CN118131754A - Control method, device and system for ladle car and storage medium - Google Patents
Control method, device and system for ladle car and storage medium Download PDFInfo
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 298
- 230000001133 acceleration Effects 0.000 claims abstract description 260
- 229910052742 iron Inorganic materials 0.000 claims abstract description 149
- 239000007788 liquid Substances 0.000 claims abstract description 112
- 230000008569 process Effects 0.000 claims abstract description 30
- 239000002184 metal Substances 0.000 claims description 25
- 229910052751 metal Inorganic materials 0.000 claims description 25
- 238000004364 calculation method Methods 0.000 claims description 8
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- 238000004590 computer program Methods 0.000 claims description 5
- 230000008859 change Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 230000007306 turnover Effects 0.000 description 2
- 206010053615 Thermal burn Diseases 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
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Abstract
The application relates to a control method, a device, a system and a storage medium for a ladle car, wherein the method comprises the following steps: acquiring a first liquid level of molten iron in a molten iron tank and a tank body parameter of the molten iron tank; determining a first maximum acceleration of the ladle car according to the first liquid level height, the tank parameters and a preset second liquid level height; according to the first maximum acceleration of the ladle car, determining acceleration corresponding to a plurality of track sections of the ladle car; and controlling the molten iron tank truck to travel according to the acceleration corresponding to the track sections. Therefore, the movement state of the ladle car can be effectively prevented from being changed greatly, so that potential safety hazards caused by splashing of high-temperature molten iron out of the ladle opening are avoided, and the safety of the ladle car in the advancing process is effectively improved.
Description
Technical Field
The application relates to the technical field of molten iron pretreatment, in particular to a control method, a device and a system for a molten iron tank car and a storage medium.
Background
In the molten iron pretreatment stage, a molten iron tank truck is generally used for carrying a molten iron tank filled with molten iron, and the molten iron tank is transported to a designated position for slag skimming and other treatments, so that the molten iron meeting the requirements is obtained.
However, in the running process of the ladle car, the movement state of the ladle car is easy to change greatly, so that the liquid level of molten iron in the ladle car shakes, and high-temperature molten iron is splashed out of the ladle opening, thereby generating potential safety hazards. Therefore, how to improve the safety of the ladle car in the advancing process becomes a technical problem to be solved urgently.
Disclosure of Invention
The application provides a control method, a device, a system and a storage medium for a molten iron tank truck, which are used for solving the problem that in the prior art, high-temperature molten iron is easy to splash out of a tank opening due to large change of the motion state of the molten iron tank truck, so that potential safety hazards are generated.
In a first aspect, the present application provides a method for controlling a ladle car, the method comprising:
acquiring a first liquid level of molten iron in a molten iron tank and a tank body parameter of the molten iron tank, wherein the molten iron tank is loaded on a molten iron tank car, and the first liquid level is used for representing the liquid level of the molten iron tank car in a static state;
Determining a first maximum acceleration of the ladle car according to the first liquid level, the tank parameters and a preset second liquid level, wherein the second liquid level is used for representing the highest liquid level which is reached by the molten iron shaking allowed by the ladle car in the advancing process;
Determining acceleration corresponding to a plurality of track sections of the ladle car according to the first maximum acceleration of the ladle car, wherein the track sections are obtained by dividing the travelling track of the ladle car in advance;
And controlling the molten iron tank truck to travel according to the acceleration corresponding to the track sections.
Optionally, the hot metal ladle is in a shape of a cylinder or a similar cylinder, and the ladle body parameter comprises a radius value of a cross section of the hot metal ladle;
The determining of the first maximum acceleration of the ladle car according to the first liquid level, the tank parameters and the preset second liquid level comprises the following steps:
and determining a first maximum acceleration of the ladle car according to the first liquid level height, the second liquid level height and the radius value of the cross section of the ladle car.
Optionally, a calculation formula for determining the first maximum acceleration of the ladle car is as follows:
Wherein a max represents a first maximum acceleration of the ladle car, g represents a gravitational acceleration, R represents a radius value of a cross section of the ladle, H 1 represents the second liquid level, and H 0 represents the first liquid level.
Optionally, before determining the accelerations corresponding to the plurality of track sections of the ladle car according to the first maximum acceleration of the ladle car, the method further includes:
acquiring the maximum allowable travelling speed of the ladle car in the travelling process;
Determining a second maximum acceleration of the molten iron ladle car according to the road section length of each track road section in the track road sections and the maximum travelling speed;
determining acceleration corresponding to a plurality of track sections of the ladle car according to the first maximum acceleration of the ladle car, including:
And determining the acceleration corresponding to the track sections according to the first maximum acceleration of the ladle car and the second maximum acceleration of the ladle car.
