CN108894966B - Constant pressure control system and method for chemical grouting pump - Google Patents
Constant pressure control system and method for chemical grouting pump Download PDFInfo
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- CN108894966B CN108894966B CN201810899720.4A CN201810899720A CN108894966B CN 108894966 B CN108894966 B CN 108894966B CN 201810899720 A CN201810899720 A CN 201810899720A CN 108894966 B CN108894966 B CN 108894966B
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- 239000000126 substance Substances 0.000 title claims abstract description 68
- 238000000034 method Methods 0.000 title claims description 19
- 238000002955 isolation Methods 0.000 claims abstract description 51
- 230000003287 optical effect Effects 0.000 claims abstract description 34
- 230000008878 coupling Effects 0.000 claims abstract description 22
- 238000010168 coupling process Methods 0.000 claims abstract description 22
- 238000005859 coupling reaction Methods 0.000 claims abstract description 22
- 238000006243 chemical reaction Methods 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims abstract description 3
- 230000033228 biological regulation Effects 0.000 claims description 8
- 239000004973 liquid crystal related substance Substances 0.000 claims description 7
- 230000006870 function Effects 0.000 claims description 5
- 239000003990 capacitor Substances 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 2
- 239000011440 grout Substances 0.000 claims 2
- 230000000694 effects Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000009123 feedback regulation Effects 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000013139 quantization Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
- F04B49/065—Control using electricity and making use of computers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/08—Regulating by delivery pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B51/00—Testing machines, pumps, or pumping installations
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- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Computer Hardware Design (AREA)
- Control Of Positive-Displacement Pumps (AREA)
- Consolidation Of Soil By Introduction Of Solidifying Substances Into Soil (AREA)
Abstract
The invention discloses a constant pressure control system of a chemical grouting pump, which comprises a pressure knob, a pressure sensor, a rotating speed sensor, an A/D (analog to digital) conversion circuit, an optical coupling isolation circuit, a controller, a frequency converter and a driving motor, wherein the pressure knob is electrically connected with the controller, the pressure sensor and the rotating speed sensor are respectively electrically connected with the optical coupling isolation circuit through the A/D conversion circuit, the optical coupling isolation circuit is electrically connected with the controller, the controller is also electrically connected with the frequency converter through the optical coupling isolation circuit, the driving motor is electrically connected with an external power supply through the frequency converter, the pressure sensor is arranged on the chemical grouting pump, the rotating speed sensor is arranged on the driving motor, and the driving motor is in transmission connection with the chemical grouting pump. The invention has the technical effects of accurate pressure control, high stability and good safety.
Description
Technical Field
The invention relates to the technical field of pressure control of chemical grouting pumps, in particular to a constant pressure control system and method of a chemical grouting pump.
Background
Conventional chemical grouting pumps generally operate at constant power and cannot effectively regulate the pressure of the chemical grouting pump. The speed regulation of the driving motor of the chemical grouting pump is realized through the frequency converter, and the pressure regulation of the chemical grouting pump can be realized. The existing constant-pressure chemical grouting pump has the problems of poor pressure regulating dynamic performance, low stability and unsafe operation.
Disclosure of Invention
The invention aims to overcome the technical defects, and provides a constant pressure control system and method for a chemical grouting pump, which solve the technical problems of poor pressure regulating dynamic performance, low stability and unsafe operation of the chemical grouting pump in the prior art.
In order to achieve the technical purpose, the technical scheme of the invention provides a constant pressure control system of a chemical grouting pump, which comprises a pressure knob, a pressure sensor, a rotating speed sensor, an A/D conversion circuit, an optical coupling isolation circuit, a controller, a frequency converter and a driving motor, wherein the pressure knob is electrically connected with the controller, the pressure sensor and the rotating speed sensor are respectively electrically connected with the optical coupling isolation circuit through the A/D conversion circuit, the optical coupling isolation circuit is electrically connected with the controller, the controller is also electrically connected with the frequency converter through the optical coupling isolation circuit, the driving motor is electrically connected with an external power supply through the frequency converter, the pressure sensor is installed on the chemical grouting pump, the rotating speed sensor is installed on the driving motor, and the driving motor is in transmission connection with the chemical grouting pump;
the pressure knob is used for inputting a pressure set value;
the controller is used for calculating a theoretical rotating speed value of the driving motor according to the pressure set value;
the pressure sensor is used for measuring a real-time pressure value of the chemical grouting pump;
the rotating speed sensor is used for measuring a real-time rotating speed value of the driving motor;
the controller is also used for calculating a pressure difference value between a pressure set value and an actual pressure value and a rotational speed difference value between a theoretical rotational speed value and a real-time rotational speed value, and calculating a frequency adjustment target value by adopting a fuzzy PID control algorithm and taking the pressure difference value and the rotational speed difference value as input quantities;
the frequency converter receives the frequency target value and carries out speed regulation control on the driving motor according to the frequency target value;
the optical coupling isolation circuit is used for isolating the pressure sensor, the rotating speed sensor and the frequency converter from the controller.
