CN109634162B - Electric pushing cylinder control system - Google Patents
Electric pushing cylinder control system Download PDFInfo
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- CN109634162B CN109634162B CN201811314758.7A CN201811314758A CN109634162B CN 109634162 B CN109634162 B CN 109634162B CN 201811314758 A CN201811314758 A CN 201811314758A CN 109634162 B CN109634162 B CN 109634162B
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- pushing cylinder
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- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- 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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24024—Safety, surveillance
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Multiple Motors (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention provides an electric pushing cylinder control system, which comprises a power supply module and a motor control module; the motor control module comprises a steering control module and a speed control module; the steering control module comprises a first steering position selection switch, a steering switch CK1, an automatic steering CK2, a relay normally-closed switch K7, an electromagnetic coil K5, a relay normally-closed switch K8 and an electromagnetic coil K5.
Description
Technical Field
The invention relates to the field of steering engines, in particular to an electric push cylinder control system.
Background
Along with the requirement of factory automation is higher and higher, the requirement on a power driving system is increased, the existing commonly used power driving system is a hydraulic oil cylinder, the hydraulic oil cylinder is exquisite in appearance, high in bearing working pressure, high in fatigue resistance and impact resistance, small in self weight and long in service life, various working modes can be adopted, but the hydraulic oil cylinder needs to be matched with a hydraulic system in the operation process to be used, and comprises a power element, a control element, an auxiliary element and hydraulic oil, the hydraulic oil is serious in pollution, the hydraulic pipeline is difficult to install, the energy consumption utilization rate of the hydraulic system is low, the movement limitation is large, the cost is high, the maintenance is difficult, the stress condition is difficult to predict, and the safety performance is poor.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an electric pushing cylinder control system, wherein an electric pushing cylinder is used as a power driving system, the integration level is high, the energy is saved, the environment is protected, the electric pushing cylinder is conveniently connected with a PLC1 control system, the high-precision motion control can be realized, and the safety performance is improved.
In order to achieve the purpose, the technical scheme of the invention is as follows:
an electric pushing cylinder control system comprises a power supply module and a motor control module;
the motor control module comprises a steering control module and a speed control module;
the steering control module comprises a first steering position selection switch, a steering switch, an automatic steering CK2, a relay normally-closed switch K7, an electromagnetic coil K5, a relay normally-closed switch K8 and an electromagnetic coil K6; the first steering position selection switch comprises a selection switch 1-2, a selection switch 3-4, a selection switch 5-6 and a selection switch 7-8; the selection switch 3-4, the relay normally-closed switch K7 and the electromagnetic coil K5 are sequentially connected in series, one end of the selection switch 3-4 is connected to the positive pole of the power module, and the electromagnetic coil K5 is connected to the negative pole of the power module; the selection switch 7-8, the relay normally-closed switch K8 and the electromagnetic coil K6 are sequentially connected in series, one end of the selection switch 7-8 is connected to the positive pole of the power module, and the electromagnetic coil K6 is connected to the negative pole of the power module;
the speed control module comprises a second steering position selection switch, a three-position manual switch S1, a three-position manual switch S2, a relay normally-closed switch K4, an electromagnetic coil K3, a relay normally-closed switch K3 and an electromagnetic coil K4; the second steering position selection switch comprises selection switches 9-10 and selection switches 11-12; one end of a selection switch 9-10 is connected with the positive electrode of the power module, the other end of the selection switch 9-10 is connected with a three-position manual switch S2, one end of a selection switch 11-12 is connected with the positive electrode of the power module, the other end of the selection switch 11-12 is connected with a three-position manual switch S1, a relay normally-closed switch K4 is connected with an electromagnetic coil K3 in series, an electromagnetic coil K3 is connected with the negative electrode of the power module, a relay normally-closed switch K3 is connected with an electromagnetic coil K4 in series, an electromagnetic coil K4 is connected with the negative electrode of the power module, a relay normally-closed switch K4 is connected with three-position manual switches S1 and S2 respectively, and a relay normally-closed switch K3 is connected with three-position manual switches S.
The device is characterized in that power is supplied by the power supply module, the motor control module controls the starting module to work by the motor drive module, the starting module starts the variable frequency motor to work, the modules are matched to realize control, the integration level is high, the modules are conveniently connected with a PLC control system in the motor control module to realize high-precision motion control and improve the safety performance, the electric pushing cylinder is a modular product which integrally designs a servo motor and a lead screw, the rotary motion of the servo motor is converted into linear motion, and simultaneously the best advantages of the servo motor, namely accurate rotating speed control, accurate rotating speed control and accurate torque control are converted into accurate speed control, accurate position control and accurate pushing force control, so that a brand-new revolutionary product of a high-precision linear motion series is realized, the electric control of the electric pushing cylinder is realized by an electric control system of the variable frequency motor, and the electric pushing cylinder is, energy conservation and environmental protection.
The work of the electric pushing cylinder control system comprises the control of the left rotation of the 1# and 2# variable frequency motors corresponding to the left rotation of the steering engine, the left rotation of the 1# and 2# variable frequency motors corresponding to the right rotation of the steering engine, the right rotation of the 2# and 1# and 2# variable frequency motors, and the fast rotation of the 1# and 2# variable frequency motors.
The manual switches Q1, Q2, Q3 and Q4 are closed, the power supply module is started, the electromagnetic coil KM11 is electrified, the relay switch KM11 is closed, the electromagnetic coil KM1 and the electromagnetic coil KM2 are electrified after the electricity input from the Q3 is transformed by the transformer T1, the relay switches KM1 and KM2 are closed, and the frequency converters A1 and A2 are electrified;
the electric pushing cylinder control system controls the 1# and 2# variable frequency motors to rotate left, so as to drive the steering engine to rotate left; the electric pushing cylinder control system controls the 1# and 2# variable frequency motors to rotate right, so that the steering engine is driven to rotate right;
the manual switches Q1, Q2, Q3 and Q4 are closed, the power supply module is started, the electromagnetic coil KM11 is electrified, the relay switch KM11 is closed, the electricity input from the manual switch Q3 is transformed by the transformer T1, then the electromagnetic coil KM1 and the electromagnetic coil KM2 are electrified, the relay switches KM1 and KM2 are closed, and the frequency converters A1 and A2 are electrified;
and (3) switching on a rated rotation circuit to electrify the electromagnetic coil K3, switching off the normally closed relay switch K3, switching on the normally open relay switch K3, enabling signals to be provided at DI4 ends of the frequency converters A1 and A2, controlling rated rotation of the 1# frequency converter motor by the frequency converter A1, and controlling rated rotation of the 2# frequency converter motor by the frequency converter A2.