Optionally, the plurality of track sections include a first track section, a second track section, a third track section, a fourth track section and a fifth track section, wherein a first acceleration corresponding to the first track section and a second acceleration corresponding to the second track section are both positive numbers, and the first acceleration is smaller than the second acceleration; the third acceleration corresponding to the third track section is zero; the fourth acceleration corresponding to the fourth track section and the fifth acceleration corresponding to the fifth track section are negative numbers, and the fourth acceleration is smaller than the fifth acceleration;
The determining the second maximum acceleration of the molten iron ladle car according to the road segment length of each track road segment in the track road segments and the maximum travelling speed comprises the following steps:
And determining a second maximum acceleration of the molten iron ladle car according to the road section length of the first track road section, the road section length of the second track road section and the maximum traveling speed.
Optionally, a calculation formula for determining the second maximum acceleration of the ladle car is as follows:
Wherein a ′ max represents a second maximum acceleration of the ladle car, s 1 represents a road length of the first track section, s 2 represents a road length of the second track section, and V max represents the maximum traveling speed.
Optionally, the determining the acceleration corresponding to the plurality of track sections according to the first maximum acceleration of the ladle car and the second maximum acceleration of the ladle car includes:
judging whether the first maximum acceleration of the ladle car is larger than the second maximum acceleration of the ladle car or not;
Under the condition that the first maximum acceleration of the ladle car is larger than the second maximum acceleration of the ladle car, determining the acceleration corresponding to the track sections according to the second maximum acceleration of the ladle car;
And under the condition that the first maximum acceleration of the ladle car is smaller than or equal to the second maximum acceleration of the ladle car, determining the acceleration corresponding to the track sections according to the first maximum acceleration of the ladle car.
In a second aspect, the present application also provides a control device for a ladle car, the device comprising:
The device comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a first liquid level of molten iron in a molten iron tank and a tank body parameter of the molten iron tank, the molten iron tank is loaded on the molten iron tank truck, and the first liquid level is used for representing the liquid level of the molten iron tank truck in a static state;
The first determining module is used for determining a first maximum acceleration of the ladle car according to the first liquid level, the tank parameters and a preset second liquid level, wherein the second liquid level is used for representing the highest liquid level which is reached by the ladle car and allows molten iron to shake in the advancing process;
the second determining module is used for determining the accelerations corresponding to a plurality of track sections of the molten iron ladle car according to the first maximum acceleration of the molten iron ladle car, wherein the track sections are obtained by dividing the running track of the molten iron ladle car in advance;
And the control module is used for controlling the molten iron tank truck to travel according to the acceleration corresponding to the track sections.
In a third aspect, the present application also provides a control system for a ladle car, the system comprising: the device comprises an operation track, a ladle car, a ladle, a first ranging unit, a second ranging unit and a control unit;
The running track is used for determining the running track of the ladle car;
The ladle car is used for carrying the ladle;
the hot-metal bottle is used for containing molten iron;
The first distance measuring unit is arranged above the starting position of the running track and is used for collecting a first liquid level of molten iron in the molten iron tank and tank body parameters of the molten iron tank;
The second distance measuring unit is arranged at any end of the running track and is used for acquiring the position of the ladle car on the running track;
the control unit is respectively and electrically connected with the first ranging unit and the second ranging unit, and is used for executing the ladle car control method according to any one of the first aspect.
In a fourth aspect, the present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the ladle car control method of any one of the first aspects.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages: according to the method provided by the embodiment of the application, the first liquid level of molten iron in the molten iron tank and the tank body parameters of the molten iron tank are obtained, wherein the molten iron tank is loaded on a molten iron tank car, and the first liquid level is used for representing the liquid level of the molten iron tank car in a static state; determining a first maximum acceleration of the ladle car according to the first liquid level, the tank parameters and a preset second liquid level, wherein the second liquid level is used for representing the highest liquid level which is reached by the molten iron shaking allowed by the ladle car in the advancing process; determining acceleration corresponding to a plurality of track sections of the ladle car according to the first maximum acceleration of the ladle car, wherein the track sections are obtained by dividing the travelling track of the ladle car in advance; and controlling the molten iron tank truck to travel according to the acceleration corresponding to the track sections. Through the mode, the first maximum acceleration which is allowed to be achieved in the running process of the ladle car can be determined according to the first liquid level of the molten iron in the stationary state of the ladle car, the second liquid level which is allowed to be achieved by the ladle car in the running process of the ladle car and the ladle body parameters of the ladle car, the acceleration of each track section on the running track of the ladle car is determined according to the first maximum acceleration, and the ladle car is controlled to run according to the acceleration of each track section, so that the movement state of the ladle car can be effectively prevented from being greatly changed, potential safety hazards caused by splashing of high-temperature molten iron out of a ladle opening are avoided, and the safety of the ladle car in the running process is effectively improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which the figures of the drawings are not to be taken in a limiting sense, unless otherwise indicated.
