CN109764843B - Self-correcting type garbage incinerator feed dolly displacement measurement device - Google Patents
Self-correcting type garbage incinerator feed dolly displacement measurement device Download PDFInfo
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Abstract
The invention discloses a self-correcting type garbage incinerator feeding trolley displacement measuring device, which adopts a method of combining a fixed position travel switch and a stay wire displacement sensor and program control dynamic compensation to realize dynamic correction of feeding trolley displacement measurement, thereby ensuring that displacement measurement precision does not change along with running time and is not influenced by a replacement sensor, and simultaneously having a debugging-free function of a newly installed or replaced sensor.
Description
Technical Field
The invention belongs to the field of waste incineration power generation, and particularly relates to a self-correcting type waste incinerator feeding trolley displacement measuring device.
Background
With the development of social economy and the increasing improvement of the living standard of people, the contradiction between the continuous increase of urban domestic garbage and the relative insufficiency of garbage treatment capacity is increasingly prominent. How to realize the reclamation, reduction and harmlessness of the garbage has attracted high attention of academic and engineering circles. Among the garbage disposal methods, garbage incineration power generation is one of the most effective ways and is gradually popularized and applied. Among various waste incinerators, the mechanical grate incinerator has wide adaptability and large-capacity processing capacity, and is the mainstream waste incineration power generation technology at present. The mechanical grate incinerator is generally composed of a garbage feeding bin, a sealing door, a feeding trolley, a grate, a material layer baffle plate, a slag remover and the like, and all the parts realize the coordinated motion control under the action of a hydraulic driving and control system. The feeding trolley controls the feeding amount of the garbage, and has important influence on the combustion working condition, the energy conversion efficiency and the secondary emission index of the garbage incinerator.
The feeding trolley pushes the garbage into the incinerator through periodic forward movement, and the control of the garbage feeding amount needs to be fed back to the movement displacement of the feeding trolley. The existing feeding trolley displacement measurement has two realization forms. One is that 3 travel switches are arranged on a moving track of the feeding trolley and are respectively distributed on 0mm (back in place), 300mm (middle in place) and 1500mm (entering in place) of the travel displacement of the feeding trolley. One cyclic movement of the feed carriage comprises one full-stroke forward movement and one full-stroke backward movement. The speed and the waiting time of the forward movement determine the speed of the waste feed and the amount of waste feed per unit time. In the advancing process, the feeding trolley moves from 'back to in place' to 'in place' which is called as a first step, the speed of the feeding trolley can be calculated by recording the time used by the feeding trolley, the feeding trolley can be divided into a plurality of steps from 'in place' to 'in place', the feeding trolley can be divided into a plurality of steps according to the feeding requirement of garbage, and the feeding amount of the garbage corresponding to each step of the feeding trolley can be realized by controlling the advancing time and the stopping time of each step of the feeding trolley. The feeding trolley displacement measuring method is actually estimated according to the running speed of 300mm in front of the feeding trolley and the running time of each step, and the real-time displacement of the feeding trolley cannot be known.
The other form of the feeding trolley displacement measurement is realized by installing a stay wire displacement sensor, the stay wire displacement sensor is hung at the rear end of the feeding trolley, when the feeding trolley moves forwards, a stay wire of the stay wire sensor is pulled out, the pulled-out length reflects the real-time displacement of the feeding trolley, and a 4-20mA current signal is output to a P L C control system, so that the forward displacement of the feeding trolley is controlled according to the actual requirement of the garbage feeding amount.
Disclosure of Invention
The invention provides a self-correcting type garbage incinerator feeding trolley displacement measuring device, aiming at solving the problems that the feeding trolley displacement measuring precision changes along with the running time, the zero position adjustment and the range (gain) adjustment of a newly installed stay wire displacement sensor, the measuring error caused by replacing the stay wire displacement sensor and the like, and ensuring that the displacement measuring precision does not change along with the running time and is not influenced by the replacement sensor, and meanwhile, the self-correcting type garbage incinerator feeding trolley displacement measuring device has the debugging-free function of newly installed or replaced sensors.
