to cleaning machine operation traveling power,
There is also the hidden danger of damage screen scarifier power transmission component during heavier loads.
In short, material transport vehicle follows the both of which of cleaning machine operation at present, one there are execute-in-place difficulty is big, it is right
The problem of operating personnel's skill set requirements are high, another is then there are narrow application range, to the dynamic loss of screen scarifier or parts damages
Hidden danger.
The content of the invention
It is to be solved by this invention be exactly existing railway sorting operation during, material transport vehicle follows cleaning machine operation
Deficiency, there is provided one kind uses hanging job pattern, and material transport vehicle works asynchronously with screen scarifier, realizes the railway thing automatically controlled
Material transport vehicle is servo-actuated operation controller and its control method with screen scarifier.
The railway material transport vehicle of the present invention is servo-actuated operation controller and its control method with screen scarifier, it is characterised in that
The control device includes screen scarifier servo controller and material transport vehicle servo controller, and screen scarifier servo controller is installed on clear
On screen(ing) machine, material transport vehicle servo controller be installed on material transport vehicle on, screen scarifier servo controller by wireless signal with
Material transport vehicle servo controller connects, wherein：
Screen scarifier servo controller includes screen scarifier master controller, screen scarifier signal regulating panel and screen scarifier wireless data sending
Module, screen scarifier signal regulating panel are connected with screen scarifier braking equipment, traveling handle and pilot control valve, and screen scarifier is without line number
Transmission module is integrated on screen scarifier master controller, screen scarifier master controller using screen scarifier wireless data transmission module respectively with screen scarifier
Signal regulating panel, material transport vehicle servo controller are connected by wireless signal；
Material transport vehicle servo controller includes transport vehicle master controller, transport vehicle signal regulating panel and transport vehicle radio
Digital transmission module, transport vehicle signal regulating panel are connected with material transport vehicle running driving device, and transport vehicle wireless data transmission module integrates
On transport vehicle master controller, transport vehicle master controller using transport vehicle wireless data transmission module respectively with transport vehicle signal condition
Plate, screen scarifier servo controller are connected by wireless signal.
Railway material transport vehicle is servo-actuated operation controller and its control method with screen scarifier, it is characterised in that the controlling party
Method comprises the following steps：
1st, material transport vehicle is even hung on screen scarifier, and several material transport vehicles even hang over screen scarifier front or behind, each
Material transport vehicle is connected by wireless signal with screen scarifier respectively, and gives unique number by screen scarifier master controller；
2nd, after control device starts, screen scarifier master controller is every a period, the traveling side of screen scarifier of collection
To the operational data of the screen scarifier such as, brake condition and traveling handle control signal, and by wireless signal by the work of screen scarifier
Data send each material transport vehicle servo controller to, this material transportation is adjusted by material transport vehicle servo controller
The running driving device of car walks action edge, and the traveling pressure of material transport vehicle is returned to screen scarifier master controller；
3rd, the traveling pressure of material transport vehicle servo controller collection material transport vehicle, algorithm is adjusted using increment type PID
It is modified, specific algorithm is as follows：
Traveling Signal Regulation amount Δ u=Aek - Bek-1 + Cek-2…………………………………………
（1）
Wherein Δ u is materials vehicle traveling control signal voltage adjustment amount, and A is integral coefficient, and B is proportionality coefficient, and C is differential
Coefficient, eKFor traveling pressure measuring value, eK-1For last traveling pressure measuring value, eK-2For upper traveling pressure measuring value twice；
Because material transport vehicle quality is big, hydraulic system reaction speed is slow, so differential coefficient influence is small in algorithm, for simplification
System controls complexity, differential coefficient is set as 0, then formula（1）Algorithm is adjusted to be revised as：
Δu = Aek - Bek-1……………………………………………………………………
（2）
A = Kp(1+T/Ti)
B = Kp
In above-mentioned formula, Kp is proportionality coefficient, and T is the time of integration, and Ti is integral constant；
Because material transport vehicle is with screen scarifier traveling, the adjustment of screen scarifier traveling handle influences materials vehicle and is servo-actuated response speed,
Therefore in formula（2）Middle addition traveling joystick adjustment variable quantity influences, formula（2）It is modified to：
Δu = Aek - Bek-1 + Δp
…………………………………………………………………（3）
Δ p is cleaning cleaner handgrip variable quantity
Complete material transport vehicle and be servo-actuated operation adjustment control with screen scarifier.