The quick rotating circuit is connected, the electromagnetic coil K4 is electrified, the normally closed relay switch K4 is disconnected, the normally open relay switch K4 is closed, signals are respectively arranged at the DI5 ends of the frequency converters A1 and A2, the frequency converter A1 controls the 1# frequency converter motor to rotate quickly, and the frequency converter A2 controls the 2# frequency converter motor to rotate in an express way.
Further, the autopilot CK2 comprises an autopilot switch 1-2 and an autopilot switch 3-4; the automatic rudder switch 1-2 is connected with the selection switch 1-2 in series; the autopilot switch 3-4 and the selector switch 5-6 are connected in series.
The electric cylinder control system controls the left rotation of the 1# and 2# variable frequency motors operated by the autopilot in a cab, and the principle is as follows: the selection switch 1-2 and the autopilot switch 1-2 are closed, the electromagnetic coil K5 is electrified, the relay normally open switch K5 is closed, the relay normally closed switch K5 is disconnected, signals are sent to DI1 ends of the frequency converters A1 and A2, the frequency converter A1 controls the 1# frequency converter motor to rotate leftwards, and the frequency converter A2 controls the 2# frequency converter motor to rotate leftwards.
The electric cylinder control system controls the driving cab to rotate right through the automatic steering operation of the 1# and 2# variable frequency motors, and the principle is as follows: 5-6 of a closed selector switch and 3-4 of an autopilot switch, a solenoid K6 is electrified, a normally open relay switch K6 is closed, signals are respectively sent to DI1 and DI2 ends of frequency converters A1 and A2, a frequency converter A1 controls a 1# frequency converter motor to rotate right, and a frequency converter A2 controls a 2# frequency converter motor to rotate right.
The electric cylinder control system controls rated rotation of 1# and 2# variable frequency motors operated by an autopilot in a cab, and the principle is as follows: the manual switch S1 is turned to the middle position, the manual switch S2 is turned to the rated position, the selector switches 9-10 are closed, the electromagnetic coil K3 is electrified, the normally closed relay switch K3 is disconnected, the normally open relay switch K3 is closed, signals are respectively arranged at DI4 ends of the frequency converters A1 and A2, the frequency converter A1 controls rated rotation of a 1# frequency converter motor, and the frequency converter A2 controls rated rotation of a 2# frequency converter motor.
The electric propulsion cylinder control system controls the 1# and 2# variable frequency motors to rotate rapidly in the cab through autopilot operation, and the principle is as follows: the manual switch S1 is turned to the middle position, the manual switch S2 is turned to the fast position, the selection switches 9-10 are closed, the electromagnetic coil K4 is electrified, the normally closed relay switch K4 is disconnected, the normally open relay switch K4 is closed, signals are arranged at the DI5 ends of the frequency converters A1 and A2, the frequency converter A1 controls the 1# frequency converter motor to rotate fast, and the frequency converter A2 controls the 2# frequency converter motor to rotate fast.
Further, the steering switch comprises a steering switch 1-2 and a steering switch 3-4, the steering switch 1-2 is sequentially connected with a selection switch 3-4, a relay normally closed switch K7 and an electromagnetic coil K5 in series, the selection switch 3-4 is connected with the steering switch 1-2 in series, the selection switch 1-2 is connected with the automatic steering switch 1-2 in series, and the selection switch 3-4 and the steering switch 1-2 which are connected in series are connected with the selection switch 1-2 and the automatic steering switch 1-2 which are connected in series in parallel; the selection switch 7-8, the steering switch 3-4, the relay normally-closed switch K8 and the electromagnetic coil K6 are sequentially connected in series, the selection switch 7-8 and the steering switch 3-4 are connected in series, the selection switch 5-6 and the automatic steering switch 3-4 are connected in series, and the selection switch 7-8 and the steering switch 3-4 which are connected in series are connected in parallel with the selection switch 5-6 and the automatic steering switch 3-4 which are connected in series;
the electric cylinder control system controls the left rotation of 1# and 2# variable frequency motors in a steering machine room through a steering switch, and the principle is as follows: the selection switch 3-4 and the operation switch 1-2 are closed, the electromagnetic coil K5 is electrified, the relay normally open switch K5 is closed, the relay normally closed switch K5 is disconnected, signals are sent to DI1 ends of the frequency converters A1 and A2, the frequency converter A1 controls the 1# frequency converter motor to rotate leftwards, and the frequency converter A2 controls the 2# frequency converter motor to rotate leftwards.
The electric propulsion cylinder control system controls the steering machine room to operate the 1# and 2# variable frequency motors to rotate right through the steering switch, and the principle is as follows: the selection switch 7-8 and the operation switch 3-4 are closed, the electromagnetic coil K6 is electrified, the normally open switch K6 of the relay is closed, signals are provided at the DI1 end and the DI2 end of the frequency converters A1 and A2, the frequency converter A1 controls the 1# frequency converter motor to rotate right, and the frequency converter A2 controls the 2# frequency converter motor to rotate right.
The electric propulsion cylinder control system controls the rated rotation of 1# and 2# variable frequency motors in a steering room through a steering switch, and the principle is as follows: the manual switch S2 is turned to the middle position, the manual switch S1 is turned to the rated position, the selector switches 11-12 are closed, the electromagnetic coil K3 is electrified, the relay normally-closed switch K3 is disconnected, the relay normally-open switch K3 is closed, signals are respectively arranged at DI4 ends of the frequency converters A1 and A2, the frequency converter A1 controls rated rotation of a 1# frequency converter motor, and the frequency converter A2 controls rated rotation of a 2# frequency converter motor.
