CN215883679U - Intelligent control system of self-propelled electrically-driven molten iron mixing vehicle - Google Patents
Intelligent control system of self-propelled electrically-driven molten iron mixing vehicle Download PDFInfo
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- CN215883679U CN215883679U CN202122398722.5U CN202122398722U CN215883679U CN 215883679 U CN215883679 U CN 215883679U CN 202122398722 U CN202122398722 U CN 202122398722U CN 215883679 U CN215883679 U CN 215883679U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The utility model provides an intelligent control system of a self-propelled electrically-driven molten iron mixing vehicle, which comprises a position sensor for detecting the real-time position of the vehicle, a motion sensor for detecting the real-time running state of the vehicle, a storage module for storing a control list, a control module for controlling the running of the whole vehicle, a power battery for supplying power to each module of the whole vehicle and a plurality of driving motors for driving a vehicle executing mechanism, wherein the control list is used for storing control parameters, and the real-time position of the vehicle and the real-time running state of the vehicle both correspond to the control parameters. The utility model greatly improves the environmental protection of the molten iron mixing vehicle transportation link and ensures the high efficiency of the system operation.
Description
Technical Field
The utility model relates to a control system of manufacturing machinery, in particular to an intelligent control system of a self-propelled electric-driven molten iron mixing vehicle.
Background
At present, the transportation of the molten iron mixing vehicle is mainly completed by the traction of the internal combustion locomotive, and energy consumption is also needed in the transportation process due to the exhaust emission of the internal combustion locomotive and the self moving process of the internal combustion locomotive, so that the transportation mechanism of the molten iron mixing vehicle has low energy efficiency and causes pollution to the air.
SUMMERY OF THE UTILITY MODEL
According to the technical problem that the transportation energy efficiency of the molten iron mixing vehicle is low by means of traction of the internal combustion locomotive, the intelligent control system of the self-propelled electrically-driven molten iron mixing vehicle is provided. In order to greatly improve the energy saving property and the environmental protection property of the molten iron mixing vehicle transportation link, the utility model provides an intelligent control system and method of the molten iron mixing vehicle driven by electric energy only.
The technical means adopted by the utility model are as follows:
an intelligent control system of a self-propelled electrically-driven molten iron mixing vehicle, comprising: the system comprises a position sensor for detecting the real-time position of a vehicle, a motion sensor for detecting the real-time running state of the vehicle, a storage module for storing a control list, a control module for controlling the running of the whole vehicle, a power battery for providing power for each module of the whole vehicle and a plurality of driving motors for driving vehicle executing mechanisms, wherein the control list is used for storing control parameters, and the real-time position of the vehicle and the real-time running state of the vehicle correspond to the control parameters;
the position sensor and the motion sensor are respectively connected with a detection port of the control module, the storage module is connected with an inquiry port of the control module, and the power battery connection and the driving motor are respectively connected with a control port of the control module;
when the control device works, the control module queries a control list according to the vehicle real-time position information and the vehicle real-time running state information detected by the position sensor and the motion sensor so as to obtain corresponding control parameters, and the control module generates control signals according to the obtained control parameters to respectively control the working states of the power battery and the driving motor.
Further, the real-time running state of the vehicle comprises a vehicle running direction, a vehicle speed and a vehicle acceleration.
Further, the vehicle actuator includes wheels and an air pressure pump.
Further, the first row of the control list represents the real-time position of the vehicle, the first row represents the real-time running state of the vehicle, and the control parameters stored in the control list are the optimal working state parameters corresponding to the real-time position of the vehicle and the real-time running state of the vehicle.
Further, the optimal working state parameters are obtained through an off-line simulation experiment under a set working condition.
Compared with the prior art, the utility model has the following advantages:
the utility model reduces the energy consumption of the whole vehicle to the maximum extent and improves the economy of equipment. Meanwhile, the whole life cycle cost of the whole vehicle can be reduced to the maximum extent, and the competitiveness of the product is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural view of a power control system of a self-propelled electrically-driven molten iron mixing vehicle according to the present invention.
