CN110161960A - The control of positioning vehicle speed, monitoring method and the management system of car dumper system - Google Patents
The control of positioning vehicle speed, monitoring method and the management system of car dumper system Download PDFInfo
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- CN110161960A CN110161960A CN201910512748.2A CN201910512748A CN110161960A CN 110161960 A CN110161960 A CN 110161960A CN 201910512748 A CN201910512748 A CN 201910512748A CN 110161960 A CN110161960 A CN 110161960A
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000012544 monitoring process Methods 0.000 title claims abstract description 17
- 238000013507 mapping Methods 0.000 claims abstract description 9
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 4
- 101100408464 Caenorhabditis elegans plc-1 gene Proteins 0.000 description 19
- 239000000463 material Substances 0.000 description 5
- 230000009467 reduction Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000002829 reductive effect Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- 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
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/058—Safety, monitoring
-
- 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
- G05B2219/10—Plc systems
- G05B2219/14—Plc safety
- G05B2219/14006—Safety, monitoring in general
Abstract
The invention discloses a kind of positioning vehicle speed control methods of car dumper system, comprising: obtains the present load amount of positioning vehicle traction in real time；According to the load capacity of preset positioning vehicle traction and the mapping relations between the current of electric of vehicle and the speed of positioning vehicle are positioned, determine the target velocity of the target current of the motor and the positioning vehicle under the present load amount；The motor work is controlled according to the target current and/or the target velocity.The present invention can effectively realize the control and monitoring to positioning vehicle, and positioning vehicle can obtain faster bringing onto load speed and acceleration, improve positioning vehicle complete alternation operating efficiency, shorten the car dumper system activity duration, achieve the purpose that propose energy synergy.
Description
Technical field
The present invention relates to car dumper system technical field, in particular to the positioning vehicle speed controlling party of a kind of car dumper system
Method, a kind of positioning vehicle monitoring method of car dumper system and a kind of positioning speed management system.
Background technique
Car dumper system is widely used in bulk cargo terminals, power plant, and positioning vehicle belongs to car dumper system key equipment, main to rise
To the effect drawing loaded vehicle and being positioned.Since bulk cargo terminals are higher and higher to efficiency requirements, Connection between Processes are more and more closer.
The vehicle speed that leads of positioning vehicle is the important parameter for restricting car dumper system efficiency, positions vehicle hauling speed at present and mainly uses constant speed
Traction is recycled in the whole of car dumper operation, and it is that benchmark position carries out acceleration and deceleration that positioning vehicle, which is with fixed point when drawing loaded vehicle,
System.
Summary of the invention
Exist for the above-mentioned prior art, the present invention is directed to propose a kind of positioning vehicle speed controlling party of car dumper system
Method, monitoring method and management system, to improve the working efficiency of car dumper system.
In order to achieve the above objectives, the invention discloses a kind of positioning vehicle speed control methods of car dumper system, comprising:
The present load amount of positioning vehicle traction is obtained in real time；
According to the load capacity of preset positioning vehicle traction and position between the current of electric of vehicle and the speed of positioning vehicle
Mapping relations determine the target velocity of the target current of the motor and the positioning vehicle under the present load amount；
The motor work is controlled according to the target current and/or the target velocity.
Further, the real-time present load amount for obtaining positioning vehicle traction, comprising:
According to the mapping relations of the cycle-index of preset tippler and the load capacity of the positioning vehicle traction, according to overturning
The current cycle time of machine obtains the present load amount of the positioning vehicle traction.
Further, described that the motor work, packet are controlled according to the target current and/or the target velocity
It includes:
The motor work of the positioning vehicle is controlled by sending control signal to the frequency converter connecting with the motor.
On the other hand, the invention also discloses a kind of positioning vehicle monitoring methods of car dumper system, comprising:
In the case where the motor for positioning vehicle is controlled according to above-mentioned positioning vehicle speed control method, institute is obtained in real time
State the actual current of the motor of positioning vehicle and the actual speed of the positioning vehicle；
According to the present load amount of positioning vehicle traction, by the actual speed of the actual current of the motor and the positioning vehicle
The target velocity with the target current of the motor under the present load amount and the positioning vehicle compares respectively, judges institute
It states whether actual current is less than the target current, and judges whether the actual speed is greater than the target velocity, and root
It is judged that result monitors the operating status of the positioning vehicle.