The invention also provides a constant pressure control method of the chemical grouting pump, which is characterized by comprising the following steps:
s1, receiving an input pressure set value, and calculating a theoretical rotation speed value of a driving motor of a chemical grouting pump according to the pressure set value;
s2, measuring a real-time pressure value of the chemical grouting pump, measuring a real-time rotating speed value of the driving motor, and sending the real-time rotating speed value to a controller through an optical coupling isolation circuit;
s3, the controller calculates a pressure difference value between a pressure set value and an actual pressure value and a rotational speed difference value between a theoretical rotational speed value and a real-time rotational speed value, a fuzzy PID control algorithm is adopted, the pressure difference value and the rotational speed difference value are used as input quantities, a frequency adjustment target value is calculated, and the frequency adjustment target value is sent to the frequency converter through the optical coupling isolation circuit;
and S4, the frequency converter carries out speed regulation control on the driving motor according to the frequency control value.
Compared with the prior art, the invention has the beneficial effects that: the pressure of the chemical grouting pump is subjected to feedback regulation control through a fuzzy PID control algorithm, and the fuzzy PID control algorithm has strong adaptability, so that the pressure stability of the chemical grouting pump is ensured; and the pressure sensor, the rotating speed sensor and the frequency converter are electrically connected with the controller through the optical coupler isolation circuit, so that the isolation between the control end and the chemical grouting pump is realized, and potential safety hazards caused by the fact that an operator is close to the chemical grouting pump during control operation are avoided.
Drawings
FIG. 1 is a schematic diagram of a chemical grouting pump constant pressure control system provided by the invention;
FIG. 2 is a circuit diagram of an optocoupler isolation unit of the constant pressure control system of the chemical grouting pump;
FIG. 3 is a flow chart of a constant pressure control method of a chemical grouting pump provided by the invention;
fig. 4 is a schematic diagram of membership functions of the constant pressure control method of the chemical grouting pump provided by the invention.
Reference numerals:
1. the pressure knob, 2, pressure sensor, 3, rotation speed sensor, 4, A/D conversion circuit, 5, opto-coupler isolation circuit, 6, controller, 7, converter, 8, driving motor, 91, alarm, 92, LCD, 93, printer.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1:
as shown in fig. 1, embodiment 1 of the present invention provides a constant pressure control system for a chemical grouting pump, which includes a pressure knob 1, a pressure sensor 2, a rotation speed sensor 3, an a/D conversion circuit 4, an optocoupler isolation circuit 5, a controller 6, a frequency converter 7, and a driving motor 8, wherein the pressure knob 1 is electrically connected to the controller 6, the pressure sensor 2 and the rotation speed sensor 3 are respectively electrically connected to the optocoupler isolation circuit 5 through the a/D conversion circuit 4, the optocoupler isolation circuit 5 is electrically connected to the controller 6, the controller 6 is also electrically connected to the frequency converter 7 through the optocoupler isolation circuit 5, the driving motor 8 is electrically connected to an external power supply through the frequency converter 7, the pressure sensor 2 is mounted on the chemical grouting pump, the rotation speed sensor 3 is mounted on the driving motor 8, and the driving motor 8 is in driving connection with the chemical grouting pump;
the pressure knob 1 is used for inputting a pressure set value;
the controller 6 is used for calculating a theoretical rotating speed value of the driving motor according to the pressure set value;
the pressure sensor 2 is used for measuring the real-time pressure value of the chemical grouting pump;
the rotating speed sensor 3 is used for measuring a real-time rotating speed value of the driving motor;
the controller 6 is further configured to calculate a pressure difference between the pressure set value and the actual pressure value, and a rotational speed difference between the theoretical rotational speed value and the real-time rotational speed value, and calculate a frequency adjustment target value by using the pressure difference and the rotational speed difference as input values and adopting a fuzzy PID control algorithm;
the frequency converter 7 receives the frequency target value and controls the speed regulation of the driving motor according to the frequency target value;
the optocoupler isolation circuit 5 is used for isolating the pressure sensor 2, the rotation speed sensor 3 and the frequency converter 7 from the controller 6.