The electric propulsion cylinder control system controls the steering machine room to operate the 1# and 2# variable frequency motors to rotate rapidly through the steering switch, and the principle is as follows: the manual switch S2 is turned to the middle position, the manual switch S1 is turned to the fast position, the selector switches 11-12 are closed, the electromagnetic coil K4 is electrified, the normally closed relay switch K4 is disconnected, the normally open relay switch K4 is closed, signals are respectively arranged at the DI5 ends of the frequency converters A1 and A2, the frequency converter A1 controls the 1# frequency converter motor to rotate fast, and the frequency converter A2 controls the 2# frequency converter motor to rotate fast.
The electric pushing cylinder limiting control module comprises a No. 1 electric pushing cylinder limiting control module and a No. 2 electric pushing cylinder limiting control module;
the 1# electric pushing cylinder limit control module comprises a 1# electric pushing cylinder extending limit control module and a 1# electric pushing cylinder retracting limit control module, the 1# electric pushing cylinder extending limit control module comprises an electromagnetic coil K7 connected to the output end of a PLC1, and the input end of the PLC1 is correspondingly connected with a 1# electric pushing cylinder extending limit switch SP 1; the 1# electric pushing cylinder retraction limit control module comprises an electromagnetic coil K8 connected to the output end of the PLC1, and the input end of the PLC1 is correspondingly connected with a 1# electric pushing cylinder retraction limit switch SP 2;
the 2# electric pushing cylinder limit control module comprises a 2# electric pushing cylinder extending limit control module and a 2# electric pushing cylinder retracting limit control module, the 2# electric pushing cylinder extending limit control module comprises an electromagnetic coil K7 connected to the output end of a PLC1, and the input end of the PLC1 is correspondingly connected with a 2# electric pushing cylinder extending limit switch SP 4; the 2# electric pushing cylinder retraction limit control module comprises an electromagnetic coil K8 connected to the output end of the PLC1, and the input end of the PLC1 is correspondingly connected with a 2# electric pushing cylinder retraction limit switch SP 5.
Drawings
FIG. 1 is a circuit block diagram of an electric control system of an electric pushing cylinder according to the present invention;
FIG. 2 is a schematic circuit diagram of a power module of the present invention;
FIG. 3 is a circuit schematic diagram of a starting module of the 1# inverter motor of the present invention;
FIG. 4 is a circuit schematic diagram of a starting module of the 2# variable frequency motor of the present invention;
FIG. 5 is a circuit schematic of the starting module of the present invention;
FIG. 6 is a circuit schematic of the motor control module of the present invention;
fig. 7 is a schematic view of a ventilation module of the present invention.
Fig. 8 is a schematic circuit diagram of a variable frequency motor brake module of the present invention.
FIG. 9 is a schematic circuit diagram of a display control module according to the present invention.
FIG. 10 is a schematic circuit diagram of a touch screen module according to the present invention.
Fig. 11 is a schematic diagram of the alarm circuit of the present invention.
Fig. 12 is a schematic circuit diagram of a PLC input end electric push cylinder limit module, an alarm control module and a brake control module in the electric push cylinder electric control system of the present invention.
Fig. 13 is a schematic circuit diagram of a PLC input end electric cylinder limit module, a screen display control module, and a steering control module in the electric cylinder control system of the present invention.
Fig. 14 is a schematic circuit diagram of an electric push cylinder limiting module, an alarm control module, a screen display control module and a steering control module at the output end of the PLC in the electric push cylinder control system according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 to 14 show an embodiment of the present invention.
The utility model provides an electric cylinder control system, as electric cylinder electrical system's important component, electric cylinder electrical system includes power module 1, start module 2, motor drive module 3, motor control module 4, ventilation module 5, braking module 6, screen display module 7, comprehensive alarm module 8, electric cylinder spacing module 9 and damp-dispelling module 10, power module 1 is used for the power supply, motor control module 4 links to each other with motor drive module 3, motor drive module 3 drives start module 2 and starts the work of inverter motor 2.
Before the 1# and 2# variable frequency motors are started, the motors are subjected to moisture removal.
The moisture removing module 10 comprises a 1# variable frequency motor moisture removing module and a 2# variable frequency motor moisture removing module.
The damping module of the 1# variable frequency motor comprises a manual switch S3 connected with the power module 1, a relay switch K5, a relay switch K6 connected with the relay switch K5 and a damping device M1 connected with the relay switch K6.
The 2# variable frequency motor moisture driving module comprises a manual switch S3 connected with the power supply module 1, a relay switch K5, a relay switch K6 connected with the relay switch K5 and a moisture driving device M2 connected with the relay switch K6.
The working principle of the moisture removing module 10 is as follows: the power module 1 of the starting module 2 is started, the power modules 1 of other modules are closed, the switch S3 is manually closed, and the moisture removing module 10 is electrically connected to start moisture removing.
The starting module 2 includes a # 1 inverter motor starting module 21, a # 2 inverter motor starting module 22, and a start control module 23.
The 1# variable frequency motor starting module 21 comprises a manual switch Q1 connected with the power supply module 1, a relay switch KM1 connected with the manual switch Q1 and a frequency converter A1 connected with the relay switch KM 1; a 1# inverter motor is connected to the inverter a 1.
The 2# variable-frequency motor starting module 22 comprises a manual switch Q2 connected with the power supply module 1, a relay switch KM2 connected with the manual switch Q2 and a frequency converter A2 connected with the relay switch KM 2; a 2# inverter motor is connected to the inverter a 2.
The starting control module 23 comprises a relay switch KM11 connected with the power supply module 1, a manual switch Q3 connected with a relay switch KM11, a transformer T1 connected with the manual switch Q3, and electromagnetic coils KM1 and KM2 connected with a transformer T1; an electromagnetic coil KM11 is connected on a line between the input end of the manual switch Q1 and the relay switch KM 11;
the 1# frequency converter and the 2# frequency converter are communicated with each other.