Fig. 1 is a schematic flow chart of a control method of a ladle car according to an embodiment of the present application;
FIG. 2 is a schematic view of molten iron in a stationary state of a hot metal ladle according to an embodiment of the present application;
FIG. 3 is a schematic diagram of molten iron of a hot metal ladle under uniform acceleration motion according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a liquid level force analysis according to an embodiment of the present application;
FIG. 5 is a schematic view of the movement time-speed of a ladle car according to an embodiment of the present application;
fig. 6 is a schematic structural view of a control device for a ladle car according to an embodiment of the present application;
Fig. 7 is a schematic structural view of a control system for a ladle car according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The following disclosure provides many different embodiments, or examples, for implementing different structures of the invention. In order to simplify the present disclosure, components and arrangements of specific examples are described below. They are, of course, merely examples and are not intended to limit the invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed.
The application provides a control method, a device, a system and a storage medium for a molten iron tank car, which are used for solving the problems that in the prior art, high-temperature molten iron is easy to splash out of a tank opening and potential safety hazards are generated due to large change of the motion state of the molten iron tank car.
Referring to fig. 1, fig. 1 is a schematic flow chart of a control method of a ladle car according to an embodiment of the present application. As shown in fig. 1, the ladle car control method may include the steps of:
And 101, acquiring a first liquid level of molten iron in the molten iron tank and a tank body parameter of the molten iron tank, wherein the molten iron tank is loaded on the molten iron tank truck, and the first liquid level is used for representing the liquid level of the molten iron in a static state of the molten iron tank truck.
Specifically, the first liquid level is the liquid level of molten iron in the molten iron tank when the molten iron tank truck is in a static state, namely the actual height of the molten iron in the molten iron tank when the molten iron tank is static. The first liquid level may be obtained by a distance measuring unit (such as a radar distance measuring device, a laser distance measuring sensor, or an ultrasonic sensor) located above the hot-metal ladle. The ladle parameters of the ladle may include, but are not limited to, the shape of the ladle, the radius value of the cross section of the ladle, etc. The method for acquiring the ladle body parameters of the hot-metal ladle can be acquired through a ranging unit (such as a radar range finder and the like) positioned above the hot-metal ladle, or can be acquired through a camera positioned above the hot-metal ladle to acquire a ladle mouth picture and then identified by using an image analysis algorithm, and the embodiment of the application is not particularly limited.
Step 102, determining a first maximum acceleration of the ladle car according to the first liquid level, the tank parameters and a preset second liquid level, wherein the second liquid level is used for representing the highest liquid level which is reached by the ladle car in the process of allowing molten iron to shake in the running process.
Specifically, the second liquid level is the highest liquid level which the ladle car allows molten iron to shake to reach in the running process, and the highest liquid level is set and recorded in advance and does not need to be acquired repeatedly every time the molten iron is conveyed. As an alternative embodiment, a position height of 10cm from the ladle opening of the ladle may be used as the second liquid level.
Thus, the height difference between the first liquid level and the second liquid level is the maximum height that allows the molten iron to shake. And combining the mathematical theory of the uniform acceleration movement of the liquid and the parameters of the ladle body (such as the shape of the ladle, the radius value of the cross section and the like), the maximum acceleration which the ladle car is allowed to reach in the advancing process, namely the first maximum acceleration, can be determined.
And 103, determining the acceleration corresponding to a plurality of track sections of the ladle car according to the first maximum acceleration of the ladle car, wherein the track sections are obtained by dividing the travelling track of the ladle car in advance.
It should be noted that, in order to avoid the great change of the movement state of the ladle car, the running track of the ladle car can be divided into a plurality of track sections in advance, such as 3 track sections, 5 track sections, 7 track sections and the like, and different acceleration is set for each track section, so as to ensure that the ladle car reaches the destination position in the shortest time possible, and meanwhile, smooth transition can be performed between different track sections without too large jolt.
In the step, after the first maximum acceleration of the ladle car is determined, the acceleration corresponding to each track section can be determined according to the relationship between the first maximum acceleration and the preset acceleration between each track section. For example, assuming that the traveling track of the railway car is divided into 5 track sections, the first maximum acceleration is denoted by a max, it is possible to set the acceleration of the first track section to a max/2, the acceleration of the second track section to a max, the acceleration of the third track section to 0, the acceleration of the fourth track section to-a max, and the acceleration of the fifth track section to-a max/2. Assuming that the traveling track of the railway tank car is divided into 7 track sections, the first maximum acceleration is represented by a max, the acceleration of the first track section is a max/3, the acceleration of the second track section is a max/2, the acceleration of the third track section is a max, the acceleration of the fourth track section is 0, the acceleration of the fifth track section is-a max, the acceleration of the sixth track section is-a max/2, and the acceleration of the seventh track section is-a max/3.