Screen scarifier and material transport vehicle operation in a manner of even extension.It is whole to connect after extension marshalling travels to job position at a high speed, lead to
Cross the controlled material transport vehicle of screen scarifier servo controller operation interface configuration and enter " online " servo antrol pattern, material is transported at this time
The braking of defeated car/alleviation braking, direction of travel and walk horizontal-drive signal with screen scarifier operate and meanwhile change.Operating personnel are according to clear
Screen(ing) machine working specification, switching operating direction, alleviate braking, promote traveling handle, and all controlled material transport vehicles are same with screen scarifier
Step acts.
After certain material transport vehicle is filled in operation process, corresponding material transport vehicle is selected at cleaning machine controller interface
" off line ", then the material transport vehicle enter MANUAL CONTROL mode, not with screen scarifier operational motion.Operating personnel can individually grasp
Making material transport vehicle disengagement, even extension goes to unload.
After fulfiling assignment, screen scarifier servo controller can be directly closed, or pass through interface operation all materials transport vehicle
Recalled after " off line " by high speed traveling working specification.
During the work time, if certain material transport vehicle does not receive instruction, MANUAL CONTROL mode is switched to after 5 seconds, clearly
Screen(ing) machine does not receive and sends alarm by acousto-optic after materials vehicle response message 3 times.
The railway material transport vehicle of the present invention is servo-actuated operation controller and its control method with screen scarifier, gathers screen scarifier
Various operation signals, computing is carried out by wireless data sending mode and the feedback signal of each material transport vehicle, is controlled simultaneously abundant
Using the power of each material transport vehicle to reach following effect：
1. using hanging job pattern, each material transport vehicle is automatically controlled, it is not necessary to which manual site operates；
2. each material transport vehicle starts, brakes, adjusts operating direction at the same time with the operation of screen scarifier；
3. each material transport vehicle is full according to screen scarifier working condition sets requirement, adjust automatically output traveling pressure value
Sufficient light car, loaded vehicle, upward slope, level line, descending multiple combinations operating mode；
4. each material transport vehicle controls adjustment output pressure in time with screen scarifier traveling handle；
5. all materials transport vehicle cut-out power output and braking are in emergency circumstances controlled at the same time in screen scarifier emergency stop；
6. send sound-light alarm in communication failure, each materials vehicle braking, direction and inconsistent screen scarifier.
Brief description of the drawings
Fig. 1 is attachment structure schematic diagram of the present invention.
Fig. 2 is control principle drawing of the present invention.
Embodiment
Embodiment 1：A kind of railway material transport vehicle is servo-actuated operation controller and its control method with screen scarifier, the control
Device includes screen scarifier servo controller and material transport vehicle servo controller, and screen scarifier servo controller is installed on screen scarifier
On, material transport vehicle servo controller is installed on material transport vehicle, and screen scarifier servo controller passes through wireless signal and material
Transport vehicle servo controller connects, wherein：
Screen scarifier servo controller includes screen scarifier master controller, screen scarifier signal regulating panel and screen scarifier wireless data sending
Module, screen scarifier signal regulating panel are connected with screen scarifier braking equipment, traveling handle and pilot control valve, and screen scarifier is without line number
Transmission module is integrated on screen scarifier master controller, screen scarifier master controller using screen scarifier wireless data transmission module respectively with screen scarifier
Signal regulating panel, material transport vehicle servo controller are connected by wireless signal；
Material transport vehicle servo controller includes transport vehicle master controller, transport vehicle signal regulating panel and transport vehicle radio
Digital transmission module, transport vehicle signal regulating panel are connected with material transport vehicle running driving device, and transport vehicle wireless data transmission module integrates
On transport vehicle master controller, transport vehicle master controller using transport vehicle wireless data transmission module respectively with transport vehicle signal condition
Plate, screen scarifier servo controller are connected by wireless signal.