Further, the practical speed of the actual current of the motor for obtaining the positioning vehicle in real time and the positioning vehicle
Degree, comprising:
The current detecting information and revolving speed inspection sent by the current sensor and velocity sensor that are set to the motor
Measurement information obtains the actual current of the motor of the positioning vehicle and the actual speed of the positioning vehicle.
Further, described to judge whether the actual current is less than the target current, and judge the practical speed
Whether degree is less than the target velocity, and the operating status of the positioning vehicle is monitored according to judging result, comprising:
If the actual current is less than the target current, the actual current is adjusted to target current to control
State motor work.
Further, judge whether the actual current is less than the target current, and judge that the actual speed is
It is no to be less than the target velocity, and the operating status for positioning vehicle is monitored according to judging result, comprising:
If the actual speed is greater than the target velocity, judge that the positioning vehicle is in abnormal operating condition.
In another aspect, the invention also discloses a kind of positioning speed management systems of tippler, comprising:
Vehicle is positioned, for carrying out towage in the case where PLC is controlled；
The PLC carries out towage for controlling the positioning vehicle according to above-mentioned method for control speed.
Further, the motor of the positioning vehicle is connected with frequency converter, and the PLC is by controlling the frequency converter to control
It states positioning vehicle and carries out towage.
Further, the PLC is also used to monitor the operation of the positioning vehicle according to above-mentioned positioning vehicle monitoring method
State.
The present invention at least has the advantages that
The present invention according to the load capacity drawn when prelocalization vehicle, search it is built-in given with reference to coefficient table, can be proper
Under preceding load capacity, the target velocity of vehicle and the target current of its motor are positioned, because following every time in the circulation of car dumper operation
Ring can all reduce the load of fixed amount, therefore PLC can obtain the current load capacity of positioning vehicle by previous cycle number, and
PLC controls motor as control parameter using the target velocity and target current that are calculated, is guaranteeing safe construction
In the case of, positioning vehicle is gradually increased with the reduction speed of institute's tractive load, and then accelerates the operation of entire car dumper system
Speed improves efficiency.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies mode and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the overall flow for the positioning vehicle speed control method that the present invention implements car dumper system described in embodiment
Figure；
Fig. 2 is the circulation process figure of the monitoring method of the positioning vehicle of car dumper system described in embodiment of the present invention；
Fig. 3 is the circuit connection diagram of the positioning speed management system of tippler described in embodiment of the present invention.
Description of symbols
1-PLC
2- frequency converter
3- current transformer
4- threephase asynchronous
5- speed measuring coder
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can
To be combined with each other.
The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiment.
The positioning vehicle speed control method of car dumper system as shown in Figure 1, comprising:
(1) load capacity that positioning vehicle is currently drawn is obtained in real time.
In car dumper system, the load that positioning vehicle is drawn is mainly the material that is loaded of loaded vehicle and loaded vehicle, with turning over
The continuous progress of circulation is unloaded, the load of positioning vehicle traction is also constantly reduced, and in the prior art, uses constant speed for positioning vehicle speed
Traction seriously constrains efficiency although ensure that positioning vehicle safe operation.During positioning vehicle traction, motor exists
In the case that rated current output is constant, according to reduceds transformation degree is loaded, can correspondingly increase the acceleration of positioning vehicle with
The speed of service.Therefore, the load capacity when the traction of prelocalization vehicle is obtained, is the important parameter of control positioning vehicle speed increase.
A variety of methods can be taken for the acquisition of load capacity, such as detected using Weight sensor assembly, and will
The weight information of detection is sent to the processing of PLC 1 and obtains present load amount, and faces the working environment of car dumper system, is difficult to lead to
It crosses sensor device and accurately obtains present load amount, and the installation of weight sensor also increases cost.Therefore the present invention
Embodiment disclose a kind of method for obtaining positioning vehicle present load amount, by each loaded vehicle for being drawn of positioning vehicle and loaded vehicle institute
The weight of the material of loading be it is certain, with dumping recycle continuous progress, the same amount of loaded vehicle of dumping is filled every time
The material of load, thus with each dumping circulation cause position vehicle traction load capacity reduction amount be also it is certain, followed in dumping
Before ring starts for the first time, the load capacity of positioning vehicle traction be it is maximum during entire dumping, load capacity at this time mainly by
What the parameters such as vehicle, capacity and the weight of material of loaded vehicle, density determined, these above-mentioned parameters are all can be by real under line
What test obtained, therefore, the total load amount for positioning vehicle can just have determined before positioning vehicle operation；Usual tippler
Total load amount, is subtracted the product of the load capacity of cycle-index and single cycle reduction, can obtained by 2~4 casees loaded vehicle of each dumping
To the corresponding load capacity of current cycle time.During actual implementation, following in the PLC 1 preset tippler can be shifted to an earlier date
The mapping relations of the load capacity of the traction of ring number and the positioning vehicle, can be saved and be called by way of electrical form.