The constant voltage control system provided by the invention has the following working principle: the user inputs a set pressure value through the pressure knob 1, and the controller 6 receives the pressure set value; the pressure sensor 2 measures the real-time pressure value of the chemical grouting pump, and the rotating speed sensor 3 measures the rotating speed value of the driving motor 8; the controller 6 calculates a theoretical rotating speed value of the driving motor 8 according to the pressure set value, further calculates a pressure difference value and a rotating speed difference value, calculates a frequency adjustment target value through a fuzzy PID control algorithm by taking the pressure difference value and the rotating speed difference value as input quantities, and controls the rotating speed of the driving motor 8 through the frequency adjustment target value by the frequency converter 7, so as to control the pressure of the chemical grouting pump.
Specifically, the pressure sensor 2 is arranged on the pump head of the chemical grouting pump, the rotating speed sensor 3 is arranged on the output shaft of the driving motor 8, and the chemical grouting pump is not improved in any way, so that the chemical grouting pump is realized by adopting the prior art.
Specifically, in the present invention, the a/D conversion circuit 4 is used for analog-to-digital conversion, and since the pressure real-time value and the rotation speed real-time value measured by the pressure sensor 2 and the rotation speed sensor 3 are both analog signals and cannot be recognized by the controller 6, the pressure real-time value and the rotation speed real-time value need to be converted into digital signals by the a/D conversion circuit 4. The a/D conversion circuit 4 is a conventional circuit, and in the present invention, the a/D conversion circuit 4 is implemented by using the prior art, and the a/D conversion circuit 4 is electrically connected to a communication port of the controller 6.
Specifically, in the invention, the controller 6, the frequency converter 7 and the driving motor 8 are all realized by adopting the prior art, for example, the controller 6 can be a singlechip with the model of STM32F103Zet6, the driving motor 8 adopts a 3200W permanent magnet carbon brush-free direct current motor, and the frequency converter 7 can be an Anbang signal frequency converter. The pressure knob is adopted to input the pressure set value, and the input process is convenient and quick.
The constant pressure control system of the chemical grouting pump provided by the invention has the advantages of accurate control and high pressure stability, and can realize remote safety control.
Preferably, as shown in fig. 1, the optocoupler isolation circuit 5 includes three optocoupler isolation units, the pressure sensor 2, the rotation speed sensor 3 and the frequency converter 7 are respectively in one-to-one correspondence with the three optocoupler isolation units, the pressure sensor 2 and the rotation speed sensor 3 are respectively electrically connected with the corresponding optocoupler isolation units through the a/D conversion circuit, and the frequency converter 7 is electrically connected with the corresponding optocoupler isolation units.
The isolation of the pressure sensor 2, the rotation speed sensor 3 and the frequency converter 7 is realized through three optocoupler isolation units respectively.
Preferably, as shown in fig. 2, the optocoupler isolation unit includes an optocoupler isolator OPT1, a resistor R3, a resistor R4, a resistor R5, a capacitor C3, and a diode D1;
the cathode of the input diode of the optocoupler isolator OPT1 is electrically connected with the corresponding frequency converter or the A/D conversion circuit, the cathode of the input diode of the optocoupler isolator OPT1 is also electrically connected with the cathode of the diode D1, the anode of the diode D1 is connected with a power supply through the resistor R3, the anode of the input diode of the optocoupler isolator OPT1 is connected with the power supply through the resistor R4, the transmitter of the output triode of the optocoupler isolator OPT1 is grounded and is electrically connected with the collector of the output triode of the optocoupler isolator OPT1 through the capacitor C3, the collector of the output triode of the optocoupler isolator OPT1 is connected with the power supply through the resistor R5, and the collector of the output triode of the optocoupler isolator OPT1 is electrically connected with the controller.
