CN113156880A - Hydraulic trolley control system - Google Patents
Hydraulic trolley control system Download PDFInfo
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- CN113156880A CN113156880A CN202110144706.5A CN202110144706A CN113156880A CN 113156880 A CN113156880 A CN 113156880A CN 202110144706 A CN202110144706 A CN 202110144706A CN 113156880 A CN113156880 A CN 113156880A
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- 238000005516 engineering process Methods 0.000 abstract description 3
- 101100190618 Arabidopsis thaliana PLC3 gene Proteins 0.000 description 11
- 101100190621 Arabidopsis thaliana PLC4 gene Proteins 0.000 description 9
- 101100190617 Arabidopsis thaliana PLC2 gene Proteins 0.000 description 6
- 101100408456 Arabidopsis thaliana PLC8 gene Proteins 0.000 description 6
- 101100464304 Caenorhabditis elegans plk-3 gene Proteins 0.000 description 6
- 101100093534 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) RPS1B gene Proteins 0.000 description 6
- 229910000831 Steel Inorganic materials 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 102100026205 1-phosphatidylinositol 4,5-bisphosphate phosphodiesterase gamma-1 Human genes 0.000 description 1
- 101100520231 Caenorhabditis elegans plc-3 gene Proteins 0.000 description 1
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- 230000004075 alteration Effects 0.000 description 1
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- 230000005540 biological transmission Effects 0.000 description 1
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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
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/058—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
- G05B2219/10—Plc systems
- G05B2219/13—Plc programming
- G05B2219/13099—Function block, OOP, various functions grouped, called by name as servo
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention relates to the technical field of hydraulic trolleys, and particularly discloses a hydraulic trolley control system which comprises an industrial personal computer, a master station PLC, a slave station PLC, a local PLC and a hydraulic trolley group, wherein the industrial personal computer is connected with the master station PLC, and the master station PLC is connected with the slave station PLC and the local PLC; the local PLC is mobile equipment, and the slave station PLC is matched with the hydraulic car group and is provided with at least one group; the hydraulic car set is internally provided with an angular velocity sensor, a displacement sensor, a pressure sensor, a servo proportional valve and an electromagnetic directional valve, and a slave station PLC is electrically connected with the angular velocity sensor, the displacement sensor, the pressure sensor, the servo proportional valve and the electromagnetic directional valve to acquire signals and send corresponding instructions; the control system provided by the invention adopts a three-layer distributed control architecture and a wired and wireless combined communication scheme, and utilizes multiple PLC controllers to realize the combined control of each trolley, thereby playing a role in coordinating the working of the trolley and realizing the rapid shipbuilding technology of the platform.
Description
Technical Field
The invention relates to the technical field of hydraulic trolleys, in particular to a hydraulic trolley control system.
Background
The hydraulic trolley transporting system is mainly used for transporting a pipe joint steel shell (immersed tube tunnel) in a tunnel; the pipe joint steel shell has the characteristics of large mass and long length, and is difficult to move by using a single trolley, and a plurality of groups of trolleys are required to be matched with each other for use; the multiunit platform truck is in the cooperation use, and different platform truck function effects are different, are difficult to coordinate, cause the interference each other easily, and the improper migration efficiency to the tube coupling steel casing that coordinates in the use causes the influence, influences whole efficiency of construction.
Disclosure of Invention
The present invention is directed to a hydraulic trolley control system to solve the problems of the background art.
In order to achieve the purpose, the invention provides the following technical scheme: a hydraulic trolley control system comprises an industrial personal computer, a master station PLC, a slave station PLC, a local PLC and a hydraulic trolley group, wherein the industrial personal computer is connected with the master station PLC, and the master station PLC is connected with the slave station PLC and the local PLC; the local PLC is mobile equipment, is in wireless communication connection with the master station PLC, and is not less than one group; the slave station PLC is matched with the hydraulic car group, and at least one group of slave station PLC is arranged; the hydraulic car set is provided with an angular velocity sensor, a displacement sensor, a pressure sensor, a servo proportional valve and an electromagnetic directional valve, and the slave station PLC is electrically connected with the angular velocity sensor, the displacement sensor, the pressure sensor, the servo proportional valve and the electromagnetic directional valve to acquire signals and send instructions.
Preferably, the hydraulic car group is provided with a jacking oil cylinder, a traversing fine-tuning oil cylinder and a hydraulic motor, and is realized by single action or linkage of three hydraulic execution elements; and each oil cylinder is provided with an electromagnetic ball valve which is electrically connected with the slave station PLC.
Preferably, the pressure sensor and the displacement sensor monitor the pressure of the oil cylinder, feed the pressure back to the slave station PLC and upload the pressure to the master station PLC and the industrial personal computer, and the pressure and the stroke of the oil cylinder are displayed in the industrial personal computer.