The purpose of the invention is realized as follows:
the utility model provides a self-correcting type waste incinerator feed dolly displacement measurement device, includes n feed dollies, and n is greater than or equal to 1, and each feed dolly is installed respectively on the motion track that corresponds, and passes through oil cylinder drive, its characterized in that still includes:
the feeding trolley is characterized by comprising a feeding trolley;
the remote data acquisition unit is provided with an analog input module and a switching value input module, and a signal output by each feeding trolley stay wire displacement sensor is connected to the analog input module, and a position-entering travel switch and a position-returning travel switch are connected to the switching value input module;
and the displacement measurement P L C system is connected with the remote data acquisition unit and is used for receiving signals of the remote data acquisition unit and sending out a control command.
Preferably, the remote data acquisition unit realizes communication with a displacement measurement P L C system through Profibus DP.
Preferably, the displacement measurement P L C system is shared with a hydraulic and incinerator motion controlled P L C system.
Preferably, the displacement measurement P L C system is provided with control programs, which comprise a feeding trolley displacement data acquisition program, a travel switch state acquisition and logic processing program and a feeding trolley displacement dynamic correction program,
a feeding trolley displacement data acquisition program: sequentially reading n analog quantity input channels, obtaining an A/D conversion code of the displacement of the feeding trolley, converting the A/D conversion code into a project quantity and carrying out rationality judgment processing;
the travel switch state acquisition and logic processing program comprises the following steps: sequentially collecting 2n switching value input channels, respectively obtaining the states of a feeding trolley in-place travel switch and a feeding trolley back to the position travel switch, identifying the generation of the in-place or back-to-position state of the travel switch in the movement process through logical operation, further obtaining the jumping-up edge signals of the in-place travel switch and the feeding trolley back to the position travel switch,
dynamic correction program of the displacement of the feeding trolley: calibrating the actually measured displacement output by the corresponding stay wire displacement sensor when the return travel switch is switched on as a zero position, and dynamically refreshing; and (3) gain correction: and calibrating the actually measured displacement output by the corresponding stay wire displacement sensor when the position-entering travel switch is switched on as a full-scale range, and dynamically refreshing.
Preferably, the feeding trolley displacement dynamic correction program comprises the following steps:
the first step is as follows: obtaining the displacement of the feeding trolley, wherein the formula is as follows:
l (k) measured value of the displacement of the feed carriage, Nmin: lower limit of analog input code, NmaxUpper limit of analog input code, LminLower limit of measuring range of stay wire displacement sensor, Lmax: stay wire displacement sensor range upper limit, N: inputting an analog quantity code;
the second step is that: zero point correction is carried out on the displacement of the feeding trolley, and the formula is as follows:
LC0(k)＝L(k)-L0(k)
LC0(k) displacement of the feed carriage after zero correction, L0(k) Dynamic zero point of the feeding trolley displacement, L (k), the measured value of the feeding trolley displacement;
the third step: acquiring the jumping-up edge of the state of the position-retreating travel switch, wherein the formula is as follows:
SQB _ ON ≈ ≈: the feeding trolley retreats to the upper jumping edge of the position travel switch state, SQB (k): the current period state of the feeding trolley retreating position travel switch, SQB (k-1): the feeding trolley is returned to the last period state of the position travel switch;
the fourth step: dynamic refreshing of displacement zero point of feeding trolley
L is executed when SQB _ ON ≈ 10(k) Oid No. L (k), refresh L0(k) Acquiring a dynamic zero point of the displacement of the feeding trolley;
the fifth step: and carrying out dynamic gain correction on the displacement of the feeding trolley, wherein the formula is as follows:
LC(k)＝LC0(k).G(k)
LC(k) zero and gain corrected feed carriage displacement, LC0(k) The method comprises the following steps Displacement of the feed carriage after zero point correction, g (k): dynamic gain of feed trolley displacement;