The optical coupler isolator OPT1 is used for isolating the pressure real-time value signal, the rotating speed real-time value signal and the frequency control value signal, isolating strong and weak currents, guaranteeing personal safety of workers and realizing pressure remote control of the chemical grouting pump. Only the pressure sensor 2 and the corresponding optocoupler isolation unit are shown in fig. 2.
Specifically, the pressure sensor 2 and the rotating speed sensor 3 are realized by adopting Hall sensors, and the Hall sensors have the advantages of high precision, county model, wide frequency band, quick response and strong overload capacity, circuit energy is not lost during measurement, and the Hall sensors are combined with the optocoupler isolation circuit 5, so that the electric insulation capacity of a constant voltage system can be improved, the measurement loss can be reduced, and the measurement signals are not doped with interference signals due to the existence of the optocoupler isolation circuit.
Preferably, as shown in fig. 1, the constant pressure control system further comprises an alarm 91, wherein the alarm 91 is electrically connected with the controller 6 and alarms when the pressure real-time value is higher than a set threshold value.
When the constant pressure control system fails or an unexpected situation occurs and the pressure of the chemical grouting pump is not controlled, the controller 6 controls the alarm 91 to alarm, and prompts staff to deal with the situation in time. The alarm 91 may be implemented by a warning lamp or a buzzer.
Preferably, two alarms 91 are provided, one is disposed at the grouting site where the chemical grouting pump is located, and the other is disposed at the remote control end where the controller 6 is located.
Alarm 91 is set at the grouting site and the remote control end respectively, so that the staff at the grouting site and the staff at the remote control end can know alarm information in time and make alarm treatment in time.
Preferably, as shown in fig. 1, the constant pressure control system further includes a liquid crystal display 92 for displaying the real-time pressure value, and the liquid crystal display 92 is electrically connected to the controller 6.
The existing chemical grouting pump usually adopts a mechanical pressure gauge to display a real-time pressure value, but the mechanical pressure gauge has high fault rate, and the mechanical pressure gauge works in a high-pressure state for a long time along with the long-time continuous work of the chemical grouting pump, so that an elastic element is in fatigue misalignment, and a fault which cannot return to zero possibly occurs after grouting is finished. The invention adopts the liquid crystal display 92 to display the real-time pressure value of the chemical grouting pump, which not only has convenient reading, but also has low failure rate. The liquid crystal display 92 may be implemented by using a conventional technology, and the liquid crystal display is electrically connected to a display interface of the controller 6, where the display interface may be implemented by using a conventional technology, for example, a VGA interface, a DVI interface, and an HDMI interface.
Preferably, as shown in fig. 1, the constant pressure control system further includes a printer 93, and the printer 93 is electrically connected to the controller 6.
The printer 93 is additionally arranged, so that a user can conveniently print an operation log of the controller, a real-time pressure value change chart of the pressure sensor, a real-time rotating speed value change chart of the rotating speed sensor and the like, and the user can conveniently know the specific control process of the constant pressure control system.
Example 2:
as shown in fig. 3, embodiment 2 of the present invention provides a constant pressure control method of a chemical grouting pump, comprising the steps of:
s1, receiving an input pressure set value, and calculating a theoretical rotation speed value of a driving motor of a chemical grouting pump according to the pressure set value;
s2, measuring a real-time pressure value of the chemical grouting pump, measuring a real-time rotating speed value of the driving motor, and sending the real-time rotating speed value to a controller through an optical coupling isolation circuit;
s3, the controller calculates a pressure difference value between a pressure set value and an actual pressure value and a rotational speed difference value between a theoretical rotational speed value and a real-time rotational speed value, a fuzzy PID control algorithm is adopted, the pressure difference value and the rotational speed difference value are used as input quantities, a frequency adjustment target value is calculated, and the frequency adjustment target value is sent to the frequency converter through the optical coupling isolation circuit;
and S4, the frequency converter carries out speed regulation control on the driving motor according to the frequency control value.
The constant pressure control method of the chemical grouting pump provided by the invention is based on the constant pressure control system of the chemical grouting pump, so that the constant pressure control system of the chemical grouting pump has the technical effects, and the constant pressure control method of the chemical grouting pump is also provided, and is not repeated herein.
