CN114204875A - Control method and device for modular orchard transport vehicle - Google Patents

Control method and device for modular orchard transport vehicle Download PDF

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Publication number
CN114204875A
CN114204875A CN202111582367.5A CN202111582367A CN114204875A CN 114204875 A CN114204875 A CN 114204875A CN 202111582367 A CN202111582367 A CN 202111582367A CN 114204875 A CN114204875 A CN 114204875A
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CN
China
Prior art keywords
main controller
phase
alternating current
current motor
phase alternating
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202111582367.5A
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Chinese (zh)
Inventor
曾镜源
郭江鸿
杨洲
冯亚芬
蒋跃文
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangdong Provincial Laboratory Of Lingnan Modern Agricultural Science And Technology
Jiaying University
Original Assignee
Guangdong Provincial Laboratory Of Lingnan Modern Agricultural Science And Technology
Jiaying University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangdong Provincial Laboratory Of Lingnan Modern Agricultural Science And Technology, Jiaying University filed Critical Guangdong Provincial Laboratory Of Lingnan Modern Agricultural Science And Technology
Priority to CN202111582367.5A priority Critical patent/CN114204875A/en
Publication of CN114204875A publication Critical patent/CN114204875A/en
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/0833—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors for electric motors with control arrangements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring

Abstract

The invention discloses a control method and device for a modular orchard transport vehicle, and relates to the field of automatic control. The invention comprises the following steps: the system comprises a power module, a main controller, a travel switch interface circuit, a three-phase motor interlocking control logic circuit, a three-phase real-time power and voltage detection module and a three-phase alternating current motor; the power module is used for supplying power to the main controller, the travel switch interface circuit, the three-phase real-time power and voltage detection module and the three-phase alternating current motor; the main controller is electrically connected with the travel switch interface circuit, the three-phase alternating current motor and the three-phase electric real-time power and voltage detection module respectively; the three-phase electric real-time power and voltage detection module is electrically connected with the three-phase alternating current motor. The invention greatly reduces the module cost, the maintenance cost and the maintenance efficiency.