and a sixth step: acquiring the state of the in-place travel switch, wherein the formula is as follows:
SQF _ ON ≠: the feeding trolley enters the upper jumping edge of the position travel switch state, SQF (k): the current cycle state of the feeding trolley entering the position travel switch, SQF (k-1): the feeding trolley enters the last period state of the position travel switch;
the seventh step: dynamic refresh for feed trolley displacement gain
When the SQF _ ON ≠ 1, dynamically refreshing g (k) as follows:
LCH(k)←LC(k)
g (k) dynamic gain of feed carriage displacement, LSQFActual value of the feed carriage displacement when the in-position travel switch is on, LCH(k) Measurement of the feed carriage displacement when the in-position travel switch is switched on, LC(k) The method comprises the following steps And (5) carrying out zero point and gain correction on the displacement of the feeding trolley.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
the invention adopts the combination of the fixed position travel switch and the pull wire displacement sensor and the method of program control dynamic compensation to realize the dynamic correction of the displacement measurement of the feeding trolley, thereby ensuring that the displacement measurement precision does not change along with the operation time and is not influenced by the replacement of the sensor, and simultaneously having the functions of debugging-free (zero adjustment and range adjustment) of newly installed or replaced sensors.
Drawings
FIG. 1 is a block diagram of a displacement measuring device of a feeding trolley;
FIG. 2 is a flowchart of the control procedure of the measuring device for the displacement of the feeding cart.
Reference numerals
In fig. 1: 1: feeding trolley, 2: the feeding trolley enters a position travel switch, 3: feeding trolley moving track, 4: stay wire of stay wire displacement sensor, 5: a hydraulic cylinder; 6: the feeding trolley moves back to the position travel switch, 7: a stay wire displacement sensor.
Detailed Description
The invention is further explained with reference to the accompanying drawings, and the embodiment of the device for measuring the displacement of the feeding trolley of the self-correcting garbage incinerator is shown in figures 1 and 2.
1. Displacement measuring device assembly of feeding trolley
According to the daily garbage disposal capability, garbage incinerators generally have various specifications such as 200t/d, 250t/d, 300t/d, 350t/d, 400t/d, 450t/d, 500t/d, 550t/d, 600t/d, 650t/d, 700t/d and 750 t/d. Different garbage processing capacities are realized by configuring feeding platforms with different sizes and feeding trolleys with different numbers, and the configuration number of the feeding trolleys is generally 2, 4, 6, 8 and the like. The feeding trolley is heavy mechanical equipment and is driven by hydraulic pressure to move forwards and backwards.
The feeding trolley displacement measuring device consists of n forward position travel switches (n is the number of the feeding trolleys), n backward position travel switches, n stay wire displacement sensors, 1 remote data acquisition unit and 1 set of displacement measuring P L C system, and the displacement measuring P L C system can be shared with an incinerator hydraulic station and a P L C system for controlling the movement of the incinerator as shown in the attached figure 1.
The position-entering travel switch and the position-retreating travel switch are fixed on a moving track of the feeding trolley through a mounting bracket. When the feeding trolley enters the position, the position where the stop iron of the feeding trolley switches on the travel switch is provided with the in-position travel switch; when the feeding trolley moves back to the proper position, a return-to-position travel switch is arranged at the position where the stop iron of the feeding trolley switches on the travel switch. The stay wire displacement sensor is arranged on the base of the oil cylinder, and the stay wire of the stay wire displacement sensor is connected with the hook on the rear end face of the feeding trolley through the hook. When the feeding trolley advances under the driving of hydraulic pressure, the stay wire of the stay wire displacement sensor is pulled out, and a 4-20mA current signal output by the sensor is increased; when the feeding trolley retreats, the stay wire of the stay wire displacement sensor automatically retracts under the action of the spring of the stay wire displacement sensor, and a 4-20mA current signal output by the sensor is reduced.