In the figure: 1. a position detection sensor; 2. a state detection sensor; 3. a storage module; 4. a vehicle control module; 5. a power battery; 6. the motor is driven.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the utility model, its application, or uses. 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.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the utility model. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As shown in fig. 1, the present invention provides an intelligent control system for a self-propelled electrically-driven molten iron mixing vehicle, comprising: the system comprises a position sensor for detecting the real-time position of a vehicle, a motion sensor for detecting the real-time running state of the vehicle, a storage module for storing a control list, a control module for controlling the running of the whole vehicle, a power battery for providing power for each module of the whole vehicle and a plurality of driving motors for driving vehicle executing mechanisms, wherein the control list is used for storing control parameters, and the real-time position of the vehicle and the real-time running state of the vehicle correspond to the control parameters; the position sensor and the motion sensor are respectively connected with a detection port of the control module, the storage module is connected with an inquiry port of the control module, and the power battery and the driving motor are respectively connected with a control port of the control module; when the control device works, the control module queries the control list according to the vehicle real-time position information and the vehicle real-time running state information detected by the position sensor and the motion sensor so as to obtain corresponding control parameters, and the control module generates control signals according to the obtained control parameters to respectively control the working states of the power battery and the driving motor.
The real-time running state of the vehicle comprises the running direction of the vehicle, the speed of the vehicle and the acceleration of the vehicle, and the data are measured through a built-in rotating speed encoder of the motor and a coaxial rotating speed encoder of a driven wheel. The vehicle actuator includes wheels and an air pressure pump.
The first row of a control list stored by a storage module represents the real-time position of a vehicle, the first row represents the real-time running state of the vehicle, and control parameters stored by the control list are optimal working state parameters corresponding to the real-time position of the vehicle and the real-time running state of the vehicle. The optimal working state parameters are obtained through an off-line mode simulation experiment under a set working condition.
Specifically, the whole vehicle control module obtains the optimal control scheme searched under different mass center positions, different cargo masses and different track positions by calculating the mass center position and the cargo mass of the whole vehicle according to the data information transmitted by the sensor unit, and the optimal control scheme comprises parameter representations such as the rotating speed of a walking motor, the torque, the rotating speed of an air pump motor, the rotating speed of a motor radiator and the like. The optimal control scheme is a global optimal control strategy obtained by using an entire vehicle model under the working conditions of off-line simulation operation and setting. And manufacturing the global optimal control strategy into a table look-up module for the vehicle at different running positions for the whole vehicle running control. The global optimal control strategy is a table look-up function, the abscissa of the table is the current position of the whole vehicle, and the ordinate is the optimal working state parameters of the power battery and each driving motor at the next moment. The global optimal control strategy in the utility model is obtained by optimizing with the lowest energy consumption in the whole process as a target.
The advanced control strategies available at present mainly include model prediction control, fuzzy control, neural network control, sliding mode variable structure control and the like, and the control strategies can reduce energy consumption in the advancing process of the vehicle, reduce the running cost of the vehicle and increase the market competitiveness of products. However, due to the complex and various running conditions of the vehicle, the control strategy has a limited effect on improving the practicability of the running of the vehicle. If the energy-saving potential of the vehicle is exerted to the maximum extent, the global optimal control is the best control method at present, however, the global optimal control needs to specify the working condition parameters of all driving routes of the vehicle in advance, and the global optimal control is almost impossible to realize for a common vehicle.
The self-propelled electrically-driven molten iron mixing vehicle is used for transporting molten iron in a steel mill, and can accurately locate the current position and adjust the self operation parameters according to the front road condition by installing the self-propelled electrically-driven molten iron mixing vehicle along a track and an on-vehicle positioning sensor and a controller. Since the transportation of the self-propelled electrically-driven molten iron mixing vehicle has a detailed production plan, the running track of the self-propelled electrically-driven molten iron mixing vehicle can be determined in advance. This provides a prerequisite for the application of a globally optimal control strategy.
The working process of the intelligent control system of the self-propelled electric-driven molten iron mixing vehicle mainly comprises the following steps:
1. detecting a real-time position of the vehicle by a position sensor; the real-time running state of the vehicle is detected through the motion sensor. Specifically, the accurate position of the vehicle in a fixed track is measured by a vehicle position sensor, and the current running state (direction, speed, acceleration and the like) of the vehicle is detected by a motion sensor.
2. And inquiring a control list according to the acquired real-time position of the vehicle and the real-time running state of the vehicle so as to acquire corresponding control parameters. Specifically, the control system of the whole vehicle receives the precise position of the whole vehicle and the running state of the whole vehicle measured in the step 1, and a table is looked up to obtain a control strategy used for molten iron transportation at the moment. The lookup table here is the control strategy selected for use in this trip, as determined by the off-line simulation described above. The row of the searched list is the accurate position of the whole car, the row is listed as the current running state of the whole car, and the optimal control variable parameters required by the power battery and the driving motor of the torpedo car at the next moment are determined according to the row and the column.
3. And controlling the operation of the braking force battery and the driving motor according to the control parameters. Specifically, the actual running state of the mixer car is kept consistent with the control parameters obtained by table lookup through the motion control unit.