The motor driving module 3 comprises a 1# variable frequency motor driving module 31 and a 2# variable frequency motor driving module 32.
The 1# variable frequency motor driving module comprises relay normally-open switches K5 and K6 which are connected with DI1 of a frequency converter A1 and are connected in parallel, a relay normally-open switch K6 and a relay normally-closed switch K5 which are sequentially connected between DI2 of the frequency converter A1 and power ends of a frequency converter A1, a relay normally-open switch K3 which is connected between DI4 of a frequency converter A1 and power ends of a frequency converter A1, and a relay normally-open switch K4 which is connected between DI5 of a frequency converter A1 and power ends of a frequency converter A1; the power supply end of the frequency converter A1 is connected with the connection point of the relay normally open switches K5 and K6 through the relay normally closed switches K15 and K16 in sequence.
The 2# variable frequency motor driving module comprises relay normally-open switches K5 and K6 which are connected with DI1 of a frequency converter A2 and connected in parallel, a relay normally-open switch K6 and a relay normally-closed switch K5 which are sequentially connected between DI2 of the frequency converter A2 and power ends of a frequency converter A2, a relay normally-open switch K3 which is connected between DI4 of the frequency converter A2 and power ends of a frequency converter A2, and a relay normally-open switch K4 which is connected between DI5 of the frequency converter A2 and power ends of the frequency converter A2.
The motor control module 4 includes a steering control module 41 and a speed control module 42.
The steering control module 41 comprises a first steering position selection switch, a steering switch, an automatic steering CK2, a relay normally-closed switch K7, an electromagnetic coil K5, a relay normally-closed switch K8 and an electromagnetic coil K5; the first steering position selection switch comprises a selection switch 1-2, a selection switch 3-4, a selection switch 5-6 and a selection switch 7-8, the steering switch comprises a steering switch 1-2 and a steering switch 3-4, and the automatic steering CK2 comprises an automatic steering switch 1-2 and an automatic steering switch 3-4; the selection switch 3-4, the steering switch 1-2, the relay normally-closed switch K7 and the electromagnetic coil K5 are sequentially connected in series, one end of the selection switch 3-4 is connected with the anode of the power module 1, the electromagnetic coil K5 is connected with the cathode of the power module 1, the selection switch 3-4 is connected with the steering switch 1-2 in series, the selection switch 1-2 is connected with the automatic steering switch 1-2 in series, and the selection switch 3-4 and the steering switch 1-2 which are connected in series are connected with the selection switch 1-2 and the automatic steering switch 1-2 which are connected in series in parallel; the selection switch 7-8, the steering switch 3-4, the relay normally-closed switch K8 and the electromagnetic coil K6 are sequentially connected in series, one end of the selection switch 7-8 is connected with the anode of the power module 1, the electromagnetic coil K6 is connected with the cathode of the power module 1, the selection switch 7-8 and the steering switch 3-4 are connected in series, the selection switch 5-6 and the automatic steering switch 3-4 are connected in series, and the selection switch 7-8 and the steering switch 3-4 which are connected in series are connected in parallel with the selection switch 5-6 and the automatic steering switch 3-4 which are connected in series.
The speed control module 42 includes a second steering position selection switch, a three-position manual switch S1, a three-position manual switch S2, a relay normally closed switch K4, a solenoid K3, a relay normally closed switch K3, and a solenoid K4; the second steering position selection switch comprises selection switches 9-10 and selection switches 11-12; one end of a selection switch 9-10 is connected with the positive electrode of the power module 1, the other end of the selection switch 9-10 is connected with a three-position manual switch S2, one end of a selection switch 11-12 is connected with the positive electrode of the power module 1, the other end of the selection switch 11-12 is connected with a three-position manual switch S1, a normally closed relay switch K4 is connected with a solenoid K3 in series, a solenoid K3 is connected with the negative electrode of the power module 1, a normally closed relay switch K3 is connected with a solenoid K4 in series, a solenoid K4 is connected with the negative electrode of the power module 1, the normally closed relay switch K4 is connected with a three-position manual switch S1 and a three-position manual switch S2 respectively, and a normally closed relay K3 is connected with a three-position manual switch S63.
The electric pushing cylinder is a modularized product which integrates a servo motor and a lead screw, converts the rotary motion of the servo motor into linear motion, simultaneously converts the best advantages of the servo motor, namely accurate rotating speed control, accurate revolution control and accurate torque control into accurate speed control, accurate position control and accurate thrust control, and realizes a brand new revolutionary product of a high-precision linear motion series, and the electric control of the electric pushing cylinder is realized by an electric control system of a variable frequency motor.
The working principle of the electric control system of the electric pushing cylinder comprises 1# and 2# variable frequency motors which correspond to left turning of the steering engine and rotate left, 1# and 2# variable frequency motors which correspond to right turning of the steering engine and rotate right, rated work of the 1# and 2# variable frequency motors and rapid rotation of the 1# and 2# variable frequency motors.
The left rotation principle of the 1# and 2# variable frequency motors corresponding to the left rotation of the steering engine is as follows: the manual switches Q1, Q2, Q3 and Q4 are closed, the power module 1 is started, the electromagnetic coil KM11 is electrified, the relay switch KM11 is closed, the electromagnetic coil KM1 and the electromagnetic coil KM2 are electrified after the electricity input from the Q3 is transformed by the transformer T1, the relay switches KM1 and KM2 are closed, the frequency converters A1 and A2 are electrified, and the electromagnetic coil and the relay switch form a relay in the embodiment.
If the steering engine can be operated in the steering engine room, the selection switch (also called steering position selection switch) 3-4 and the operation switch (also called steering switch) 1-2 are closed, the electromagnetic coil K5 is electrified, the relay normally-open switch K5 is closed, the relay normally-closed switch K5 is opened, signals are sent from DI1 ends of the frequency converters A1 and A2, the frequency converter A1 controls the 1# frequency converter motor to rotate left, and the frequency converter A2 controls the 2# frequency converter motor to rotate left. If the automobile steering control device is operated in a cab, the selection switch 1-2 and the autopilot switch 1-2 are closed, the electromagnetic coil K5 is electrified, the relay normally-open switch K5 is closed, the relay normally-closed switch K5 is opened, signals are sent to DI1 ends in the frequency converters A1 and A2, the frequency converter A1 controls the 1# frequency converter motor to rotate leftwards, and the frequency converter A2 controls the 2# frequency converter motor to rotate leftwards.