And 104, controlling the molten iron tank truck to travel according to the acceleration corresponding to the track sections.
After the acceleration corresponding to each track section is determined, the position of the ladle car on the travelling track can be obtained in real time so as to determine the track section where the ladle car is currently located, and the ladle car is controlled to travel according to the acceleration of the corresponding track section.
In the embodiment, the first maximum acceleration which is allowed to be reached in the running process of the ladle car can be determined according to the first liquid level of the molten iron in the stationary state of the ladle car, the second liquid level which is allowed to be reached by the molten iron in the running process of the ladle car and the ladle body parameters of the ladle car, so that the acceleration of each track section on the running track of the ladle car is determined according to the first maximum acceleration, the ladle car is controlled to run according to the acceleration of each track section, thus the movement state of the ladle car can be effectively prevented from being greatly changed, potential safety hazards caused by splashing of high-temperature molten iron out of the ladle opening are avoided, and the safety of the ladle car in the running process is effectively improved.
Further, the hot metal ladle is in a cylindrical shape or a shape similar to a cylindrical shape, and the ladle body parameters comprise a radius value of the cross section of the hot metal ladle;
Step 102, determining a first maximum acceleration of the ladle car according to the first liquid level, the tank parameters and a preset second liquid level, including:
And determining the first maximum acceleration of the ladle car according to the first liquid level height, the second liquid level height and the radius value of the cross section of the ladle car.
In one embodiment, since the hot metal ladle is generally cylindrical or cylinder-like in shape, the hot metal ladle may be considered a cylinder or cylinder-like container. Schematic diagrams of molten iron in the ladle are shown in fig. 2 and 3, respectively, before and after the cylinder or cylinder-like ladle moves with the ladle car. As the liquid level of the molten iron in the molten iron tank can incline during acceleration or deceleration movement, the first maximum acceleration of the molten iron tank can be determined according to the liquid level stress analysis and the allowable liquid level difference when the liquid level inclines.
In the embodiment, the first maximum acceleration which is allowed to be reached in the running process of the ladle car can be accurately determined according to the first liquid level of the molten iron in the stationary state of the ladle car, the second liquid level which is allowed to be rocked by the molten iron in the running process of the ladle car and the ladle body parameters of the ladle car, so that the ladle car can be prevented from running without exceeding the first maximum acceleration, and the high-temperature molten iron can be prevented from splashing out of the ladle opening.
Further, a calculation formula for determining the first maximum acceleration of the ladle car is as follows:
Wherein a max represents a first maximum acceleration of the ladle car, g represents a gravitational acceleration, R represents a radius value of a cross section of the ladle, H 1 represents a second liquid level, and H 0 represents a first liquid level.
In one embodiment, assuming that the obtained first level of molten iron in the hot metal ladle is H 0 and the radius value of the cross section of the hot metal ladle is R, as shown in fig. 2, the volume V of molten iron in the hot metal ladle may be calculated using the following formula:
V＝πR2H0；
When the molten iron tank performs uniform acceleration motion with the acceleration a, the molten iron surface is inclined towards the motion direction, as shown in fig. 3, and assuming that the included angle between the liquid surface and the horizontal line is θ, the liquid surface difference Δh can be calculated by using the following formula:
ΔH＝2R tanθ；
at this time, the inclined molten iron volume may be calculated as follows:
thus, the following formula can be deduced from the above formula:
ΔH＝2(H1-H0)＝2R tanθ；
And the liquid level is subjected to stress analysis according to the mathematical theory of the uniform acceleration movement of the liquid, as shown in fig. 4, the first maximum acceleration a max of the ladle car can be obtained:
Wherein a max represents a first maximum acceleration of the ladle car, g represents a gravitational acceleration, g=9.8m/s 2, R represents a radius value of a cross section of the ladle, H 1 represents a second liquid level, and H 0 represents a first liquid level.
Therefore, a maximum height H 1 which allows the liquid level to shake can be set under the condition of ensuring transportation safety, and the first maximum acceleration a max of the ladle car can be calculated through the acquired first liquid level height H 0 and the radius value R of the cross section of the ladle car so as to ensure that molten iron can not splash out of a ladle opening due to inertia, thereby improving the transportation efficiency of the ladle car and ensuring transportation safety.
Further, before determining the accelerations corresponding to the plurality of track sections of the ladle car according to the first maximum acceleration of the ladle car in step 103, the method further includes:
obtaining the maximum allowable travelling speed of the ladle car in the travelling process;
Determining a second maximum acceleration of the ladle car according to the road section length and the maximum travelling speed of each track section in the track sections;
step 103, determining acceleration corresponding to a plurality of track sections of the ladle car according to the first maximum acceleration of the ladle car, including:
and determining the acceleration corresponding to the track sections according to the first maximum acceleration of the ladle car and the second maximum acceleration of the ladle car.