It is noted that described passed through according to parameters such as loaded vehicle model, capacity and material itself density is surveyed under line
It calculates load capacity and obtains the corresponding relationship of load capacity and cycle-index, can be achieved by the prior art, therefore the present invention
No longer it is described in detail.
(2) according between the preset load capacity of positioning vehicle traction and the current of electric of positioning vehicle and the speed of positioning vehicle
Mapping relations, determine the target current of motor under present load amount and position the target velocity of vehicle.
It is given with reference to coefficient table be also referred to as it is maximum it is given refer to coefficient table, the table is with electrical form or other electronic documents
Form is preset in PLC 1, and the identification of PLC 1 and can be called, give with reference to coefficient table can by experiment under line and
Calculating is made, and is mainly used to record the mapping relations between load capacity-current of electric-speed (engine speed), PLC 1 can
Given with reference to coefficient table, target corresponding with the present load amount speed then obtained according to access is consulted according to present load amount
Degree and/or target current export the reference coefficient of this circulation to the frequency converter 2 of motor, so that feelings of the positioning vehicle in safe operation
Speed is promoted under condition.Preferably, giving can be by the existing ways processing procedures such as whole vehicle experiment, detailed process with reference to coefficient table
It is no longer described in detail for prior art.
It is noted that cycle-index is limited, PLC due in a car dumper system complete operation
1 load capacity called is also limited and determines, therefore given with reference to coefficient table to simplify, and only needs to record each circulation positioning
The load capacity of vehicle traction and the mapping relations of target current and target velocity.
According to the difference of the known parameters such as the different rated weight capacities for positioning vehicle motor type, loaded vehicle model, loaded vehicle, give
Surely also different with reference to coefficient table, in order to reinforce suitability of the invention, multiple given references are preset in PLC 1
Coefficient table, staff can select to be applicable according to current actual conditions given with reference to coefficient table.
(3) PLC 1 controls the motor work according to the target current and/or the target velocity, with
The progress of dumping circulation, load capacity are constantly reduced, and in the case where guaranteeing that safety closes rule, positioning vehicle speed is constantly promoted, and are finally mentioned
The working efficiency of entire car dumper system is risen.In the case where inputting target velocity and/or target current, PLC 1 is according to existing
Some logical constructions can realize the control to motor, and specific procedure algorithm is the prior art, be not explained in detail herein.
In order to ensure above-mentioned control method safe and effective operation, the invention also discloses a kind of positioning of car dumper system
Vehicle monitoring method, as shown in Fig. 2, specifically including:
Firstly, PLC 1 controls motor work using above-mentioned control method at the beginning of the cycle, PLC 1 obtains electricity in real time
Motor speed can be converted to positioning vehicle speed by the actual current and actual speed of machine, PLC 1, and then obtain the reality of positioning vehicle
Border speed.Positioning vehicle may include multiple motors, as shown in figure 3, positioning vehicle shares 6 motors, respectively label in the embodiment
For 1#~6# (M1~M6 in Fig. 3), motor can be preferably threephase asynchronous 4, and each motor is connected with a change respectively
Frequency device 2, for controlling motor rotation under the control of PLC 1；Motor is also connected with the current sensor for detecting electric current, electric current
Sensor can be preferably the combination of ammeter Yu current transformer 3, and each current sensor is respectively at the connection of PLC 1；
Label 1# motor is equipped with the velocity sensor for acquiring motor speed information, it is preferred to use speed measuring coder 5, described tests the speed
Sensor is connected with PLC 1.
Then, by the actual current and the actual speed respectively the target current corresponding with present load amount and
The target velocity compares, and judges whether actual current is less than target current, and judges whether actual speed is greater than mesh
Speed is marked, and monitors the operating status of the positioning vehicle by comparing result, above-mentioned judgment rule can be according to motor
The associated productions standard formulations such as every nominal parameter, acceleration, the braking time for positioning vehicle, it is therefore an objective to guarantee car dumper system
The completion dumping work of rule can be closed safely.