The right rotation principle of the 1# and 2# variable frequency motors corresponding to the right rotation of the steering engine is as follows: the manual switches Q1, Q2, Q3 and Q4 are closed, the power module 1 is started, the electromagnetic coil KM11 is electrified, the relay switch KM11 is closed, the electricity input from the manual switch Q3 is transformed by the transformer T1, then the electromagnetic coil KM1 and the electromagnetic coil KM2 are electrified, the relay switches KM1 and KM2 are closed, and the frequency converters A1 and A2 are electrified.
If the steering engine can be operated, the selection switches 7-8 and the operation switches 3-4 are closed, the electromagnetic coil K6 is electrified, the normally open switch K6 of the relay is closed, signals are provided at the DI1 end and the DI2 end of the frequency converters A1 and A2, the frequency converter A1 controls the 1# frequency converter motor to rotate right, and the frequency converter A2 controls the 2# frequency converter motor to rotate right. If the driver operates in the cab, the selection switch 5-6 and the autopilot switch 3-4 are closed, the electromagnetic coil K6 is electrified, the normally open switch K6 of the relay is closed, signals are sent to DI1 and DI2 ends of the frequency converters A1 and A2, the frequency converter A1 controls the 1# frequency converter motor to rotate right, and the frequency converter A2 controls the 2# frequency converter motor to rotate right.
The rated working principle of the 1# and 2# variable frequency motors is as follows: the manual switches Q1, Q2, Q3 and Q4 are closed, the power module 1 is started, the electromagnetic coil KM11 is electrified, the relay switch KM11 is closed, the electricity input from the manual switch Q3 is transformed by the transformer T1, then the electromagnetic coil KM1 and the electromagnetic coil KM2 are electrified, the relay switches KM1 and KM2 are closed, and the frequency converters A1 and A2 are electrified.
If the manual switch S1 is turned to the middle position, the manual switch S2 is turned to the rated position, the selector switches 9-10 are closed, the electromagnetic coil K3 is electrified, the relay normally-closed switch K3 is disconnected, the relay normally-open switch K3 is closed, signals are respectively sent to DI4 ends of the frequency converters A1 and A2, the frequency converter A1 controls rated rotation of a 1# frequency converter motor, and the frequency converter A2 controls rated rotation of a 2# frequency converter motor.
If the control system is operated in a steering engine room, the manual switch S2 is turned to the middle position, the manual switch S1 is turned to the rated position, the selector switches 11-12 are closed, the electromagnetic coil K3 is electrified, the normally closed relay switch K3 is disconnected, the normally open relay switch K3 is closed, signals are respectively sent to DI4 ends of the frequency converters A1 and A2, the frequency converter A1 controls rated rotation of a 1# frequency converter motor, and the frequency converter A2 controls rated rotation of a 2# frequency converter motor.
The fast working principle of the 1# and 2# variable frequency motors is as follows: the manual switches Q1, Q2, Q3 and Q4 are closed, the power module 1 is started, the electromagnetic coil KM11 is electrified, the relay switch KM11 is closed, the electricity input from the manual switch Q3 is transformed by the transformer T1, then the electromagnetic coil KM1 and the electromagnetic coil KM2 are electrified, the relay switches KM1 and KM2 are closed, and the frequency converters A1 and A2 are electrified.
If the electric vehicle is operated in a cab, the manual switch S1 is turned to a middle position, the manual switch S2 is turned to a quick position, the selector switches 9-10 are closed, the electromagnetic coil K4 is electrified, the relay normally-closed switch K4 is disconnected, the relay normally-open switch K4 is closed, signals are respectively arranged at DI5 ends of the frequency converters A1 and A2, the frequency converter A1 controls a 1# frequency converter motor to rotate quickly, and the frequency converter A2 controls a 2# frequency converter motor to rotate quickly.
If the control system is operated in a steering engine room, the manual switch S2 is turned to a middle position, the manual switch S1 is turned to a quick position, the selection switches 11-12 are closed, the electromagnetic coil K4 is electrified, the normally closed relay switch K4 is disconnected, the normally open relay switch K4 is closed, signals are respectively arranged at DI5 ends of the frequency converters A1 and A2, the frequency converter A1 controls the 1# frequency converter motor to rotate quickly, and the frequency converter A2 controls the 2# frequency converter motor to rotate quickly.
The ventilation module 5 comprises a 1# variable frequency motor ventilation module 51, a 2# variable frequency motor ventilation module 52 and a ventilation control module 53; the ventilation control module 53 comprises a relay switch K35 connected with the power module 1, electromagnetic coils KM3 and KM4 connected with a relay switch K35 and an electromagnetic coil K35 connected with the output end of a PLC 1; the relay switch K35 is further connected with box fans FS1 and FS2, the heat dissipation of the variable frequency motor is achieved through the ventilation module 5, and the ventilation principle of the ventilation module 5 comprises ventilation of the 1# and 2# variable frequency motors.
The ventilation principle of the 1# and 2# variable frequency motors is as follows: electromagnetic coil K35 gets electric, and relay switch K35 is closed, and PLC1 output end's power module 1 communicates, starts relay switch's power module 1, and electromagnetic coil KM3 and electromagnetic coil KM4 get electric, and relay switch KM3 and KM4 are closed, and inverter motor ventilation blower M3 and M4 get electric operation.
The braking module 6 includes a variable frequency motor braking module 61 and a braking control module 62.