The system provided by the embodiment is applied to a Bao steel 335t self-propelled mixer car project. The control method is applied to the self-propelled electrically-driven molten iron mixing vehicle, the energy consumption of the self-propelled electrically-driven molten iron mixing vehicle is reduced to the greatest extent, the turnover rate of the molten iron mixing vehicle is improved, the economy of the self-propelled electrically-driven molten iron mixing vehicle is improved, the full life cycle cost of the developed self-propelled electrically-driven molten iron mixing vehicle is reduced, and meanwhile, the control reliability of the control method is high. In conclusion, the use of the control method can obviously enhance the market competitiveness and the economic benefit of the product.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the utility model has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. The utility model provides an intelligent control system of self-propelled electric drive hot metal mixer car which characterized in that includes: the system comprises a position sensor for detecting the real-time position of a vehicle, a motion sensor for detecting the real-time running state of the vehicle, a storage module for storing a control list, a control module for controlling the running of the whole vehicle, a power battery for providing power for each module of the whole vehicle and a plurality of driving motors for driving vehicle executing mechanisms, wherein the control list is used for storing control parameters, and the real-time position of the vehicle and the real-time running state of the vehicle correspond to the control parameters;
the position sensor and the motion sensor are respectively connected with a detection port of the control module, the storage module is connected with an inquiry port of the control module, and the power battery connection and the driving motor are respectively connected with a control port of the control module;
when the control device works, the control module queries a control list according to the vehicle real-time position information and the vehicle real-time running state information detected by the position sensor and the motion sensor so as to obtain corresponding control parameters, and the control module generates control signals according to the obtained control parameters to respectively control the working states of the power battery and the driving motor.
2. An intelligent control system for a self-propelled electrically driven molten iron mixing vehicle as recited in claim 1, wherein the real-time vehicle operating conditions include vehicle direction of travel, vehicle speed, and vehicle acceleration.
3. An intelligent control system for a self-propelled electrically driven molten iron mixing vehicle as recited in claim 1, wherein the vehicle actuators comprise wheels and an air-pressure pump.
4. An intelligent control system for a self-propelled electrically-driven molten iron mixing vehicle according to claim 1, wherein the first row of the control list represents a vehicle real-time position, the first column represents a vehicle real-time running state, and the control parameters stored in the control list are optimal working state parameters corresponding to the vehicle real-time position and the vehicle real-time running state.
5. An intelligent control system for a self-propelled electrically-driven molten iron mixing vehicle according to claim 4, wherein the optimal operating state parameters are obtained experimentally under set operating conditions obtained through off-line simulation.
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| CN202122398722.5U CN215883679U (en) | 2021-09-30 | 2021-09-30 | Intelligent control system of self-propelled electrically-driven molten iron mixing vehicle |
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| CN202122398722.5U CN215883679U (en) | 2021-09-30 | 2021-09-30 | Intelligent control system of self-propelled electrically-driven molten iron mixing vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113942547A (en) * | 2021-09-30 | 2022-01-18 | 大连华锐重工冶金设备制造有限公司 | Intelligent control system and method for self-propelled electrically-driven molten iron mixing vehicle |
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2021
- 2021-09-30 CN CN202122398722.5U patent/CN215883679U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113942547A (en) * | 2021-09-30 | 2022-01-18 | 大连华锐重工冶金设备制造有限公司 | Intelligent control system and method for self-propelled electrically-driven molten iron mixing vehicle |
| CN113942547B (en) * | 2021-09-30 | 2024-03-15 | 大连华锐重工焦炉车辆设备有限公司 | Intelligent control system and method for self-propelled electrically-driven hot metal mixer car |
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| GR01 | Patent grant | ||
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| TR01 | Transfer of patent right |
Effective date of registration: 20230724 Address after: No. 29-7 Shunda Road, Lvshun Economic Development Zone, Dalian City, Liaoning Province, 116045 Patentee after: DALIAN HUARUI HEAVY INDUSTRY COKE OVEN VEHICLE EQUIPMENT Co.,Ltd. Patentee after: DALIAN HUARUI HEAVY INDUSTRY GROUP Co.,Ltd. Address before: No. 29-7, Shunda Road, economic development zone, Lushunkou District, Dalian, Liaoning, 116000 Patentee before: DALIAN HUARUI HEAVY METALLURGY EQUIPMENT MANUFACTURING CO.,LTD. Patentee before: DALIAN HUARUI HEAVY INDUSTRY GROUP Co.,Ltd. |
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