Car dumper system in actual operation, due to various objective circumstances and individuation difference, positions vehicle and is actually drawn
Load capacity may with it is given not fully consistent with reference to the corresponding load capacity of the cycle-index recorded in coefficient table, such as at this
It is to go to formulate as condition using the fully loaded state of loaded vehicle to give with reference to coefficient table, and practical dumping follows in some embodiments of invention
In ring, loaded vehicle is likely to occur overload or loads less than situation.When similar above situation occurs, target velocity and practical speed
Degree, target current and actual current can all generate error, it is therefore necessary to be monitored to positioning vehicle, guarantee the safety of production simultaneously
It is adaptively adjusted according to the actual situation.
In some embodiments of the invention, for positioning the motor of vehicle, load and the current relationship of motor at
Direct ratio.In the present embodiment, if detecting that actual current is greater than target current, it is determined as that present load amount is greater than given ginseng
The corresponding load capacity of coefficient table is examined, positioning vehicle can still be run according to PLC 1 according to the given instruction exported with reference to coefficient table；Such as
Fruit monitors that actual current is less than target current, then it is given with reference to load corresponding in coefficient table, PLC 1 to determine that present load is less than
It can give frequency converter 2 output parameter as target current according to the actual current of actual measurement, it is preferred that can also be by actually detected knot
Fruit inputs given referential number table as adjustment.In addition, detected actual current can not also refer to coefficient by given
Each target component and the target current that table is recorded compare, but directly handle realize to include current balance by PLC 1
The monitoring of the projects such as property, maximum output current current limliting, current break.
In some embodiments of the invention, if the actual speed is greater than target velocity, the judgement of PLC 1 is positioned at vehicle
In abnormal operating condition.In the present embodiment, when 1 actual speed of PLC has been more than target velocity, then PLC 1 is sounded an alarm, and
It is recommended that operation is shut down, relevant device is checked, to prevent the generation of contingency；When 1 actual speed of PLC be less than target velocity, then
Determine that the load drawn when prelocalization vehicle is smaller, is not processed.
Disclosed control and monitoring method through the foregoing embodiment have been abandoned original positioning vehicle and have been recycled all in all dumpings
The shortcomings that continuing to use a target velocity and acceleration, thus cause positioning vehicle high in preceding part recycle unit utilization rate, rear part
The low phenomenon of recycle unit utilization rate.Present invention utilizes the progress for carrying out recurring number with operation with car dumper system, cause to bear
The reduction of regularity is carried, so that it is negative that positioning vehicle can obtain band faster in the case where guaranteeing that positioning vehicle provides rated current
Carry speed and acceleration.The present invention improves positioning vehicle complete alternation operating efficiency, shortens the car dumper system activity duration, reaches
Mention can synergy purpose.
The invention also discloses a kind of positioning speed management systems of tippler, comprising:
Vehicle is positioned, for carrying out towage in the case where PLC is controlled；
The PLC carries out towage for controlling the positioning vehicle according to above-mentioned method for control speed.
Further, the motor of the positioning vehicle is connected with frequency converter, and the PLC is by controlling the frequency converter to control
It states positioning vehicle and carries out towage.
Further, the PLC is also used to monitor the operation of the positioning vehicle according to above-mentioned positioning vehicle monitoring method
State.
The positioning speed management system of above-mentioned tippler can effectively realize the control and monitoring to positioning vehicle, fixed
Position vehicle can obtain faster bringing onto load speed and acceleration.The present invention improves positioning vehicle complete alternation operating efficiency, shortens
The car dumper system activity duration has achieved the purpose that propose energy synergy.
The foregoing is merely better embodiments of the invention, are not intended to limit the invention, all of the invention
Within spirit and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of positioning vehicle speed control method of car dumper system characterized by comprising
The present load amount of positioning vehicle traction is obtained in real time；
According to the load capacity of preset positioning vehicle traction and position the mapping between the current of electric of vehicle and the speed of positioning vehicle
Relationship determines the target velocity of the target current of the motor and the positioning vehicle under the present load amount；
The motor work is controlled according to the target current and/or the target velocity.