Preferably, the fuzzy PID control algorithm specifically includes:
step S31, blurring the pressure difference value and the rotating speed difference value;
step S32, respectively defining fuzzy sets aiming at the pressure difference value and the rotating speed difference value, and defining corresponding membership functions for the fuzzy sets to obtain a corresponding fuzzy rule table;
step S33, inquiring a pressure fuzzy variable corresponding to the pressure difference value and a rotating speed fuzzy variable corresponding to the rotating speed difference value in the fuzzy rule table;
step S34, respectively defining the weight proportion of the pressure difference value and the rotating speed difference value, and calculating the weighted sum of the pressure fuzzy variable and the rotating speed fuzzy variable;
and step S35, carrying out definition processing on the weights to obtain the frequency control value.
The fuzzy PID control algorithm is realized by adopting the prior art, the fuzzy PID control algorithm is improved on the prior fuzzy PID control algorithm, and the fuzzy PID control algorithm in the embodiment is different from the prior fuzzy PID control algorithm in that the pressure fuzzy variable and the rotating speed fuzzy variable are not directly input as fuzzy input quantities, but weight proportions of the pressure fuzzy variable and the rotating speed fuzzy variable are respectively defined, the weighted sum of the pressure fuzzy variable and the rotating speed fuzzy variable is calculated, the weighted sum is taken as fuzzy input quantity, the frequency control value is calculated, the frequency control of the frequency converter is realized, and the pressure control of the chemical grouting pump is further realized. The weight proportion describes the importance and the association degree of the pressure difference and the rotation speed difference in the pressure control process, and the weighted sum is used as the fuzzy input quantity of fuzzy PID control, so that more accurate pressure control can be realized.
Specifically, in this embodiment, the input amount of the fuzzy PID control algorithm is selected as follows: actual pressure value and pressure difference, actual rotational speed value and rotational speed difference.
Taking the rotational speed difference as an example, the relevant parameters of the fuzzy PID control algorithm are selected as follows: the basic theory domain of the rotational speed difference is [ -R, R ]; fuzzy set E is (-N, -N-1, … …, -2, -1,0,1,2, … …, N-1, N); fuzzy subset ec is (N, N-1, … …,2, 1); quantization factor k=n/R; the membership function selects a triangular membership function as shown in fig. 4. The fuzzy rule table is shown in the following table:
the control principle of the fuzzy PID control algorithm is that the actual accurate value fed back by the control system is converted into a language variable which can be identified and processed by a computer through a blurring process, and then the output quantity of the fuzzy controller is given and the frequency converter is driven based on the fuzzy reasoning process of human natural language.
The above-described embodiments of the present invention do not limit the scope of the present invention. Any other corresponding changes and modifications made in accordance with the technical idea of the present invention shall be included in the scope of the claims of the present invention.
Claims (8)
1. The constant pressure control system of the chemical grouting pump is characterized by comprising a pressure knob, a pressure sensor, a rotating speed sensor, an A/D conversion circuit, an optical coupling isolation circuit, a controller, a frequency converter and a driving motor, wherein the pressure knob is electrically connected with the controller, the pressure sensor and the rotating speed sensor are respectively electrically connected with the optical coupling isolation circuit through the A/D conversion circuit, the optical coupling isolation circuit is electrically connected with the controller, the controller is also electrically connected with the frequency converter through the optical coupling isolation circuit, the driving motor is electrically connected with an external power supply through the frequency converter, the pressure sensor is installed on the chemical grouting pump, the rotating speed sensor is installed on the driving motor, and the driving motor is in transmission connection with the chemical grouting pump;
the pressure knob is used for inputting a pressure set value;
the controller is used for calculating a theoretical rotating speed value of the driving motor according to the pressure set value;
the pressure sensor is used for measuring a real-time pressure value of the chemical grouting pump;
the rotating speed sensor is used for measuring a real-time rotating speed value of the driving motor;
the controller is also used for calculating a pressure difference value between a pressure set value and an actual pressure value and a rotational speed difference value between a theoretical rotational speed value and a real-time rotational speed value, and calculating a frequency adjustment target value by adopting a fuzzy PID control algorithm and taking the pressure difference value and the rotational speed difference value as input quantities;
the frequency converter receives the frequency target value and carries out speed regulation control on the driving motor according to the frequency target value;
the optical coupling isolation circuit is used for isolating the pressure sensor, the rotating speed sensor and the frequency converter from the controller;
the optical coupler isolation circuit comprises three optical coupler isolation units, the pressure sensor, the rotating speed sensor and the frequency converter are respectively in one-to-one correspondence with the three optical coupler isolation units, the pressure sensor and the rotating speed sensor are respectively and electrically connected with the corresponding optical coupler isolation units through the A/D conversion circuit, and the frequency converter is electrically connected with the corresponding optical coupler isolation units.