Specifically, the second maximum acceleration of the ladle car refers to a maximum acceleration in a case where the maximum speed of the ladle car does not exceed a preset maximum traveling speed. The second maximum acceleration of the ladle car is different from the first maximum acceleration of the ladle car in that: the former is calculated based on a preset maximum travel speed, and the latter is calculated based on a preset second liquid level.
In an embodiment, the maximum allowable travelling speed of the ladle car in the travelling process can be obtained first, then the second maximum acceleration of the ladle car is determined according to the road section length and the maximum travelling speed of each track road section in the track road sections, then the first maximum acceleration of the ladle car and the second maximum acceleration of the ladle car are judged, and the final corresponding acceleration of the track road sections is determined according to the first maximum acceleration of the ladle car and the second maximum acceleration of the ladle car.
Therefore, the molten iron can not exceed the second liquid level height due to inertia, the maximum advancing speed of the molten iron tank car in the running process can be guaranteed, and the conveying safety of the molten iron tank car is further improved.
Further, the plurality of track sections comprise a first track section, a second track section, a third track section, a fourth track section and a fifth track section, wherein the first acceleration corresponding to the first track section and the second acceleration corresponding to the second track section are positive numbers, and the first acceleration is smaller than the second acceleration; the third acceleration corresponding to the third track section is zero; the fourth acceleration corresponding to the fourth track section and the fifth acceleration corresponding to the fifth track section are negative numbers, and the fourth acceleration is smaller than the fifth acceleration;
the step of determining a second maximum acceleration of the ladle car according to the road segment length and the maximum traveling speed of each of the plurality of track road segments, comprising:
and determining the second maximum acceleration of the railway tank car according to the road section length of the first track road section, the road section length of the second track road section and the maximum travelling speed.
In an embodiment, the plurality of track segments includes a first track segment, a second track segment, a third track segment, a fourth track segment, and a fifth track segment. In the case of a first track section (denoted by s 1), the method can be started slowly, and the ladle car is controlled to move along the travelling track at a first acceleration (such as a max/2); in a second track section (s 2), controlling the ladle car to move along the travelling track at a second acceleration (a max); in a third track section (s 3), controlling the ladle car to keep constant motion, wherein the third acceleration can be 0; at a fourth track segment (s 4), controlling the ladle car to move along the travelling track at a fourth acceleration (such as-a max); in a fifth track section (denoted by s 5), the ladle car is controlled to move along the travel track at a fifth acceleration (e.g., -a max/2), as shown in fig. 5.
Because the hot-metal cans with different filling rates have different maximum accelerations, the hot-metal cans correspond to different movement states and are shown by dotted lines in fig. 5. The lower the molten iron level of the hot metal ladle is, the larger the allowable maximum acceleration is, and the shorter the running time is. Therefore, the hot-metal ladle can be transported more quickly on the premise of ensuring the transportation safety, and the turnover rate of the hot-metal ladle is improved.
In order to ensure safety, the transportation speed of the ladle car is usually limited, that is, the maximum traveling speed needs to be preset for the ladle car, at this time, the second maximum acceleration of the ladle car can be determined according to the road section length of the first track road section, the road section length of the second track road section and the maximum traveling speed, so that the acceleration finally corresponding to a plurality of track road sections can be determined conveniently and subsequently according to the first maximum acceleration of the ladle car and the second maximum acceleration of the ladle car.
Further, a calculation formula for determining the second maximum acceleration of the ladle car is as follows:
where a ′ max denotes a second maximum acceleration of the ladle car, s 1 denotes a link length of the first track link, s 2 denotes a link length of the second track link, and V max denotes a maximum traveling speed.
In one embodiment, if the first track section (s 1) starts, the speed of the ladle car is V 0, and the ladle car starts from rest, V 0 =0. Assuming that the movement speed of the ladle car is V 1 at the end of the first track section (s 1), assuming that the acceleration corresponding to the first track section (s 1) is a 1, and knowing a 1＝a′ max/2, V 1 can be calculated by the following formula:
Assuming that the speed of the ladle car is V 1 when the second track section (s 2) starts and V max when the second track section (s 2) ends, assuming that the acceleration corresponding to the second track section (s 2) is a 2 and knowing a 2＝a′ max, V max can be calculated by the following formula:
from the above formula, the following formula can be derived:
where a ′ max denotes a second maximum acceleration of the ladle car, s 1 denotes a link length of the first track link, s 2 denotes a link length of the second track link, and V max denotes a maximum traveling speed.
In the embodiment, the second maximum acceleration a ′ max of the ladle car can be accurately determined by using the formula so as to ensure that the maximum transportation speed V max of the ladle car is not exceeded in the running process.