Description

Control method and device for modular orchard transport vehicle
Technical Field
The invention relates to the field of automatic control, in particular to a control method and device for a modular orchard transport vehicle.
Background
And the south hillside orchard has large gradient, so that the labor intensity of related material transportation is high and the cost is high. In order to reduce labor intensity and improve production efficiency, the rail transport vehicle is widely applied to orchards under the support of the agricultural department. Hillside orchard transport vechicle work load is great, generally adopts ac contactor to carry out output control, needs to realize electrical interlocking through ac contactor and auxiliary contact cooperation this moment to prevent the power short circuit. In practice, the control circuit of the orchard transport vehicle based on the alternating-current contactor is difficult to avoid equipment failure, untightened screws, accidental damage of human beings and animals or natural disasters and the like, and the failure rate is high. Due to the complex wiring, when a circuit part has a fault, technicians can hardly be found nearby for maintenance, and the equipment provider sends people to the field for maintenance at higher cost, so that the popularization of the hillside orchard transporter is seriously hindered in the field of cost-sensitive agriculture.
How to reduce control system cost, simplify the wiring, be convenient for maintain become a key problem of the popularization of hillside orchard transport vechicle.
Disclosure of Invention
In view of the above, the invention provides a method and a device for controlling a modular orchard transporter.
In order to achieve the purpose, the invention adopts the following technical scheme:
a modular orchard transporter control apparatus comprising: the system comprises a power module, a main controller, a travel switch interface circuit, a three-phase electric real-time power and voltage detection module and a three-phase alternating current motor; the power module is used for supplying power to the main controller, the travel switch interface circuit, the three-phase real-time power and voltage detection module and the three-phase alternating current motor; the main controller is electrically connected with the travel switch interface circuit, the three-phase alternating current motor and the three-phase electric real-time power and voltage detection module respectively; the three-phase electric real-time power and voltage detection module is electrically connected with the three-phase alternating current motor; the three-phase motor interlocking control logic circuit is electrically connected with the three-phase alternating current motor.
Optionally, the system further comprises a nand gate chip and five isolation control circuits; the master controller is sequentially connected with the NAND gate chip, the five-way isolation control circuit and the three-phase alternating current motor.
Optionally, the system further comprises a memory chip, and the memory chip is electrically connected with the main controller.
Optionally, the system further comprises a security authentication chip, and the security authentication chip is electrically connected with the main controller.
Optionally, the system further comprises a security authentication chip, the security authentication chip is electrically connected to the main controller, and the security authentication chip and the memory chip share one interface of the main controller.
Optionally, an upper computer serial port is arranged on the main controller.
Optionally, the three-phase ac motor interface comprises three lines.
Optionally, the orchard transporter further comprises a remote control module, the remote control module is electrically connected with the main controller, and the remote control module is used for controlling the orchard transporter.
A control method of a modular orchard transporter comprises the following steps:
when the main controller is started, before a control instruction is sent to the three-phase alternating current motor each time, the ID number of the controller is read, authentication is initiated to the safety authentication chip, if the authentication is passed, the control instruction of the three-phase alternating current motor is normally executed, otherwise, a motor control signal is not sent;
the memory chip is used for storing equipment setting and state information when the equipment is powered down, wherein the state information comprises position information of a transport vehicle, and real-time voltage and power of a three-phase alternating current motor;
the main controller detects the state of the three-phase alternating current motor in real time through the detection module, and cuts off the power supply of the motor in time when the output power exceeds a threshold value or is lower than the threshold value, and switches the main controller to a shutdown state.
According to the technical scheme, compared with the prior art, the invention discloses the control method and the control device for the modular orchard transport vehicle, and the module cost, the maintenance cost and the maintenance efficiency can be greatly reduced. In the aspect of cost control, a PLC is replaced by a singlechip or a low-end controller with extremely low cost, an interlocking logic is realized by replacing an auxiliary contact with a universal logic gate circuit designed by a logic reasoning method, the logic output realizes the on-off control of alternating current through an optical coupler and a silicon controlled rectifier, all electric control part functions of the three-phase alternating current motor-driven hillside orchard transport vehicle are realized on a Printed Circuit Board (PCB) through components, and the phase sequence does not need to be distinguished during wiring. The optimized hardware cost is less than one tenth of the original cost, the installation is simple, a manufacturer can install the hardware on site even without sending a technician, and local electricians or farmers can install the hardware according to the specification.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a block diagram of the phase sequence logic control for a three phase motor of the present invention;
FIG. 3 is a diagram of a five-way isolation control circuit of the present invention;
FIG. 4 is a diagram of the interlocking logic of the present invention;
FIG. 5 shows a host controller and peripheral circuits according to the present invention.
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.
The invention greatly reduces the equipment cost, simplifies the peripheral wiring of the equipment in a modularized form, namely, integrates the complex logic control and the complex wiring on a circuit board, and can greatly reduce the module cost, the maintenance cost and the maintenance efficiency. Simultaneously, the size of the integrated rear module is greatly reduced, the sealing box is more conveniently adopted to realize the outdoor waterproof grade of a higher grade, the installation is more convenient, and the installation position is more flexible.
In the aspect of cost control, a PLC is replaced by a singlechip or a low-end controller with extremely low cost, an interlocking logic is realized by replacing an auxiliary contact with a universal logic gate circuit designed by a logic reasoning method, the logic output realizes the on-off control of alternating current through an optical coupler and a silicon controlled rectifier, all electric control part functions of the three-phase alternating current motor-driven hillside orchard transport vehicle are realized on a Printed Circuit Board (PCB) through components, and the phase sequence does not need to be distinguished during wiring. The optimized hardware cost is less than one tenth of the original cost, the installation is simple, a manufacturer can install the hardware on site even without sending a technician, and local electricians or farmers can install the hardware according to the specification.
If the control system has a fault, the control system can call the user to detach and send the user back to a manufacturer through express delivery, so that a large amount of cost for on-site maintenance can be achieved, and the efficiency is higher.
Specifically, the embodiment of the invention discloses a control method and a control device for a modular orchard transporter, which are shown in figures 1 to 5.
A modular orchard transporter control apparatus comprising: the system comprises a power module, a main controller, a travel switch interface circuit, a three-phase electric real-time power and voltage detection module and a three-phase alternating current motor; the power supply module is used for supplying power to the main controller, the travel switch interface circuit, the three-phase electric real-time power and voltage detection module and the three-phase alternating current motor; the main controller is electrically connected with the travel switch interface circuit, the three-phase alternating current motor and the three-phase real-time power and voltage detection module respectively; the three-phase electric real-time power and voltage detection module is electrically connected with the three-phase alternating current motor; the three-phase motor interlocking control logic circuit is electrically connected with the three-phase alternating current motor.
In this embodiment, the nand gate further includes a nand gate chip and five isolation control circuits; the main controller is sequentially connected with the NAND gate chip, the five-way isolation control circuit and the three-phase alternating current motor; the memory chip is electrically connected with the main controller; the safety certification chip is electrically connected with the main controller; the safety certification chip is electrically connected with the main controller, and the safety certification chip and the storage chip share a main control interface.
In this embodiment, the main controller is provided with an upper computer serial port; the three-phase ac motor interface comprises three lines.
In this embodiment, still include the remote control module, remote control module and main control unit electric connection, the remote control module is used for controlling the orchard transport vechicle.
A control method of a modular orchard transporter comprises the following steps:
the memory chip and the security authentication chip share an interface with the main controller. When the main controller program is started, before a control instruction is sent to the three-phase alternating current motor every time, the ID number of the controller is read, authentication is initiated to the safety authentication chip, if the authentication is passed, the motor control instruction is normally executed, otherwise, a motor control signal is not sent.
The memory chip is used for storing the equipment setting and state information when the equipment is powered down, and the information mainly comprises the position information of a transport vehicle, the real-time voltage and power of a three-phase motor and the like.
The main controller detects the state of the three-phase alternating current motor in real time through the detection module, and cuts off the power supply of the motor in time when the output power exceeds a threshold value or is lower than the threshold value, and switches the program of the controller to a shutdown state.
The input signals include stop (S), advance (F) and retreat (B). Three-phase alternating current motor interface U, V and three W wires, two wire connection methods are exchanged arbitrarily, and the three-phase alternating current motor is reversed. Assuming that the forward and reverse rotation of the motor is realized by exchanging the U and V lines, a UV signal is logically output to indicate the forward rotation of the three-phase alternating current motor, and a VU signal is output to indicate the reverse rotation of the motor. The phase sequence logic control block diagram of the three-phase motor is shown in fig. 2.
U, V and W in FIG. 3 are three phase lines of three-phase AC, respectively, and M1, M2 and M3 are power output ports of the three-phase motor. When the program runs off, any input control signal from the CPU cannot short the U and V lines under the protection of the logic circuit. The output ends of the thyristors (Q1-Q5) in the figure 3 inhibit stronger electromagnetic interference generated when the thyristors are switched on and off through a resistance-capacitance filter circuit.
The main controller is connected with the remote control module. And connecting the finished remote control receiving module with the control panel in a welding or inserting mode. DirTog is a phase sequence switch, and when the phase sequence of random access is opposite to the direction on the vehicle and the direction on the remote controller, the switch is switched to realize the switching of the positive direction. The Program is a programming interface, and the Program is upgraded through the interface when the Program needs to be upgraded.
The memory chip and the safety chip interface circuit are consistent in peripheral interface and are distinguished through an address pin A0. The storage chip realizes power-down storage, but if the main controller can realize power-down storage by Flash, the chip is not needed. The security chip is used for encrypting the software system and welding as required.
The travel switch input interface keeps the original 24V to keep the original better anti-interference capability. The voltage and the current of the input signal are limited through the circuit so as to protect the main controller.
The AC 220V-DC 24V and DC5V circuits provide corresponding voltages for various parts of the system. And the onboard power supply module replaces an independent power adapter, so that the system integration level can be improved.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (9)