The braking control module 61 comprises a relay switch K36 connected with the positive electrode of the power module 1, an electromagnetic coil KM12 connected with the relay switch K36 and an electromagnetic coil K36 connected with the output end of the PLC1, the input end of the PLC1 is correspondingly connected with a 1# braking control switch K13 and a 2# braking control switch K14, and the other ends of the 1# braking control switch K13 and the 2# braking control switch K14 are connected with the positive electrode of the power module 1; inverter a1 is connected to electromagnetic coil K13, and inverter a2 is connected to electromagnetic coil K14.
The variable-frequency motor braking module 62 comprises a manual switch Q5 connected with the power module 1, a relay switch KM12 connected with a manual switch Q5, a 1# brake rectifying module M1z and a 2# brake rectifying module M2 z; the 1# brake rectifying module M1z and the 2# brake rectifying module M2z are connected in parallel and are simultaneously connected to the relay switch KM 12.
When the variable frequency motor needs to be stopped or emergency braking is needed in case of emergency, the braking is realized through the braking module 6, and the braking module 6 comprises braking of the 1# variable frequency motor and braking of the 2# variable frequency motor.
The braking principle of the 1# and 2# variable frequency motors is as follows: when braking is needed, the manual switch Q5 is closed, the electromagnetic coil K13 and the electromagnetic coil K14 are powered on, the braking control switches K13 and K14 are closed, the power supply module 1 at the output end of the PLC1 is started, the electromagnetic coil K36 is powered on, the relay switch K36 is closed, the electromagnetic coil KM12 is powered on, the relay switch KM12 is closed, the # brake rectifying modules M1z and M2z are powered on, and the brake operates.
The screen display module 7 comprises a 1# touch display screen 71, a 2# touch display screen 72 and a screen display control module 73.
The 1# touch display screen 71 and the 2# touch display screen 72 are respectively connected with the power module 1, and the 1# touch display screen and the 2# touch display screen are connected to a DP joint; a 1# inverter motor overload (also called as 1# motor overload) relay switch K20, a 2# inverter motor overload (also called as 2# motor overload) relay switch K21, a 1# motor open-phase relay switch K22, a 2# motor open-phase relay switch K23, a 1# inverter power-off relay switch K24, a 2# inverter power-off relay switch K25, a 1# inverter operation relay switch K26, a 2# inverter operation relay switch K27, a 1# inverter fault relay switch K30 and a 1# inverter fault relay switch K31 which are connected in parallel are connected with the DP joint, wherein the 1# inverter motor overload relay switch K20, the 2# inverter motor overload (also called as 2# motor overload) relay coil K21, the 1# motor open-phase relay switch K22, the 2# motor open-phase relay switch K23, the 1# inverter power-off relay switch K24, the 2# inverter overload relay switch K24, The other ends of a 2# frequency converter power-off relay switch K25, a 1# frequency converter operation relay switch K26, a 2# frequency converter operation relay switch K27, a 1# frequency converter fault relay switch K30 and a 1# frequency converter fault relay switch K31 are connected with the output end of the PLC 1.
The screen display control module 73 comprises a 1# variable frequency motor overload electromagnetic coil K20, a 2# variable frequency motor overload (also called 2# motor overload) relay coil K21, a 1# motor open-phase electromagnetic coil K22, a 2# motor open-phase relay coil K23, a 1# inverter power-off electromagnetic coil K24, a 2# inverter power-off relay coil K25, a 1# inverter operation electromagnetic coil K26, a 2# inverter operation relay coil K27, a 1# inverter fault electromagnetic coil K30 and a 2# inverter fault relay coil K31 which are connected with the output end of the PLC1, wherein the 1# variable frequency motor overload electromagnetic coil K20, the 2# variable frequency motor overload (also called 2# motor overload) relay coil K21, the 1# motor open-phase electromagnetic coil K22, the 2# motor open-phase relay coil K23, the 1# inverter power-off electromagnetic coil K24, the 2# inverter power-off relay coil K25, The other ends of the 1# frequency converter operation electromagnetic coil K26, the 2# frequency converter operation relay coil K27, the 1# frequency converter fault electromagnetic coil K30 and the 2# frequency converter fault relay coil K31 are connected with the negative electrode of the power module 1; the input end of the PLC1 is correspondingly connected with a 1# motor overload switch FR1, a 2# motor overload switch FR2, a 1# motor open-phase switch DJ1, a 2# motor open-phase switch DJ2, a 1# frequency converter power-off switch KM1, a 2# frequency converter power-off switch KM2, a 1# frequency converter operation switch K9, a 2# frequency converter operation switch K10, a 1# frequency converter fault switch K11 and a 2# frequency converter fault switch K12, and the other ends of the 1# motor overload switch FR1, the 2# motor overload switch FR2, the 1# motor open-phase switch DJ1, the 2# motor open-phase switch DJ2, the 1# frequency converter power-off switch KM1, the 2# frequency converter power-off switch KM2, the 1# frequency converter operation switch K9, the 2# frequency converter operation switch K10, the 1# frequency converter fault switch K1 and the 2# frequency converter fault switch K12 are connected with a positive pole of a power supply module; an electromagnetic coil FR1 is arranged at the input end of the 1# variable frequency motor, and an electromagnetic coil FR2 is arranged at the input end of the 2# variable frequency motor (namely, the overload input end of the 2# motor); the output end of the relay switch KM1 is connected with an electromagnetic coil DJ1, and the output end of the relay switch KM2 is connected with an electromagnetic coil DJ 2; the frequency converter A1 is connected with electromagnetic coils K9 and K11; the inverter a2 is connected to electromagnetic coils K10 and K12.
When the frequency converter and the motor are abnormal, the abnormal conditions are transmitted to the screen display module 7 through the PLC1 and displayed on the touch display screen, so that an operator can find problems in time and correct the problems in time.
The working principle of the screen display module 7 is as follows: when the motors 1# and 2# are overloaded, the electromagnetic coil FR1 and the electromagnetic coil FR2 are electrified, the motor overload normally-open switches FR1 and FR2 are closed, the variable frequency motor overload electromagnetic coils K20 and K21 are electrified, the motor overload relay switches K20 and K21 are closed, and the overload of the motors 1# and 2# is displayed on the touch display screen.