Further, the step of determining the acceleration corresponding to the plurality of track sections according to the first maximum acceleration of the ladle car and the second maximum acceleration of the ladle car, includes:
judging whether the first maximum acceleration of the ladle car is larger than the second maximum acceleration of the ladle car;
Under the condition that the first maximum acceleration of the ladle car is larger than the second maximum acceleration of the ladle car, determining the acceleration corresponding to a plurality of track sections according to the second maximum acceleration of the ladle car;
And under the condition that the first maximum acceleration of the ladle car is smaller than or equal to the second maximum acceleration of the ladle car, determining the acceleration corresponding to the track sections according to the first maximum acceleration of the ladle car.
In one embodiment, whether the first maximum acceleration of the ladle car is larger than the second maximum acceleration of the ladle car can be judged first, and if the first maximum acceleration of the ladle car is larger than the second maximum acceleration of the ladle car, the corresponding acceleration of a plurality of track sections is determined according to the second maximum acceleration of the ladle car; and if the first maximum acceleration of the ladle car is smaller than or equal to the second maximum acceleration of the ladle car, determining the acceleration corresponding to the track sections according to the first maximum acceleration of the ladle car. Therefore, the molten iron can not exceed the second liquid level height due to inertia, the maximum advancing speed of the molten iron tank car in the running process can be guaranteed, and the conveying safety of the molten iron tank car is further improved.
Referring to fig. 6, fig. 6 is a schematic structural view of a control device for a ladle car according to an embodiment of the present application. As shown in fig. 6, the apparatus 600 includes:
The first obtaining module 601 is configured to obtain a first liquid level of molten iron in a molten iron tank and a tank parameter of the molten iron tank, where the molten iron tank is mounted on a molten iron tank truck, and the first liquid level is used to characterize the liquid level of the molten iron in a stationary state of the molten iron tank truck;
The first determining module 602 is configured to determine a first maximum acceleration of the ladle car according to a first liquid level, a tank parameter, and a preset second liquid level, where the second liquid level is used to represent a highest liquid level that the ladle car allows molten iron to shake during a running process;
The second determining module 603 is configured to determine acceleration corresponding to a plurality of track sections of the ladle car according to a first maximum acceleration of the ladle car, where the plurality of track sections are obtained by dividing in advance according to a travelling track of the ladle car;
and the control module 604 is used for controlling the molten iron ladle car to travel according to the acceleration corresponding to the track sections.
Further, the hot metal ladle is in a cylindrical shape or a shape similar to a cylindrical shape, and the ladle body parameters comprise a radius value of the cross section of the hot metal ladle; the first determination module 602 includes:
The first determining submodule is used for determining the first maximum acceleration of the ladle car according to the first liquid level height, the second liquid level height and the radius value of the cross section of the ladle car.
Further, a calculation formula for determining the first maximum acceleration of the ladle car is as follows:
Wherein a max represents a first maximum acceleration of the ladle car, g represents a gravitational acceleration, R represents a radius value of a cross section of the ladle, H 1 represents a second liquid level, and H 0 represents a first liquid level.
Further, the apparatus 600 further comprises:
the second acquisition module is used for acquiring the maximum allowable travelling speed of the ladle car in the travelling process;
The third determining module is used for determining a second maximum acceleration of the molten iron tank car according to the road section length and the maximum travelling speed of each track road section in the track road sections;
the second determining module 603 is further configured to determine acceleration corresponding to the plurality of track segments according to the first maximum acceleration of the ladle car and the second maximum acceleration of the ladle car.
Further, the plurality of track sections comprise a first track section, a second track section, a third track section, a fourth track section and a fifth track section, wherein the first acceleration corresponding to the first track section and the second acceleration corresponding to the second track section are positive numbers, and the first acceleration is smaller than the second acceleration; the third acceleration corresponding to the third track section is zero; the fourth acceleration corresponding to the fourth track section and the fifth acceleration corresponding to the fifth track section are negative numbers, and the fourth acceleration is smaller than the fifth acceleration;
the third determination module includes:
and the second determining submodule is used for determining the second maximum acceleration of the molten iron tank car according to the road section length of the first track road section, the road section length of the second track road section and the maximum travelling speed.
Further, a calculation formula for determining the second maximum acceleration of the ladle car is as follows:
where a ′ max denotes a second maximum acceleration of the ladle car, s 1 denotes a link length of the first track link, s 2 denotes a link length of the second track link, and V max denotes a maximum traveling speed.
Further, the second determining module 603 includes:
the judging sub-module is used for judging whether the first maximum acceleration of the ladle car is larger than the second maximum acceleration of the ladle car;
The third determining submodule is used for determining the acceleration corresponding to a plurality of track sections according to the second maximum acceleration of the ladle car under the condition that the first maximum acceleration of the ladle car is larger than the second maximum acceleration of the ladle car;
And the fourth determining submodule is used for determining the acceleration corresponding to the track sections according to the first maximum acceleration of the molten iron tank car under the condition that the first maximum acceleration of the molten iron tank car is smaller than or equal to the second maximum acceleration of the molten iron tank car.