The remote data acquisition unit is installed at a 7-meter platform of the incinerator and is provided with an 8-channel analog quantity input module and a 32-channel switching value input module. 4-20mA signals output by each feeding trolley stay wire displacement sensor are connected to the analog quantity input module, and the position-entering travel switch and the position-withdrawing travel switch are connected to the switching value input module.
The remote data acquisition unit realizes communication with a displacement measurement P L C system through Profibus DP, and the displacement measurement P L C system can be shared with a P L C system for hydraulic control and incinerator motion control in order to reduce cost.
2. Dynamic correction of feed carriage displacement
The dynamic correction of the displacement of the feeding trolley comprises a zero point correction part and a gain correction part. The feeding trolley is pushed by a hydraulic oil cylinder to realize forward movement or backward movement. Because the hydraulic oil cylinder is rigid, the actual zero point and the whole displacement of the feeding trolley are not changed, but the actually measured displacement of the feeding trolley deviates from the actual displacement due to the aging of the stay wire displacement sensor, the elastic deformation of the stay wire and the installation error of the replacement sensor. Based on the zero position calibration method, the actual measurement displacement output by the corresponding stay wire displacement sensor when the backward position travel switch is switched on is calibrated to be the zero position by utilizing the state information of the backward position travel switch and combining a control program; similarly, the actual measurement displacement output by the corresponding stay wire displacement sensor when the in-position travel switch is switched on is calibrated to the full range by utilizing the state information of the in-position travel switch and combining a control program. The basic steps are as follows:
the first step is as follows: obtaining the displacement of the feeding trolley, wherein the formula is as follows:
l (k) measured value of the displacement of the feed carriage, Nmin: lower limit of analog input code, NmaxUpper limit of analog input code, LminLower limit of measuring range of stay wire displacement sensor, Lmax: stay wire displacement sensor range upper limit, N: inputting an analog quantity code;
the second step is that: zero point correction is carried out on the displacement of the feeding trolley, and the formula is as follows:
LC0(k)＝L(k)-L0(k)
LC0(k) displacement of the feed carriage after zero correction, L0(k) Dynamic zero point of the feeding trolley displacement, L (k), the measured value of the feeding trolley displacement;
the third step: acquiring the jumping-up edge of the state of the position-retreating travel switch, wherein the formula is as follows:
SQB _ ON ≈ ≈: the feeding trolley retreats to the upper jumping edge of the position travel switch state, SQB (k): the current period state of the feeding trolley retreating position travel switch, SQB (k-1): the feeding trolley is returned to the last period state of the position travel switch;
the fourth step: dynamic refreshing of displacement zero point of feeding trolley
L is executed when SQB _ ON ≈ 10(k) Oid No. L (k), refresh L0(k) Acquiring a dynamic zero point of the displacement of the feeding trolley;
the fifth step: and carrying out dynamic gain correction on the displacement of the feeding trolley, wherein the formula is as follows:
LC(k)＝LC0(k).G(k)
LC(k) zero and gain corrected feed carriage displacement, LC0(k) The method comprises the following steps Displacement of the feed carriage after zero point correction, g (k): the dynamic gain of the displacement of the feeding trolley,
and a sixth step: acquiring the state of the in-place travel switch, wherein the formula is as follows:
SQF _ ON ≠: the feeding trolley enters the upper jumping edge of the position travel switch state, SQF (k): the current cycle state of the feeding trolley entering the position travel switch, SQF (k-1): the feeding trolley enters the last period of the position travel switch,
the seventh step: dynamic refresh for feed trolley displacement gain
When the SQF _ ON ≠ 1, dynamically refreshing g (k) as follows:
LCH(k)←LC(k)
g (k) dynamic gain of feed carriage displacement, LSQFActual value of the feed carriage displacement when the in-position travel switch is on, LCH(k) Measurement of the feed carriage displacement when the in-position travel switch is switched on, LC(k) The method comprises the following steps And (5) carrying out zero point and gain correction on the displacement of the feeding trolley.