Preferably, the servo proportional valve, the pressure sensor and the displacement sensor form a feedback servo system to control the load and the stroke of the oil cylinder; the servo proportional valve and an angle sensor arranged on the hydraulic motor form a feedback servo system to control the running of the trolley; and the servo proportional valve, the transverse moving fine adjustment oil cylinder and the displacement sensor form a feedback servo system to control the transverse moving distance.
Preferably, the industrial personal computer is provided with a display interface for directly displaying the running speed, the hydraulic cylinder pressure and the stroke of the hydraulic car group; the industrial personal computer calculates the load of a single hydraulic vehicle group according to the total load demand, and the working parameters of each hydraulic execution element in the working process of the hydraulic vehicle group, records and stores the working process and records and stores faults.
Preferably, the local PLC transmits signals between the slave station PLC and the local PLC, specifically distributes working parameters calculated by the industrial personal computer to the corresponding slave station PLC, and completes the work of distributing the load, the stroke and the speed of the hydraulic vehicle group in a matching manner.
Preferably, the slave PLC is directly connected with a hydraulic actuator actuating element in the hydraulic car group, and the slave PLC and the hydraulic actuator actuating element form a feedback servo system to control the load, walking and transverse movement of the hydraulic car group
Compared with the prior art, the invention has the beneficial effects that: the control system provided by the invention adopts a three-layer distributed control architecture and a wired and wireless combined communication scheme, and utilizes multiple PLC controllers to realize the combined control of each trolley, thereby playing a role in coordinating the working of the trolley and realizing the rapid shipbuilding technology of the platform.
Drawings
FIG. 1 is a schematic structural view of the present invention;
reference numbers in the figures: 1. an industrial personal computer; 2. a master station PLC; 3. a slave station PLC; 4. a local PLC; 5. a hydraulic vehicle group; 6. an angular velocity sensor; 7. a displacement sensor; 8. a pressure sensor; 9. a servo proportional valve; 10. an electromagnetic directional valve.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention provides a technical solution: a hydraulic trolley control system comprises an industrial personal computer 1, a master station PLC2, a slave station PLC3, a local PLC4 and a hydraulic trolley group 5, wherein the industrial personal computer 1 is connected with the master station PLC2, and the master station PLC2 is connected with a slave station PLC3 and a local PLC 4; the local PLC4 is mobile equipment, is in wireless communication connection with the master station PLC2, and is not less than one group; the slave station PLC3 is matched with the hydraulic car group 5, and at least one group of slave station PLC3 is arranged; the hydraulic car set 5 is provided with an angular velocity sensor 6, a displacement sensor 7, a pressure sensor 8, a servo proportional valve 9 and an electromagnetic directional valve 10, and the slave station PLC3 is electrically connected with the angular velocity sensor 6, the displacement sensor 7, the pressure sensor 8, the servo proportional valve 9 and the electromagnetic directional valve 10 to acquire signals and send instructions.
Furthermore, the hydraulic car group 5 is provided with a jacking oil cylinder, a traversing fine-adjustment oil cylinder and a hydraulic motor, and is realized by single action or linkage of three hydraulic execution elements; and each oil cylinder is provided with an electromagnetic ball valve which is electrically connected with the slave station PLC 3.
Further, the pressure sensor 8 and the displacement sensor 7 monitor the pressure of the oil cylinder, feed the pressure back to the slave station PLC3, and upload the pressure to the master station PLC2 and the industrial personal computer 1, and the pressure and the stroke of the oil cylinder are displayed in the industrial personal computer 1.
Furthermore, the servo proportional valve 9, the pressure sensor 8 and the displacement sensor 7 form a feedback servo system to control the load and the stroke of the oil cylinder; the servo proportional valve 9 and an angle sensor arranged on the hydraulic motor form a feedback servo system to control the running of the trolley; and the servo proportional valve 9, the transverse movement fine adjustment oil cylinder and the displacement sensor 7 form a feedback servo system to control the transverse movement distance.
Further, the industrial personal computer 1 is provided with a display interface for directly displaying the running speed, the hydraulic cylinder pressure and the stroke of the hydraulic car group 5; the industrial personal computer 1 calculates the load of a single hydraulic vehicle group 5 according to the total load demand, and the working parameters of each hydraulic execution element in the working process of the hydraulic vehicle group 5, records and stores the working process and records and stores faults.
Further, the local PLC4 transmits signals between the slave station PLC3 and the local PLC4, and specifically distributes the operating parameters calculated by the industrial personal computer to the corresponding slave station PLC3, so as to complete the work of distributing the load, the stroke and the speed of the hydraulic vehicle group 5.
Further, the slave PLC3 is directly connected to the hydraulic actuator actuators in the hydraulic consist 5, which form a feedback servo system to control the load, travel and traverse of the hydraulic consist 5.