Railway material transport vehicle is servo-actuated job control method with screen scarifier, comprises the following steps：
1st, material transport vehicle is even hung on screen scarifier, and several material transport vehicles even hang over screen scarifier front or behind, each
Material transport vehicle is connected by wireless signal with screen scarifier respectively, and gives unique number by screen scarifier master controller；
2nd, after control device starts, screen scarifier master controller is every a period, the traveling side of screen scarifier of collection
To the operational data of the screen scarifier such as, brake condition and traveling handle control signal, and by wireless signal by the work of screen scarifier
Data send each material transport vehicle servo controller to, this material transportation is adjusted by material transport vehicle servo controller
The running driving device of car walks action edge, and the traveling pressure of material transport vehicle is returned to screen scarifier master controller；
3rd, the traveling pressure of material transport vehicle servo controller collection material transport vehicle, algorithm is adjusted using increment type PID
It is modified, specific algorithm is as follows：
Traveling Signal Regulation amount Δ u=Aek - Bek-1 + Cek-2…………………………………………
（1）
Wherein Δ u is materials vehicle traveling control signal voltage adjustment amount, and A is integral coefficient, and B is proportionality coefficient, and C is differential
Coefficient, eKFor traveling pressure measuring value, eK-1For last traveling pressure measuring value, eK-2For upper traveling pressure measuring value twice；
Because material transport vehicle quality is big, hydraulic system reaction speed is slow, so differential coefficient influence is small in algorithm, for simplification
System controls complexity, differential coefficient is set as 0, then formula（1）Algorithm is adjusted to be revised as：
Δu = Aek - Bek-1……………………………………………………………………
（2）
A = Kp(1+T/Ti)
B = Kp
In above-mentioned formula, Kp is proportionality coefficient, and T is the time of integration, and Ti is integral constant；
Because material transport vehicle is with screen scarifier traveling, the adjustment of screen scarifier traveling handle influences materials vehicle and is servo-actuated response speed,
Therefore in formula（2）Middle addition traveling joystick adjustment variable quantity influences, formula（2）It is modified to：
Δu = Aek - Bek-1 + Δp
…………………………………………………………………（3）
Δ p is cleaning cleaner handgrip variable quantity
Complete material transport vehicle and be servo-actuated operation adjustment control with screen scarifier.
Screen scarifier and material transport vehicle operation in a manner of even extension.It is whole to connect after extension marshalling travels to job position at a high speed, lead to
Cross the controlled material transport vehicle of screen scarifier servo controller operation interface configuration and enter " online " servo antrol pattern, material is transported at this time
The braking of defeated car/alleviation braking, direction of travel and walk horizontal-drive signal with screen scarifier operate and meanwhile change.Operating personnel are according to clear
Screen(ing) machine working specification, switching operating direction, alleviate braking, promote traveling handle, and all controlled material transport vehicles are same with screen scarifier
Step acts.
After certain material transport vehicle is filled in operation process, corresponding material transport vehicle is selected at cleaning machine controller interface
" off line ", then the material transport vehicle enter MANUAL CONTROL mode, not with screen scarifier operational motion.Operating personnel can individually grasp
Making material transport vehicle disengagement, even extension goes to unload.
After fulfiling assignment, screen scarifier servo controller can be directly closed, or pass through interface operation all materials transport vehicle
Recalled after " off line " by high speed traveling working specification.
During the work time, if certain material transport vehicle does not receive instruction, MANUAL CONTROL mode is switched to after 5 seconds, clearly
Screen(ing) machine does not receive and sends alarm by acousto-optic after materials vehicle response message 3 times.
Claims (1)
1. a kind of railway material transport vehicle is servo-actuated operation controller with screen scarifier, it is characterised in that the control device includes cleaning
Machine servo controller and material transport vehicle servo controller, screen scarifier servo controller are installed on screen scarifier, material transport vehicle
Servo controller is installed on material transport vehicle, and screen scarifier servo controller passes through wireless signal and material transport vehicle servo antrol
Device connects, wherein：
Screen scarifier servo controller includes screen scarifier master controller, screen scarifier signal regulating panel and screen scarifier wireless data sending mould
Block, screen scarifier signal regulating panel are connected with screen scarifier braking equipment, traveling handle and pilot control valve, screen scarifier wireless data sending
Module is integrated on screen scarifier master controller, and screen scarifier master controller is believed with screen scarifier respectively using screen scarifier wireless data transmission module
Number conditioning plate, material transport vehicle servo controller are connected by wireless signal；
Material transport vehicle servo controller includes transport vehicle master controller, transport vehicle signal regulating panel and transport vehicle wireless data sending