And (3) periodically executing the 7 steps to realize the dynamic correction of the displacement zero point and the gain of the feeding trolley, and effectively overcoming the measurement error of the displacement of the feeding trolley caused by the aging of the stay wire displacement sensor and the elastic deformation of the stay wire. After dynamic correction is introduced, the stay wire displacement sensor is newly installed or replaced, and zero point adjustment and gain adjustment can be omitted.
3. Control program of feeding trolley displacement measuring device
The control program comprises a feeding trolley displacement data acquisition program, a travel switch state acquisition and logic processing program and a feeding trolley displacement dynamic correction program, and the flow of the control program is shown in figure 2.
A feeding trolley displacement data acquisition program: and sequentially reading n analog quantity input channels (n is the number of the feeding trolleys), obtaining an A/D conversion code of the displacement of the feeding trolleys, converting the A/D conversion code into engineering quantity and carrying out rationality judgment processing.
The travel switch state acquisition and logic processing program comprises the following steps: the method comprises the steps of sequentially collecting 2n switching value input channels (n is the number of feeding trolleys), respectively obtaining states of a feeding trolley entering a position travel switch and a feeding trolley retreating position travel switch, and effectively identifying the generation of the state that the travel switch enters the position or retreats to the position in the movement process through logical operation, namely effectively obtaining an upward jumping edge signal of the entering position travel switch and the retreating position travel switch.
Dynamic correction program of the displacement of the feeding trolley: and (3) realizing the dynamic correction of the displacement zero point and the gain of the feeding trolley according to the 7 steps of the dynamic correction of the displacement of the feeding trolley.
4. Detailed description of the invention
The first step is as follows: and a feeding position travel switch and a support thereof are arranged on the track corresponding to the feeding position of the feeding trolley, and a position returning travel switch and a support thereof are arranged on the track corresponding to the position returning position of the feeding trolley.
The second step is that: and a stay wire displacement sensor is arranged on the base of the oil cylinder of the feeding trolley, and the stay wire is hung on a hook on the rear end surface of the feeding trolley.
And thirdly, connecting the 4-20mA output signal of the stay wire displacement sensor, the input signal of the position-advancing travel switch and the output signal of the position-retreating travel switch to a feeding trolley displacement measurement P L C system.
The fourth step: and compiling, downloading and running a feeding trolley displacement data acquisition program, a travel switch state acquisition and logic processing program and a feeding trolley displacement dynamic correction program according to the flow shown in the attached figure 2.
Finally, it is noted that the above-mentioned preferred embodiments illustrate rather than limit the invention, and that, although the invention has been described in detail with reference to the above-mentioned preferred embodiments, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the scope of the invention as defined by the appended claims.
Claims (3)
1. The utility model provides a self-correcting type waste incinerator feed dolly displacement measurement device, includes n feed dollies, and n is greater than or equal to 1, and each feed dolly is installed respectively on the motion track that corresponds, and passes through oil cylinder drive, its characterized in that still includes:
the feeding trolley is characterized by comprising a feeding trolley;
the remote data acquisition unit is provided with an analog input module and a switching value input module, and a signal output by each feeding trolley stay wire displacement sensor is connected to the analog input module, and a position-entering travel switch and a position-returning travel switch are connected to the switching value input module;
the displacement measurement P L C system is connected with the remote data acquisition unit and is used for receiving signals of the remote data acquisition unit and sending out a control instruction;
the displacement measurement P L C system is internally provided with control programs including a feeding trolley displacement data acquisition program, a travel switch state acquisition and logic processing program and a feeding trolley displacement dynamic correction program,