2. the positioning vehicle speed control method of car dumper system according to claim 1, which is characterized in that described to obtain in real time
Take the present load amount of positioning vehicle traction, comprising:
According to the mapping relations of the cycle-index of preset tippler and the load capacity of the positioning vehicle traction, according to tippler
Current cycle time obtains the present load amount of the positioning vehicle traction.
3. the positioning vehicle speed control method of car dumper system according to claim 1, which is characterized in that described according to institute
Target current and/or the target velocity are stated to control the motor work, comprising:
The motor work of the positioning vehicle is controlled by sending control signal to the frequency converter connecting with the motor.
4. a kind of positioning vehicle monitoring method of car dumper system characterized by comprising
In the case where the motor for positioning vehicle is controlled according to method according to any one of claims 1 to 3, obtain in real time
The actual speed of the actual current of the motor of the positioning vehicle and the positioning vehicle；
According to the present load amount of positioning vehicle traction, the actual speed of the actual current of the motor and the positioning vehicle is distinguished
It is compared with the target velocity of the target current of the motor under the present load amount and the positioning vehicle, judges the reality
Whether border electric current is less than the target current, and judges whether the actual speed is greater than the target velocity, and according to sentencing
Disconnected result monitors the operating status of the positioning vehicle.
5. the positioning vehicle monitoring method of car dumper system according to claim 4, which is characterized in that the real-time acquisition institute
State the actual current of the motor of positioning vehicle and the actual speed of the positioning vehicle, comprising:
The current detecting information and Rotating speed measring letter sent by the current sensor and velocity sensor that are set to the motor
Breath obtains the actual current of the motor of the positioning vehicle and the actual speed of the positioning vehicle.
6. the positioning vehicle monitoring method of car dumper system according to claim 4, which is characterized in that the judgement reality
Whether border electric current is less than the target current, and judges whether the actual speed is less than the target velocity, and according to sentencing
Disconnected result monitors the operating status of the positioning vehicle, comprising:
If the actual current is less than the target current, the actual current is adjusted to target current to control the electricity
Machine work.
7. the positioning vehicle monitoring method of car dumper system according to claim 4, which is characterized in that the judgement reality
Whether border electric current is less than the target current, and judges whether the actual speed is greater than the target velocity, and according to sentencing
Disconnected result monitors the operating status of the positioning vehicle, comprising:
If the actual speed is greater than the target velocity, judge that the positioning vehicle is in abnormal operating condition.
8. a kind of positioning speed management system of tippler characterized by comprising
Vehicle is positioned, for carrying out towage in the case where PLC is controlled；
The PLC controls the positioning vehicle for method described in any one of claim 1 to 3 and carries out towage.
9. the positioning speed management system of tippler according to claim 8, which is characterized in that the electricity of the positioning vehicle
Machine is connected with frequency converter, and the PLC carries out towage by controlling the frequency converter to control the positioning vehicle.
10. the positioning speed management system of tippler according to claim 8, which is characterized in that the PLC is also used to
The method according to any one of claim 4~7 monitors the operating status of the positioning vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910512748.2A CN110161960B (en) | 2019-06-13 | 2019-06-13 | Positioning vehicle speed control and monitoring method and management system of tippler system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910512748.2A CN110161960B (en) | 2019-06-13 | 2019-06-13 | Positioning vehicle speed control and monitoring method and management system of tippler system |
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| CN110161960A true CN110161960A (en) | 2019-08-23 |
| CN110161960B CN110161960B (en) | 2020-10-16 |
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ID=67628904
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910512748.2A Active CN110161960B (en) | 2019-06-13 | 2019-06-13 | Positioning vehicle speed control and monitoring method and management system of tippler system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112974789A (en) * | 2021-02-08 | 2021-06-18 | 广东韶钢松山股份有限公司 | Refining furnace buggy ladle positioning method |
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| CN2129706Y (en) * | 1992-10-24 | 1993-04-14 | 沈太福 | Tipping machine |
| US20060049287A1 (en) * | 2004-09-08 | 2006-03-09 | Henderson Enterprises, Inc. | Spreader apparatus for vehicle |
| CN201174683Y (en) * | 2008-04-07 | 2008-12-31 | 武汉电力设备厂 | Tipping variable-frequency speed regulating apparatus preventing stall |
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| CN112974789A (en) * | 2021-02-08 | 2021-06-18 | 广东韶钢松山股份有限公司 | Refining furnace buggy ladle positioning method |
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| CN110161960B (en) | 2020-10-16 |
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