2. The constant pressure control system of a chemical grouting pump according to claim 1, wherein the optical coupling isolation unit comprises an optical coupling isolator OPT1, a resistor R3, a resistor R4, a resistor R5, a capacitor C3 and a diode D1;
the cathode of the input diode of the optocoupler isolator OPT1 is electrically connected with the corresponding frequency converter or the A/D conversion circuit, the cathode of the input diode of the optocoupler isolator OPT1 is also electrically connected with the cathode of the diode D1, the anode of the diode D1 is connected with a power supply through the resistor R3, the anode of the input diode of the optocoupler isolator OPT1 is connected with the power supply through the resistor R4, the transmitter of the output triode of the optocoupler isolator OPT1 is grounded and is electrically connected with the collector of the output triode of the optocoupler isolator OPT1 through the capacitor C3, the collector of the output triode of the optocoupler isolator OPT1 is connected with the power supply through the resistor R5, and the collector of the output triode of the optocoupler isolator OPT1 is electrically connected with the controller.
3. The chemical grout pump constant pressure control system of claim 1 further comprising an alarm electrically connected to the controller and alarming when the pressure real time value is above a set threshold.
4. The constant pressure control system of a chemical grouting pump according to claim 3, wherein two alarms are provided, one is arranged at a grouting site where the chemical grouting pump is located, and the other is arranged at a remote control end where the controller is located.
5. The constant pressure control system of a chemical grouting pump according to claim 1, further comprising a liquid crystal display for displaying a real-time pressure value, the liquid crystal display being electrically connected to the controller.
6. The constant pressure control system of a chemical grout pump of any one of claims 1-5, further comprising a printer, said printer being electrically connected to said controller.
7. A constant pressure control method of a chemical grouting pump, characterized in that the method adopts the constant pressure control system of the chemical grouting pump according to any one of claims 1 to 6, and the method comprises the following steps:
s1, receiving an input pressure set value, and calculating a theoretical rotation speed value of a driving motor of a chemical grouting pump according to the pressure set value;
s2, measuring a real-time pressure value of the chemical grouting pump based on a pressure sensor, measuring a real-time rotating speed value of the driving motor based on a rotating speed sensor, and sending the real-time rotating speed value to a controller through an optical coupling isolation circuit;
s3, the controller calculates a pressure difference value between a pressure set value and an actual pressure value and a rotational speed difference value between a theoretical rotational speed value and a real-time rotational speed value, a fuzzy PID control algorithm is adopted, the pressure difference value and the rotational speed difference value are used as input quantities, a frequency adjustment target value is calculated, and the frequency adjustment target value is sent to the frequency converter through the optical coupling isolation circuit;
s4, the frequency converter carries out speed regulation control on the driving motor according to the frequency control value;
the optical coupler isolation circuit comprises three optical coupler isolation units, the pressure sensor, the rotating speed sensor and the frequency converter are respectively in one-to-one correspondence with the three optical coupler isolation units, the pressure sensor and the rotating speed sensor are respectively and electrically connected with the corresponding optical coupler isolation units, and the frequency converter is electrically connected with the corresponding optical coupler isolation units.
8. The constant pressure control method of a chemical grouting pump according to claim 7, wherein the fuzzy PID control algorithm specifically comprises:
step S31, blurring the pressure difference value and the rotating speed difference value;
step S32, respectively defining fuzzy sets aiming at the pressure difference value and the rotating speed difference value, and defining corresponding membership functions for the fuzzy sets to obtain a corresponding fuzzy rule table;
step S33, inquiring a pressure fuzzy variable corresponding to the pressure difference value and a rotating speed fuzzy variable corresponding to the rotating speed difference value in the fuzzy rule table;
step S34, respectively defining the weight proportion of the pressure difference value and the rotating speed difference value, and calculating the weighted sum of the pressure fuzzy variable and the rotating speed fuzzy variable;
and step S35, carrying out definition processing on the weights to obtain the frequency control value.
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