a feeding trolley displacement data acquisition program: sequentially reading n analog quantity input channels, obtaining an A/D conversion code of the displacement of the feeding trolley, converting the A/D conversion code into a project quantity and carrying out rationality judgment processing;
the travel switch state acquisition and logic processing program comprises the following steps: sequentially collecting 2n switching value input channels, respectively obtaining the states of a feeding trolley in-place travel switch and a feeding trolley back to the position travel switch, identifying the generation of the in-place or back-to-position state of the travel switch in the movement process through logical operation, further obtaining the jumping-up edge signals of the in-place travel switch and the feeding trolley back to the position travel switch,
dynamic correction program of the displacement of the feeding trolley: calibrating the actually measured displacement output by the corresponding stay wire displacement sensor when the return travel switch is switched on as a zero position, and dynamically refreshing; calibrating the actually measured displacement output by the corresponding stay wire displacement sensor when the position-entering travel switch is switched on as a full range, and dynamically refreshing;
the dynamic correction program for the displacement of the feeding trolley comprises the following steps:
the first step is as follows: obtaining the displacement of the feeding trolley, wherein the formula is as follows:
L(k)：measured value of the displacement of the feed carriage, Nmin: lower limit of analog input code, NmaxUpper limit of analog input code, LminLower limit of measuring range of stay wire displacement sensor, Lmax: stay wire displacement sensor range upper limit, N: inputting an analog quantity code;
the second step is that: zero point correction is carried out on the displacement of the feeding trolley, and the formula is as follows:
LC0(k)＝L(k)-L0(k)
LC0(k) displacement of the feed carriage after zero correction, L0(k) Dynamic zero point of the feeding trolley displacement, L (k), the measured value of the feeding trolley displacement;
the third step: acquiring the jumping-up edge of the state of the position-retreating travel switch, wherein the formula is as follows:
SQB _ ON ≈ ≈: the feeding trolley retreats to the upper jumping edge of the position travel switch state, SQB (k): the current period state of the feeding trolley retreating position travel switch, SQB (k-1): the feeding trolley is returned to the last period state of the position travel switch;
the fourth step: dynamic refreshing of displacement zero point of feeding trolley
L is executed when SQB _ ON ≈ 10(k) Oid No. L (k), refresh L0(k) Acquiring a dynamic zero point of the displacement of the feeding trolley;
the fifth step: and carrying out dynamic gain correction on the displacement of the feeding trolley, wherein the formula is as follows:
LC(k)＝LC0(k).G(k)
LC(k) zero and gain corrected feed carriage displacement, LC0(k) The method comprises the following steps Displacement of the feed carriage after zero point correction, g (k): dynamic gain of feed trolley displacement;
and a sixth step: acquiring the state of the in-place travel switch, wherein the formula is as follows:
SQF _ ON ≠: the feeding trolley enters the upper jumping edge of the position travel switch state, SQF (k): the current cycle state of the feeding trolley entering the position travel switch, SQF (k-1): the feeding trolley enters the last period state of the position travel switch;
the seventh step: dynamic refresh for feed trolley displacement gain
When the SQF _ ON ≠ 1, dynamically refreshing g (k) as follows:
LCH(k)←LC(k)
g (k) dynamic gain of feed carriage displacement, LSQFActual value of the feed carriage displacement when the in-position travel switch is on, LCH(k) Measurement of the feed carriage displacement when the in-position travel switch is switched on, LC(k) The method comprises the following steps And (5) carrying out zero point and gain correction on the displacement of the feeding trolley.
2. The device for measuring the displacement of the feeding trolley of the self-correcting garbage incinerator according to the claim 1, characterized in that the remote data acquisition unit realizes the communication with the displacement measurement P L C system through Profibus DP.
3. The apparatus of claim 1, wherein the P L C system is shared with the P L C system for hydraulic control and incinerator motion control.
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| CN202733908U (en) * | 2012-04-01 | 2013-02-13 | 光大环保科技发展（北京）有限公司 | Feeding fire grate of garbage incinerator and garbage incinerator |
| CN203372773U (en) * | 2013-06-06 | 2014-01-01 | 徐工集团工程机械股份有限公司道路机械分公司 | Control system of horizontal material conveying trolley |
| GB2517152A (en) * | 2013-08-12 | 2015-02-18 | Gde Technology Ltd | Position sensor |
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