When the 1# and 2# motors are out of phase, the electromagnetic coil DJ1 and the electromagnetic coil DJ2 lose power, the normally-closed motor phase-opening switches DJ1 and DJ2 are closed, the electromagnetic coil K22 and the electromagnetic coil K23 are electrified, the motor phase-opening relay switches K22 and K23 are closed, and the 1# and 2# motor phase-opening is displayed on the touch display screen.
When the 1# and 2# frequency converters lose power, the electromagnetic coils KM1 and KM2 lose power, the normally closed switches KM1 and KM2 of the frequency converter lose power are closed, the electromagnetic coil K24 and the electromagnetic coil K25 are electrified, the relay switches K24 and K25 of the frequency converter lose power are closed, and the 1# and 2# frequency converters lose power displayed on the touch display screen.
When the 1# and 2# frequency converters operate, the electromagnetic coils K9 and K10 are electrified, the frequency converter operation relay switches K9 and K10 are closed, the frequency converter operation electromagnetic coil K26 and the electromagnetic coil K27 are electrified, the frequency converter power-off relay switches K26 and K27 are closed, and the 1# and 2# frequency converters operate on the touch display screen.
When the 1# and 2# frequency converters have faults, the electromagnetic coils K11 and K12 are electrified, the frequency converter fault relay switches K11 and K12 are closed, the frequency converter fault electromagnetic coil K30 and the electromagnetic coil K31 are electrified, the frequency converter fault relay switches K30 and K31 are closed, and the 1# and 2# frequency converter faults are displayed on the touch display screen.
The integrated alarm module 8 comprises an alarm 81 and an alarm control module 82.
The alarm comprises a 1# alarm and a 2# alarm.
The 1# alarm and the 2# alarm are respectively connected with a relay switch K32;
alarm control module is including connecting at the comprehensive warning solenoid K32 of PLC1 output, the negative pole of power module 1 is connected to the other end of comprehensive warning solenoid K32, and what PLC1 input corresponds is connected with amortization switch SB1, power module 1's positive pole is connected to amortization switch SB 1's the other end.
When the frequency converter and the motor are abnormal, the signal is transmitted to the comprehensive alarm module 8, and the buzzer alarms to draw the attention of an operator and check the reason.
The working principle of the comprehensive alarm module 8 is as follows: the power supply module 1 of the comprehensive alarm module 8 is powered on, after the signal of abnormal condition is obtained, the electromagnetic coil K32 is powered on, the relay switch K32 is closed, and the buzzer sends out alarm sound; after SB1 or SB2 is manually closed, the sound deadening function is realized, and the alarm sound stops.
The electric pushing cylinder limiting module 9 comprises a 1# electric pushing cylinder limiting module 91, a 2# electric pushing cylinder limiting module 92, a 1# electric pushing cylinder limiting control module 93 and a 2# electric pushing cylinder limiting control module 94.
The 1# electric pushing cylinder limiting module 91 comprises a 1# electric pushing cylinder extending limiting module and a 1# electric pushing cylinder retracting limiting module, the 1# electric pushing cylinder extending limiting module is a 1# cylinder extending limiting sensor arranged at the left end of the 1# electric pushing cylinder, and the 1# electric pushing cylinder retracting limiting module is a 1# cylinder extending retracting sensor arranged at the right end of the 1# electric pushing cylinder.
The 2# electric pushing cylinder limiting module 92 comprises a 2# electric pushing cylinder extending limiting module and a 2# electric pushing cylinder retracting limiting module, the 2# electric pushing cylinder extending limiting module is a 1# cylinder extending limiting sensor arranged at the right end of the 2# electric pushing cylinder, and the 2# electric pushing cylinder retracting limiting module is a 2# cylinder extending retracting sensor arranged at the left end of the 2# electric pushing cylinder.
The 1# electric pushing cylinder limit control module 93 comprises a 1# electric pushing cylinder extending limit control module and a 1# electric pushing cylinder retracting limit control module, the 1# electric pushing cylinder extending limit control module comprises an electromagnetic coil K7 connected to the output end of a PLC1, and the input end of the PLC1 is correspondingly connected with a 1# electric pushing cylinder extending limit switch SP 1; the 1# electric pushing cylinder retraction limit control module comprises an electromagnetic coil K8 connected to the output end of a PLC1, and the input end of the PLC1 is correspondingly connected with a 1# electric pushing cylinder extension limit switch SP 2.
The 2# electric pushing cylinder limit control module 94 comprises a 2# electric pushing cylinder extending limit control module and a 2# electric pushing cylinder retracting limit control module, the 2# electric pushing cylinder extending limit control module comprises an electromagnetic coil K7 connected to the output end of a PLC1, and the input end of the PLC1 is correspondingly connected with a 2# electric pushing cylinder extending limit switch SP 4; the 2# electric pushing cylinder retraction limit control module comprises an electromagnetic coil K8 connected to the output end of the PLC1, and the input end of the PLC1 is correspondingly connected with a 1# electric pushing cylinder extension limit switch SP 5.
In the process of the rotation of the rudder, in order to control the rudder to rotate within a specified range and avoid damaging an electric push rod of the electric push cylinder, limit sensors are arranged at two ends in the electric push cylinder, and after the electric push rod stretches to the maximum position, the limit sensors are touched, signals are transmitted to an electric control system, the electric push cylinder is controlled to move reversely, and the rudder rotates reversely.
