JP2006117808A - Speed controlling method for coke conveying apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a speed controlling method for a coke conveying apparatus carrying coke and moving on a rail, and controlling the apparatus with a speed pattern comprising acceleration, constant speed and deceleration and stable to speed variation. <P>SOLUTION: This speed controlling method controls the speed of the coke conveying apparatus carrying coke and moving on the rail at the controlled speed pattern comprising acceleration, constant speed and deceleration patterns. When the deviation (V0-V) between the commanded speed V0 and the actual speed V in the acceleration stage of the coke conveying apparatus is smaller than a preset level and the state is not continued longer than a preset period, the wheel of the coke conveying apparatus is judged to be in slipping state, and an antislip agent is supplied to the rail forward of the wheel of the coke conveying apparatus and the commanded speed V0 is maintained to the speed V1 at the wheel-slippage detection time. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a speed control method for a coke transport apparatus in which coke is loaded and moved on a track, and controlled by acceleration, constant speed, and deceleration speed patterns.

In order to transport coke produced in a coke oven to the next process such as wet cooling equipment or dry cooling equipment, coke transport equipment that loads coke and moves on the track by unattended remote operation has been used. Various proposals have been made regarding the speed control method of the coke conveying apparatus.
For example, in Patent Document 1, a slip is detected based on a deviation between a traveling speed when there is no slip detected from the number of rotations of a drive wheel and an actual traveling speed, and when slip is detected, a deceleration traveling is performed. A response method after slip detection has been proposed that eliminates slip and reduces travel time.
However, the method of Patent Document 1 is a predictive control that only changes the speed command to a speed pattern that does not slip, has no certainty, and does not take into account what speed the actual mobile machine is moving. Therefore, there is a problem that speed control cannot be performed safely and reliably.
JP 2001-26783 A

Therefore, the present invention solves the problems of the prior art as described above, moves the coke and moves on the track, and controls the speed of the coke transport apparatus controlled by the acceleration, constant speed, and deceleration speed patterns. It is an object of the present invention to provide a stable speed control method according to the actual speed.

As a result of intensive studies to solve the above-described problems, the present invention provides a speed control method for a coke transport apparatus that is loaded with coke, moves on a track, and is controlled by a speed pattern of acceleration, constant speed, and deceleration. Speed control method that determines slipping when a state where the speed deviation between the command and actual speed is small does not continue for more than the set time, supplies slip prevention agent on the track ahead of the wheel, and fixes the speed command to a constant speed The gist of the present invention is as follows, as described in the claims.
(1) A method for controlling the speed of a coke transporting apparatus in which coke is loaded and moved on a track and controlled by acceleration, constant speed, and deceleration speed patterns,
The wheel of the coke transport device is idling when the time (V0-V) between the speed command V0 and the actual speed V during acceleration of the coke transport device does not continue for a set time or longer. Judgment
A method for controlling the speed of a coke transporting device, wherein an anti-slip agent is supplied onto a track in front of the wheels of the coke transporting device, and the speed command V0 is maintained at a speed V1 at the time when slip is detected.
(2) The wheel of the coke transport device is idle when the deviation (V0-V) between the speed command V0 and the actual speed V during acceleration of the coke transport device does not continue for more than 1 second. The anti-slip agent is supplied onto the track in front of the wheels of the coke transport device, and the speed command V0 is maintained at the speed V1 when the slip is detected (1). 4. A method for controlling the speed of the coke conveying device according to 1.
(3) Further, when the deviation (V0-V1) between the speed command V0 at the time of acceleration of the coke conveyor and the speed V1 at the time of detecting the slip is less than 10 m / min for 1 second, the speed The speed control method for a coke conveying apparatus according to claim 1 or 2, wherein the command V0 is fixed at a constant speed V2.

  According to the present invention, in a speed control method for a coke transport apparatus that is loaded with coke, moves on a track, and is controlled by acceleration, constant speed, and deceleration speed patterns, a state where the speed deviation is small does not continue for a set time or more. By providing a speed control method that determines that the engine is idling and supplies an anti-slip agent on the track in front of the wheels, and fixes the speed command to a constant speed, the safety and reliability of the coke transport device can be ensured. It is possible to perform a speed control, and there are significant industrially useful effects.

The best mode for carrying out the present invention will be described in detail with reference to FIGS.
2 and 3 are diagrams illustrating an embodiment of a speed control method for a coke transport apparatus according to the present invention, in which the horizontal axis indicates time t (sec) and the vertical axis indicates speed v (m / min).
FIG. 2 exemplifies the speed pattern of the speed command V0 at the time of accelerating the coke conveying device. The speed is increased at an acceleration of 0.1 m / sec2 and maintained at a constant speed when reaching 180 m / min. Before reaching the destination, the vehicle decelerates and stops in two stages.
However, when the wheels of the coke conveyor are slipping with respect to the track, the speed command V0 indicated by the solid line and the actual speed V indicated by the dotted line are inconsistent (deviation) as shown by the oblique lines in FIG. When this deviation is significant, speed control cannot be performed, and when the slip does not occur, the vehicle rapidly accelerates and stable traveling movement becomes impossible.
Therefore, in the present invention, there is provided a speed control method for a coke transport apparatus that loads coke and moves on a track, and includes a deviation (V0-V) between a speed command V0 and an actual speed V during acceleration of the coke transport apparatus. ) Is less than the set time, it is determined that the wheels of the coke transport device are idling, and an anti-slip agent is supplied onto the track ahead of the wheels of the coke transport device. As shown in FIG. 3, the speed command V0 is fixed to the speed V1 at the time when the slip is detected.