Module, transport vehicle signal regulating panel are connected with material transport vehicle running driving device, and transport vehicle wireless data transmission module is integrated in fortune
On defeated car owner's controller, transport vehicle master controller using transport vehicle wireless data transmission module respectively with transport vehicle signal regulating panel, clear
Screen(ing) machine servo controller is connected by wireless signal；
The control method of the control device comprises the following steps：
1）Material transport vehicle is even hung on screen scarifier, and several material transport vehicles even hang over screen scarifier front or behind, each thing
Material transport vehicle is connected by wireless signal with screen scarifier respectively, and gives unique number by screen scarifier master controller；
2）After control device starts, screen scarifier master controller gathers the direction of travel of a screen scarifier, makes every a period
The emotionally operational data of the screen scarifier such as condition and traveling handle control signal, and passed the operational data of screen scarifier by wireless signal
Each material transport vehicle servo controller is given, walking for this material transport vehicle is adjusted by material transport vehicle servo controller
Horizontal drive device walks action edge, and the traveling pressure of material transport vehicle is returned to screen scarifier master controller；
3）Material transport vehicle servo controller gathers the traveling pressure of material transport vehicle, and adjusting algorithm using increment type PID carries out
Correct, specific algorithm is as follows：
Traveling Signal Regulation amount Δ u=Aek - Bek-1 + Cek-2…………………………………………（1）
Wherein Δ u is materials vehicle traveling control signal voltage adjustment amount, and A is integral coefficient, and B is proportionality coefficient, and C is differential system
Number, eKFor traveling pressure measuring value, eK-1For last traveling pressure measuring value, eK-2For upper traveling pressure measuring value twice；
Because material transport vehicle quality is big, hydraulic system reaction speed is slow, so differential coefficient influence is small in algorithm, to simplify system
Complexity is controlled, differential coefficient is set as 0, then formula（1）Algorithm is adjusted to be revised as：
Δu = Aek - Bek-1……………………………………………………………………（2）
A = Kp(1+T/Ti)
B = Kp
In above-mentioned formula, Kp is proportionality coefficient, and T is the time of integration, and Ti is integral constant；
Because material transport vehicle is with screen scarifier traveling, the adjustment of screen scarifier traveling handle influences materials vehicle and is servo-actuated response speed, therefore
In formula（2）Middle addition traveling joystick adjustment variable quantity influences, formula（2）It is modified to：
Δu = Aek - Bek-1 + Δp …………………………………………………………………
（3）
Δ p is cleaning cleaner handgrip variable quantity
Complete material transport vehicle and be servo-actuated operation adjustment control with screen scarifier.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610908663.2A CN106638178B (en) | 2016-10-19 | 2016-10-19 | Servo operation control device and control method for railway material transport vehicle and screen scarifier |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610908663.2A CN106638178B (en) | 2016-10-19 | 2016-10-19 | Servo operation control device and control method for railway material transport vehicle and screen scarifier |
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| CN106638178B true CN106638178B (en) | 2018-05-01 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110273333B (en) * | 2018-03-16 | 2024-02-20 | 中国铁建高新装备股份有限公司 | Automatic control system for operation process of screen scarifier |
| CN110725166A (en) * | 2019-11-18 | 2020-01-24 | 黄召鹏 | Automatic adjusting system for distance between WY-100 III material transport vehicle and screen scarifier |
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| CN1382867A (en) * | 2001-04-26 | 2002-12-04 | 佛山市华科发展有限公司 | Combined large road maintenance michinery and its operation method |
| CN2752312Y (en) * | 2004-12-09 | 2006-01-18 | 昆明中铁大型养路机械集团有限公司 | Synchronous operation and operating control arrangement of materials and supplies carrier vehicle |
| CN201158787Y (en) * | 2008-02-28 | 2008-12-03 | 昆明中铁大型养路机械集团有限公司 | Synchronous walking control device |
| RU2358058C1 (en) * | 2007-10-16 | 2009-06-10 | Открытое акционерное общество "Калужский завод "Ремпутьмаш" | Method for control of track machine and device for its realisation |
| CN105022358A (en) * | 2014-04-28 | 2015-11-04 | 昆明中铁大型养路机械集团有限公司 | Railway large-scale road maintenance machinery automatic control device based on GPS, method and corresponding vehicle |
-
2016
- 2016-10-19 CN CN201610908663.2A patent/CN106638178B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1382867A (en) * | 2001-04-26 | 2002-12-04 | 佛山市华科发展有限公司 | Combined large road maintenance michinery and its operation method |
| CN2752312Y (en) * | 2004-12-09 | 2006-01-18 | 昆明中铁大型养路机械集团有限公司 | Synchronous operation and operating control arrangement of materials and supplies carrier vehicle |
| RU2358058C1 (en) * | 2007-10-16 | 2009-06-10 | Открытое акционерное общество "Калужский завод "Ремпутьмаш" | Method for control of track machine and device for its realisation |
| CN201158787Y (en) * | 2008-02-28 | 2008-12-03 | 昆明中铁大型养路机械集团有限公司 | Synchronous walking control device |
| CN105022358A (en) * | 2014-04-28 | 2015-11-04 | 昆明中铁大型养路机械集团有限公司 | Railway large-scale road maintenance machinery automatic control device based on GPS, method and corresponding vehicle |
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| CN106638178A (en) | 2017-05-10 |
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