The working principle is as follows: the control system adopts an open interface, and at most, the access of 100 hydraulic car groups 5 is allowed to work simultaneously. The operator may carry the local PLC4 and send commands to the master PLC1 for transmission to the slave PLC3 to control the operation of the hydraulic consist 5; the industrial personal computer 1 and the master station PLC2 electric control equipment can also be arranged on the control trolley; the operation of the system is powered by a generator.
The industrial personal computer 1 and the local PLC4 can display the running speed of the trolley, the pressure (load tonnage) of the hydraulic cylinder and the stroke; the integral operation of a plurality of hydraulic vehicle groups 5 can be realized, all actions of the plurality of hydraulic vehicle groups 5 can be controlled by one person, and the ship body and the sectional adjustment work are convenient. When the hydraulic car groups 5 run, the running state of each hydraulic car group 5 can be displayed on the industrial personal computer 1 and the local PLC4 in real time. And for faults occurring in the operation of each hydraulic car group 5, displaying and alarming on the industrial personal computer 1 and the local PLC4, and prompting a fault solving method and the like.
The operation movement of the hydraulic vehicle group 5 is realized by single action or linkage of a jacking oil cylinder and a hydraulic motor hydraulic actuating element. The industrial personal computer 1 and the local PLC4 are used for centralized control or independent control of jacking or descending, walking or stopping, load locking and the like of any hydraulic car group 5, and meanwhile, manual control of jacking or descending, walking or stopping and load locking can be carried out at the hydraulic car group 5 terminal.
Jacking: the oil paths of the jacking oil cylinders in the hydraulic car group 5 are communicated, so that the same pressure is ensured in the jacking process. The vehicle group is provided with a pressure sensor 8 and a displacement sensor 7 to monitor the pressure of the oil cylinder and feed back the pressure to the industrial personal computer 1, and the pressure and the stroke of the oil cylinder can be displayed on a screen. The servo proportional valve 9, the pressure sensor 8 and the displacement sensor 7 form a feedback servo system to accurately control the load and the stroke of the oil cylinder. Each oil cylinder is provided with an electromagnetic ball valve, and the electromagnetic ball valve is electrically connected with the slave station PLC3 to meet the requirement of single action.
Walking: the power unit drives the hydraulic motor to drive the hydraulic vehicle group 5 to walk. The servo proportional valve 9 and an angle sensor arranged on the hydraulic motor form a feedback servo system to accurately control the walking distance of the trolley.
Transversely moving: the servo proportional valve 9, the transverse movement fine adjustment oil cylinder and the displacement sensor 7 form a feedback servo system to control the transverse movement distance.
The ship and pipe joint transfer operation mainly comprises two links of jacking and walking. In the transporting operation process, the walking driving system and the brake system of the hydraulic car group 5 are closed, the module cars serve as the walking driving system, the loads of each group of hydraulic car group 5 and each group of module cars are monitored in real time, the loads of the module cars are adjusted according to the change of the loads, stable transporting and safe lightering of products are achieved.
It is worth noting that: the whole device realizes control over the device through the master control button, and the device matched with the control button is common equipment, belongs to the existing mature technology, and is not repeated for the electrical connection relation and the specific circuit structure.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. A hydraulic trolley control system is characterized in that: the hydraulic control system comprises an industrial personal computer (1), a master station PLC (2), a slave station PLC (3), a local PLC (4) and a hydraulic vehicle set (5), wherein the industrial personal computer (1) is connected with the master station PLC (2), and the master station PLC (2) is connected with the slave station PLC (3) and the local PLC (4); the local PLC (4) is mobile equipment, is in wireless communication connection with the master station PLC (2), and is not less than one group; the slave station PLC (3) is matched with the hydraulic vehicle group (5), and at least one group of slave station PLC is arranged; the hydraulic car set (5) is internally provided with an angular velocity sensor (6), a displacement sensor (7), a pressure sensor (8), a servo proportional valve (9) and an electromagnetic directional valve (10), and the slave station PLC (3) is electrically connected with the angular velocity sensor (6), the displacement sensor (7), the pressure sensor (8), the servo proportional valve (9) and the electromagnetic directional valve (10) to acquire signals and send instructions.
2. The hydraulic trolley control system according to claim 1, wherein: the hydraulic vehicle group (5) is provided with a jacking oil cylinder, a transverse movement fine adjustment oil cylinder and a hydraulic motor and is realized by single action or linkage of three hydraulic actuating elements; and each oil cylinder is provided with an electromagnetic ball valve which is electrically connected with the slave station PLC (3).