In the present invention, not only the deviation between the speed command V0 and the actual speed V at the time of acceleration of the coke conveyance device as in the prior art, but also the wheel with respect to the track on condition that the deviation less than the set value does not continue for the set time or more Therefore, even if the speed fluctuates in a short time, it is not determined that the engine is idling. Therefore, stable speed control can be realized.
In the present invention, the speed deviation (V0−V) determined as idling and the duration of the speed deviation may be set as appropriate, so the values are not limited, but the inventors set various values. As a result of the experiment, the speed deviation (V0−V) for determining that the engine is not idling is less than 10 m / min, and the duration of the deviation is 1 sec or more, thereby realizing more stable speed control. .
Further, in the present invention, when it is determined that the wheels of the coke conveying device are idling, the anti-slip agent is supplied onto the track in front of the wheels of the coke conveying device, and the speed as shown in FIG. The command V0 is maintained at the speed V1 when the slip is detected.
By injecting an anti-slip agent such as ceramic powder onto the wheels of the coke conveying device, the frictional resistance between the wheels and the track can be increased, and the aforementioned speed deviation (V0-V) can be reduced, By maintaining the speed command V0 at the speed V1 when the slip is detected, the expansion of the slip phenomenon can be suppressed.

Further, when the deviation (V0-V1) between the speed command V0 at the time of acceleration of the coke conveying device and the speed V1 at the time of detecting the slip is less than 10 m / min for 1 second, the speed command V0 is By fixing to the constant speed V2, the upper limit value of the speed command can be fixed to V2, so that safer operation can be realized.
In the present invention, the method for measuring the actual speed V of the coke transport device is not limited.For example, a touch roller for speed measurement is provided in the coke transport device, and the touch roller is brought into contact with the upper surface of the track during traveling. Thus, a method of measuring the number of rotations per hour is preferable.

FIG. 1 is a diagram illustrating a processing flow of a speed control method for a coke transport apparatus according to the present invention.
First, acceleration is started based on the movement command (S-1), and a speed command V0 is instructed (S-2).
Next, if the time between the speed command V0 and the actual speed V (V0-V) during acceleration of the coke transport device is less than 10m / min continues for more than 1 second, there is no slip and acceleration is normal. (S-3), the vehicle is accelerated to a basic driving pattern as shown in FIG. 2 (S-4).
On the other hand, if the deviation (V0-V) between the speed command V0 and the actual speed V during acceleration of the coke conveyor is less than 10 m / min does not continue for more than 1 second, it is determined that idling has occurred. (S-3), an anti-slip agent injection command is issued to inject anti-slip agent such as ceramic powder onto the track in front of the wheel, and the speed command V0 at the time of acceleration of the coke conveying device is, for example, By maintaining the speed command value at the speed V1 when slip is detected, the speed command value can be kept constant while waiting for the actual speed V to follow (S-5). .

Next, it is determined whether or not the time during which the deviation (V0-V1) between the speed command V0 at the time of acceleration of the coke conveyor and the speed V1 at the time of detecting the slip is less than 10 m / min continues for 1 second (S-6 In the case of Yes, the speed command V0 is fixed to the set value V2, so that the upper limit value of the speed command is set to this value when, for example, the slip occurs at 75 m / min or less, and the slip is 75 m / min. When it happens at min or more, it is fixed at 180 m / min, so that the safety of the equipment can be further enhanced.
Note that the acceleration pattern in the case of increasing from the speed V1 to V2 is the same as the reference pattern shown in FIG.
On the other hand, when the deviation (V0-V1) between the speed command V0 at the time of acceleration of the coke conveyor and the speed V1 at the time of detecting the slip is less than 10 m / min does not last for 1 second (S-6) Returning to the above-described step (S-5), waiting for the follow-up of the actual speed V, and when the predetermined time has not elapsed, measures such as stopping the coke conveying device can be taken.
In the present invention, the control system is not limited, but a system in which a control device including a sequencer is mounted on the coke transport apparatus of the present invention and a motor that drives the wheels of the coke transport apparatus via an inverter is preferable.

It is a figure which illustrates the processing flow of the speed control method of the coke conveying apparatus in this invention. It is a figure which illustrates the speed pattern of speed command V0 at the time of acceleration of the coke conveying apparatus in this invention. It is a figure which illustrates embodiment of the speed control method of the coke conveying apparatus in this invention.

Claims (3)

It is a speed control method of a coke transport device that is loaded with coke and moves on a track, and is controlled by acceleration, constant speed, and deceleration speed patterns,
If the wheel of the coke transport device is idling when the deviation (V0-V) between the speed command V0 and the actual speed V during acceleration of the coke transport device does not continue for a set time or longer Judgment
A method for controlling the speed of a coke transporting apparatus, wherein an anti-slip agent is supplied onto a track ahead of the wheels of the coke transporting apparatus, and the speed command V0 is maintained at a speed V1 at the time when slip is detected. The wheel of the coke transport device is idle when the deviation (V0-V) between the speed command V0 and the actual speed V during acceleration of the coke transport device does not last for more than 1 second. The anti-slip agent is supplied to the track in front of the wheels of the coke conveying device, and the speed command V0 is maintained at the speed V1 when the slip is detected. Speed control method for coke conveyor. Furthermore, when the deviation (V0-V1) between the speed command V0 at the time of acceleration of the coke conveying device and the speed V1 at the time of detecting the slip is less than 10 m / min for 1 second, the speed command V0 is The speed control method for a coke conveyor according to claim 1 or 2, wherein the speed is accelerated and fixed from the speed V1 to a predetermined constant speed V2.

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