It should be noted that, the device 600 may implement the ladle car control method provided in any of the foregoing method embodiments, and may achieve the same technical effects, which will not be described in detail herein.
Referring to fig. 7, fig. 7 is a block diagram illustrating a control system for a ladle car according to an embodiment of the present application. As shown in fig. 7, the system includes: a running rail 701, a ladle car 702, a ladle vessel 703, a first ranging unit 704, a second ranging unit 705, and a control unit (not shown in the drawing);
the running track 701 is used for determining the running track of the ladle car 702;
The ladle car 702 is used for carrying a ladle 703;
the hot metal bottle 703 is used for holding molten iron;
the first distance measuring unit 704 is arranged above the starting position of the running track 701, and the first distance measuring unit 704 is used for collecting a first liquid level of molten iron in the molten iron tank 703 and a tank body parameter of the molten iron tank 703;
the second ranging unit 705 is arranged at any end of the running track 701, and the second ranging unit 705 is used for acquiring the position of the ladle car 702 on the running track 701;
The control unit is electrically connected to the first ranging unit 704 and the second ranging unit 705, respectively, and is configured to execute the ladle car control method provided in any one of the foregoing method embodiments.
As an alternative embodiment, the ladle car is positioned on the running track and is used for conveying the ladle to be transported along the running track; the first distance measuring unit (such as a radar distance measuring instrument) is arranged above the initial running position of the ladle car and is used for collecting the level of molten iron in the ladle and transmitting the level to the control unit (such as a PLC controller and the like); the second ranging unit (such as a laser ranging sensor and the like) is arranged on one side of the running track and is used for collecting the real-time position of the ladle car and transmitting the collected position information data to the control unit. Therefore, the control unit can control the acceleration of the ladle car on different track sections according to the height of the molten iron liquid level in the ladle car collected by the first distance measuring unit and the real-time position of the ladle car collected by the second distance measuring unit. According to the system, the movement acceleration of the ladle car can be automatically calculated according to different heights of the liquid level of the ladle, so that the transportation efficiency of the ladle is improved and the turnover rate of the ladle is improved on the premise of ensuring safety. Meanwhile, the control mode of slow start and slow stop can be adopted by the system, so that the influence of molten iron inertia is reduced, and the situation that the molten iron is started and stopped rapidly to splash molten iron to scald operators and peripheral equipment is prevented.
The embodiment of the application also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the control method of the ladle car provided by any one of the method embodiments is realized.
The apparatus embodiments described above are merely illustrative, wherein elements illustrated as separate elements may or may not be physically separate, and elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
From the above description of embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus a general purpose hardware platform, or may be implemented by hardware. Based on such understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the related art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the method described in the respective embodiments or some parts of the embodiments.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "includes," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless an order of performance is explicitly stated. It should also be appreciated that additional or alternative steps may be used.
The foregoing is only a specific embodiment of the invention to enable those skilled in the art to understand or practice the 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 (10)
1. A method of controlling a ladle car, the method comprising:
acquiring a first liquid level of molten iron in a molten iron tank and a tank body parameter of the molten iron tank, wherein the molten iron tank is loaded on a molten iron tank car, and the first liquid level is used for representing the liquid level of the molten iron tank car in a static state;
Determining a first maximum acceleration of the ladle car according to the first liquid level, the tank parameters and a preset second liquid level, wherein the second liquid level is used for representing the highest liquid level which is reached by the molten iron shaking allowed by the ladle car in the advancing process;
Determining acceleration corresponding to a plurality of track sections of the ladle car according to the first maximum acceleration of the ladle car, wherein the track sections are obtained by dividing the travelling track of the ladle car in advance;
And controlling the molten iron tank truck to travel according to the acceleration corresponding to the track sections.
2. The ladle car control method according to claim 1, wherein the ladle is in the shape of a cylinder or a cylinder-like shape, and the ladle parameters include a radius value of a cross section of the ladle;
The determining of the first maximum acceleration of the ladle car according to the first liquid level, the tank parameters and the preset second liquid level comprises the following steps:
and determining a first maximum acceleration of the ladle car according to the first liquid level height, the second liquid level height and the radius value of the cross section of the ladle car.
3. The ladle car control method according to claim 2, wherein the calculation formula for determining the first maximum acceleration of the ladle car is as follows:
Wherein a max represents a first maximum acceleration of the ladle car, g represents a gravitational acceleration, R represents a radius value of a cross section of the ladle, H 1 represents the second liquid level, and H 0 represents the first liquid level.