3. The hydraulic trolley control system according to claim 1, wherein: the pressure sensor (8) and the displacement sensor (7) monitor the pressure of the oil cylinder, feed the pressure back to the slave station PLC (3) and upload the pressure to the master station PLC (2) and the industrial personal computer (1), and the pressure and the stroke of the oil cylinder are displayed in the industrial personal computer (1).
4. The hydraulic trolley control system according to claim 1, wherein: the servo proportional valve (9), the pressure sensor (8) and the displacement sensor (7) form a feedback servo system to control the load and the stroke of the oil cylinder; the servo proportional valve (9) and an angle sensor arranged on the hydraulic motor form a feedback servo system to control the running of the trolley; and the servo proportional valve (9), the transverse movement fine adjustment oil cylinder and the displacement sensor (7) form a feedback servo system to control the transverse movement distance.
5. The hydraulic trolley control system according to claim 1, wherein: the industrial personal computer (1) is provided with a display interface for directly displaying the running speed, the hydraulic cylinder pressure and the stroke of the hydraulic vehicle set (5); the industrial personal computer (1) calculates the load of a single hydraulic vehicle group (5) according to the total load demand, and the working parameters of each hydraulic execution element in the working process of the hydraulic vehicle group (5), records and stores the working process and records and stores faults.
6. The hydraulic trolley control system according to claim 1, wherein: the local PLC (4) transmits signals between the slave station PLC (3) and the local PLC (4), specifically distributes working parameters calculated by the industrial personal computer to the corresponding slave station PLC (3), and completes the work of distributing the load, the stroke and the speed of the hydraulic vehicle group (5) in a matching way.
7. The hydraulic trolley control system according to claim 1, wherein: the slave station PLC (3) is directly connected with a hydraulic execution element in the hydraulic car group (5), and the slave station PLC and the hydraulic execution element form a feedback servo system to control the load, the walking and the transverse movement of the hydraulic car group (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110144706.5A CN113156880A (en) | 2021-02-02 | 2021-02-02 | Hydraulic trolley control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110144706.5A CN113156880A (en) | 2021-02-02 | 2021-02-02 | Hydraulic trolley control system |
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| Publication Number | Publication Date |
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| CN113156880A true CN113156880A (en) | 2021-07-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110144706.5A Pending CN113156880A (en) | 2021-02-02 | 2021-02-02 | Hydraulic trolley control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115309092A (en) * | 2022-10-11 | 2022-11-08 | 云南昆船电子设备有限公司 | Electro-hydraulic servo controller, system and method |
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| US20050160726A1 (en) * | 2002-02-11 | 2005-07-28 | Jan Lonn | Hydraulic system for a vehicle, a vehicle including such a hydraulic system and a suplementary unit for such a vehicle |
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| CN209549036U (en) * | 2019-01-21 | 2019-10-29 | 河北金隅鼎鑫水泥有限公司 | Road dust suppression system |
| CN209671325U (en) * | 2019-03-29 | 2019-11-22 | 中铁工程装备集团有限公司 | Mating trailer wheels are to hydraulic control system after shield machine |
| CN111188813A (en) * | 2020-01-16 | 2020-05-22 | 燕山大学 | Remote control hydraulic system for distributed group system of rail beam rolling mill unit |
| CN212108781U (en) * | 2019-12-31 | 2020-12-08 | 苏州信息职业技术学院 | Distributed indoor environment purifying device |
-
2021
- 2021-02-02 CN CN202110144706.5A patent/CN113156880A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050160726A1 (en) * | 2002-02-11 | 2005-07-28 | Jan Lonn | Hydraulic system for a vehicle, a vehicle including such a hydraulic system and a suplementary unit for such a vehicle |
| CN203754357U (en) * | 2013-12-13 | 2014-08-06 | 泰州海陵液压机械有限公司 | High-precision self-scissor-type hydraulic lifting platform traveling mechanism |
| CN204215247U (en) * | 2014-11-07 | 2015-03-18 | 兰州兰石集团有限公司 | A kind of UHV (ultra-high voltage) plate forming hydraulic press control system |
| CN108808459A (en) * | 2017-04-27 | 2018-11-13 | 重庆重开电气有限公司 | A kind of comprehensive distribution box |
| CN209549036U (en) * | 2019-01-21 | 2019-10-29 | 河北金隅鼎鑫水泥有限公司 | Road dust suppression system |
| CN209671325U (en) * | 2019-03-29 | 2019-11-22 | 中铁工程装备集团有限公司 | Mating trailer wheels are to hydraulic control system after shield machine |
| CN212108781U (en) * | 2019-12-31 | 2020-12-08 | 苏州信息职业技术学院 | Distributed indoor environment purifying device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115309092A (en) * | 2022-10-11 | 2022-11-08 | 云南昆船电子设备有限公司 | Electro-hydraulic servo controller, system and method |
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Application publication date: 20210723 |