The working principle of the electric pushing cylinder limiting module 9 is as follows: when the push rods of the No. 1 and No. 2 electric propulsion cylinders are pushed leftwards, the No. 1 and No. 2 rudders rotate rightwards, after the push rods of the No. 1 and No. 2 cylinders extend to the maximum length, the No. 1 and No. 2 ship rudders reach the maximum rotation angle rightwards, the No. 1 and No. 2 cylinders extend out of the limit sensors, the electric propulsion cylinders extend out of the limit switches SP1 and SP4 and are switched on, the electromagnetic coil K8 is electrified, the relay switch K8 is switched off, the electromagnetic coil K6 is electrified, the relay switch K6 is opened, the relay switch K7 is closed, the electromagnetic coil K5 is electrified, the relay switch K5 is closed, the push rods of the electric propulsion cylinders retract, and the No. 1 and; when the rudder of the ship turns left, the push rods of the 1# and 2# cylinders retract inwards, the rudder of the ship reaches the maximum rotation angle leftward, the 1# cylinder and the 2# cylinder retract limit sensors are touched, the electric pushing cylinder extends out of the limit switches SP2 and SP5 and is switched on, the electromagnetic coil K7 is electrified, the relay switch K7 is switched off, the electromagnetic coil K5 is electrified, the relay switch K5 is switched off, the electromagnetic coil K8 is electrified, the relay switch K8 is closed, the electromagnetic coil K6 is electrified, the relay switch K6 is closed, the push rod of the electric pushing cylinder retracts, and the rudder of the 1# and the 2# rudder turns right.
The electric pushing cylinder is used as a power driving system, the integration level is high, the energy is saved, the environment is protected, the electric pushing cylinder is conveniently connected with a PLC1 control system, the electric pushing cylinder control system controls the electric pushing cylinder alternating-frequency motor, the high-precision motion control can be realized, and the safety performance is improved.
Claims (4)
1. The utility model provides an electric propulsion jar control system which characterized in that: the device comprises a power supply module and a motor control module;
the motor control module comprises a steering control module and a speed control module;
the steering control module comprises a first steering position selection switch, a steering switch, an automatic steering CK2, a relay normally-closed switch K7, an electromagnetic coil K5, a relay normally-closed switch K8 and an electromagnetic coil K6; the first steering position selection switch comprises a selection switch 1-2, a selection switch 3-4, a selection switch 5-6 and a selection switch 7-8; the selection switch 3-4, the relay normally-closed switch K7 and the electromagnetic coil K5 are sequentially connected in series, one end of the selection switch 3-4 is connected to the positive pole of the power module, and the electromagnetic coil K5 is connected to the negative pole of the power module; the selection switch 7-8, the relay normally-closed switch K8 and the electromagnetic coil K6 are sequentially connected in series, one end of the selection switch 7-8 is connected to the positive pole of the power module, and the electromagnetic coil K6 is connected to the negative pole of the power module;
the speed control module comprises a second steering position selection switch, a three-position manual switch S1, a three-position manual switch S2, a relay normally-closed switch K4, an electromagnetic coil K3, a relay normally-closed switch K3 and an electromagnetic coil K4; the second steering position selection switch comprises selection switches 9-10 and selection switches 11-12; one end of a selection switch 9-10 is connected with the positive electrode of the power module, the other end of the selection switch 9-10 is connected with a three-position manual switch S2, one end of a selection switch 11-12 is connected with the positive electrode of the power module, the other end of the selection switch 11-12 is connected with a three-position manual switch S1, a relay normally-closed switch K4 is connected with an electromagnetic coil K3 in series, an electromagnetic coil K3 is connected with the negative electrode of the power module, a relay normally-closed switch K3 is connected with an electromagnetic coil K4 in series, an electromagnetic coil K4 is connected with the negative electrode of the power module, a relay normally-closed switch K4 is connected with three-position manual switches S1 and S2 respectively, and a relay normally-closed switch K3 is connected with three-position manual switches S.
2. The electric pusher cylinder control system of claim 1, characterized in that: the autopilot CK2 comprises an autopilot switch 1-2 and an autopilot switch 3-4; the automatic rudder switch 1-2 is connected with the selection switch 1-2 in series; the autopilot switch 3-4 and the selector switch 5-6 are connected in series.
3. The electric pusher cylinder control system according to claim 2, characterized in that: the steering switch comprises a steering switch 1-2 and a steering switch 3-4, the steering switch 1-2 is sequentially connected with a selection switch 3-4, a relay normally closed switch K7 and an electromagnetic coil K5 in series, the selection switch 3-4 is connected with the steering switch 1-2 in series, the selection switch 1-2 is connected with the automatic steering switch 1-2 in series, and the selection switch 3-4 and the steering switch 1-2 which are connected in series are connected with the selection switch 1-2 and the automatic steering switch 1-2 which are connected in series in parallel; the selection switch 7-8, the steering switch 3-4, the relay normally-closed switch K8 and the electromagnetic coil K6 are sequentially connected in series, the selection switch 7-8 and the steering switch 3-4 are connected in series, the selection switch 5-6 and the automatic steering switch 3-4 are connected in series, and the selection switch 7-8 and the steering switch 3-4 which are connected in series are connected in parallel with the selection switch 5-6 and the automatic steering switch 3-4 which are connected in series.
4. An electric cylinder control system according to any one of claims 1 to 3, characterized in that: the electric pushing cylinder limiting control module comprises a No. 1 electric pushing cylinder limiting control module and a No. 2 electric pushing cylinder limiting control module;
the 1# electric pushing cylinder limit control module comprises a 1# electric pushing cylinder extending limit control module and a 1# electric pushing cylinder retracting limit control module, the 1# electric pushing cylinder extending limit control module comprises an electromagnetic coil K7 connected to the output end of a PLC1, and the input end of the PLC1 is correspondingly connected with a 1# electric pushing cylinder extending limit switch SP 1; the 1# electric pushing cylinder retraction limit control module comprises an electromagnetic coil K8 connected to the output end of the PLC1, and a 1# electric pushing cylinder retraction limit switch SP2 is correspondingly connected to the input end of the PLC 1;
the 2# electric pushing cylinder limit control module comprises a 2# electric pushing cylinder extending limit control module and a 2# electric pushing cylinder retracting limit control module, the 2# electric pushing cylinder extending limit control module comprises an electromagnetic coil K7 connected to the output end of a PLC1, and the input end of the PLC1 is correspondingly connected with a 2# electric pushing cylinder extending limit switch SP 4; the 2# electric pushing cylinder retraction limit control module comprises an electromagnetic coil K8 connected to the output end of the PLC1, and the input end of the PLC1 is correspondingly connected with a 2# electric pushing cylinder retraction limit switch SP 5.
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