4. The method for controlling a ladle car as recited in claim 1, wherein before said determining the acceleration corresponding to the plurality of track sections of the ladle car according to the first maximum acceleration of the ladle car, the method further comprises:
acquiring the maximum allowable travelling speed of the ladle car in the travelling process;
Determining a second maximum acceleration of the molten iron ladle car according to the road section length of each track road section in the track road sections and the maximum travelling speed;
determining acceleration corresponding to a plurality of track sections of the ladle car according to the first maximum acceleration of the ladle car, including:
And determining the acceleration corresponding to the track sections according to the first maximum acceleration of the ladle car and the second maximum acceleration of the ladle car.
5. The method of controlling a railway car according to claim 4, wherein the plurality of track segments includes a first track segment, a second track segment, a third track segment, a fourth track segment, and a fifth track segment, wherein a first acceleration corresponding to the first track segment and a second acceleration corresponding to the second track segment are both positive numbers, and the first acceleration is smaller than the second acceleration; the third acceleration corresponding to the third track section is zero; the fourth acceleration corresponding to the fourth track section and the fifth acceleration corresponding to the fifth track section are negative numbers, and the fourth acceleration is smaller than the fifth acceleration;
The determining the second maximum acceleration of the molten iron ladle car according to the road segment length of each track road segment in the track road segments and the maximum travelling speed comprises the following steps:
And determining a second maximum acceleration of the molten iron ladle car according to the road section length of the first track road section, the road section length of the second track road section and the maximum traveling speed.
6. The ladle car control method according to claim 5, wherein the calculation formula for determining the second maximum acceleration of the ladle car is as follows:
Where a' max denotes a second maximum acceleration of the railway ladle car, s 1 denotes a link length of the first track link, s 2 denotes a link length of the second track link, and V max denotes the maximum traveling speed.
7. The method for controlling a ladle car as recited in claim 4, wherein said determining the acceleration corresponding to the plurality of track segments based on the first maximum acceleration of the ladle car and the second maximum acceleration of the ladle car comprises:
judging whether the first maximum acceleration of the ladle car is larger than the second maximum acceleration of the ladle car or not;
Under the condition that the first maximum acceleration of the ladle car is larger than the second maximum acceleration of the ladle car, determining the acceleration corresponding to the track sections according to the second maximum acceleration of the ladle car;
And under the condition that the first maximum acceleration of the ladle car is smaller than or equal to the second maximum acceleration of the ladle car, determining the acceleration corresponding to the track sections according to the first maximum acceleration of the ladle car.
8. A ladle car control device, the device comprising:
The device comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a first liquid level of molten iron in a molten iron tank and a tank body parameter of the molten iron tank, the molten iron tank is loaded on the molten iron tank truck, and the first liquid level is used for representing the liquid level of the molten iron tank truck in a static state;
The first determining module is used for determining a first maximum acceleration of the ladle car according to the first liquid level, the tank parameters and a preset second liquid level, wherein the second liquid level is used for representing the highest liquid level which is reached by the ladle car and allows molten iron to shake in the advancing process;
the second determining module is used for determining the accelerations corresponding to a plurality of track sections of the molten iron ladle car according to the first maximum acceleration of the molten iron ladle car, wherein the track sections are obtained by dividing the running track of the molten iron ladle car in advance;
And the control module is used for controlling the molten iron tank truck to travel according to the acceleration corresponding to the track sections.
9. A ladle car control system, said system comprising: the device comprises an operation track, a ladle car, a ladle, a first ranging unit, a second ranging unit and a control unit;
The running track is used for determining the running track of the ladle car;
The ladle car is used for carrying the ladle;
the hot-metal bottle is used for containing molten iron;
The first distance measuring unit is arranged above the starting position of the running track and is used for collecting a first liquid level of molten iron in the molten iron tank and tank body parameters of the molten iron tank;
The second distance measuring unit is arranged at any end of the running track and is used for acquiring the position of the ladle car on the running track;
the control unit is electrically connected with the first ranging unit and the second ranging unit respectively, and is used for executing the ladle car control method according to any one of claims 1-7.
10. A computer readable storage medium having stored thereon a computer program, characterized in that the computer program, when executed by a processor, implements the ladle car control method of any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410098721.4A CN118131754A (en) | 2024-01-23 | 2024-01-23 | Control method, device and system for ladle car and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410098721.4A CN118131754A (en) | 2024-01-23 | 2024-01-23 | Control method, device and system for ladle car and storage medium |
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| Publication Number | Publication Date |
|---|---|
| CN118131754A true CN118131754A (en) | 2024-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410098721.4A Pending CN118131754A (en) | 2024-01-23 | 2024-01-23 | Control method, device and system for ladle car and storage medium |
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| Country | Link |
|---|---|
| CN (1) | CN118131754A (en) |
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- 2024-01-23 CN CN202410098721.4A patent/CN118131754A/en active Pending
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