1. A modular orchard transporter control device, comprising: the system comprises a power module, a main controller, a travel switch interface circuit, a three-phase motor interlocking control logic circuit, a three-phase real-time power and voltage detection module and a three-phase alternating current motor; the power module is used for supplying power to the main controller, the travel switch interface circuit, the three-phase real-time power and voltage detection module and the three-phase alternating current motor; the main controller is electrically connected with the travel switch interface circuit, the three-phase alternating current motor and the three-phase electric real-time power and voltage detection module respectively; the three-phase electric real-time power and voltage detection module is electrically connected with the three-phase alternating current motor; the three-phase motor interlocking control logic circuit is electrically connected with the three-phase alternating current motor.
2. The control device of claim 1, further comprising a nand gate chip, five isolation control circuits; the master controller is sequentially connected with the NAND gate chip, the five-way isolation control circuit and the three-phase alternating current motor.
3. The modular orchard transporter control device of claim 1, further comprising a memory chip, wherein the memory chip is electrically connected to the main controller.
4. The modular orchard transporter control device of claim 1, further comprising a security authentication chip electrically connected to the main controller.
5. The control device of claim 3, further comprising a security authentication chip electrically connected to the main controller, wherein the security authentication chip and the memory chip share one interface of the main controller.
6. The control device of claim 1, wherein the main controller is provided with an upper computer serial port.
7. The modular orchard transporter control device of claim 1, wherein the three-phase AC motor interface comprises three wires.
8. The modular orchard transporter control device of claim 1, further comprising a remote control module electrically connected to the main controller, the remote control module being configured to control the orchard transporter.
9. A control method for a modular orchard transport vehicle is characterized by comprising the following steps:
when the main controller is started, before a control instruction is sent to the three-phase alternating current motor each time, the ID number of the controller is read, authentication is initiated to the safety authentication chip, if the authentication is passed, the control instruction of the three-phase alternating current motor is normally executed, otherwise, a motor control signal is not sent;
the memory chip is used for storing equipment setting and state information when the equipment is powered down, wherein the state information comprises position information of a transport vehicle, and real-time voltage and power of a three-phase alternating current motor;
the main controller detects the state of the three-phase alternating current motor in real time through the detection module, and cuts off the power supply of the motor in time when the output power exceeds a threshold value or is lower than the threshold value, and switches the main controller to a shutdown state.
CN202111582367.5A 2021-12-22 2021-12-22 Control method and device for modular orchard transport vehicle Pending CN114204875A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111582367.5A CN114204875A (en) 2021-12-22 2021-12-22 Control method and device for modular orchard transport vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111582367.5A CN114204875A (en) 2021-12-22 2021-12-22 Control method and device for modular orchard transport vehicle

Publications (1)

Publication Number Publication Date
CN114204875A true CN114204875A (en) 2022-03-18

Family

ID=80656086

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111582367.5A Pending CN114204875A (en) 2021-12-22 2021-12-22 Control method and device for modular orchard transport vehicle

Country Status (1)

Country Link
CN (1) CN114204875A (en)

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