JP2011202021A - Running control method of coke fire extinguishing electric car - Google Patents
Running control method of coke fire extinguishing electric car Download PDFInfo
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本発明は、コークス消火電車の走行制御方法に関し、特に該消火電車の加速走行中にスリップが発生した場合であっても、走行時間の有利な短縮を図ろうとするものである。 The present invention relates to a traveling control method for a coke fire extinguisher, and is intended to advantageously shorten the traveling time even when slip occurs during acceleration traveling of the fire extinguishing train.
コークス工場における操業概要は次のとおりである。まず、操炭車でコークス炉に石炭を装入する。装入された石炭は乾留されコークスとなる。乾留が終了した赤熱コークスは押出機によりコークス炉から押し出され、ガイド車を介してコークス消火電車に移される。コークス消火電車は、赤熱コークスを消火して排出する場合もあるが、通常は消火設備（コークス消火塔）へ搬送し、ワンサイクルが終了する。
なお、コークス消火電車に積載される赤熱コークスは約1000℃と高温であるため、コークス炉からコークス消火塔までの間は、コークス消火電車を自動走行させて赤熱コークスを搬送している。
The outline of operation at the coke plant is as follows. First, coal is charged into a coke oven with a charcoal handling vehicle. The charged coal is carbonized into coke. The red hot coke after dry distillation is pushed out of the coke oven by an extruder and transferred to a coke fire extinguishing train through a guide car. The coke fire extinguishing train may extinguish red coke and discharge it. Usually, it is transported to a fire extinguishing facility (coke fire tower), and one cycle is completed.
In addition, since the red hot coke loaded on the coke fire extinguisher is as high as about 1000 ° C., the coke fire extinguisher is automatically run between the coke oven and the coke fire extinguisher to carry the red hot coke.
コークス工場において、コークスの生産量を増やすためには、サイクルタイムの短縮が必要であり、最短時間でコークス消火電車を目標位置に停止させることでサイクルタイムの短縮が可能となる。
しかしながら、コークス消火電車が、スリップ等の外乱によって目標停止位置に停止しなかった場合は、再度、目標停止位置まで走行させることになる。この場合、再走行を行わずに、予定どうり目標停止位置に停止した場合に比べてサイクルタイムが長くなる。
In order to increase the production amount of coke in a coke factory, it is necessary to shorten the cycle time, and the cycle time can be shortened by stopping the coke fire extinguishing train at the target position in the shortest time.
However, if the coke fire extinguisher does not stop at the target stop position due to a disturbance such as a slip, the coke fire extinguisher will travel to the target stop position again. In this case, the cycle time becomes longer than when the vehicle is stopped at the target stop position as planned without re-running.
そこで、従来から、コークス消火電車を目標停止位置に停止させるべく、種々の提案がなされている（例えば、特許文献１，特許文献２）。 Therefore, various proposals have been made to stop the coke fire extinguishing train at the target stop position (for example, Patent Document 1 and Patent Document 2).
通常、コークス消火電車の走行に際しては、スリップが発生しにくい目標速度を設定していた。しかしながら、このような目標速度では、目標停止位置までの到達時間が長くなるという問題がある。
また、上掲した従来技術では、走行中にスリップが発生した場合の修正が十分とはいえないため、サイクルタイムの短縮に関しては、やはり満足いく結果を得ることができなかった。
Normally, when running on a coke fire extinguisher, a target speed at which slip is unlikely to occur is set. However, at such a target speed, there is a problem that the arrival time to the target stop position becomes long.
Further, in the above-described conventional technology, it cannot be said that the correction when the slip occurs during traveling is sufficient, so that satisfactory results cannot be obtained with respect to shortening the cycle time.
本発明は、上記の現状に鑑み開発されたもので、たとえコークス消火電車の走行中、特に加速走行中にスリップが発生したとしても、それによる悪影響を最小限に止めて、サイクルタイムの有利な短縮を可能としたコークス消火電車の走行制御方法を提案することを目的とする。 The present invention has been developed in view of the above situation, and even if a slip occurs during the running of a coke fire extinguishing train, especially during acceleration running, the adverse effects caused thereby are minimized, and the cycle time is advantageous. The purpose is to propose a running control method for coke fire-fighting trains that can be shortened.
すなわち、本発明の要旨構成は次のとおりである。
１．コークス消火電車を、コークス炉からコークス消火塔まで搬送するに際し、予め、定常速度、定常速度までの加速速度および定常速度からの減速速度を定めておき、加速時において、目標とする加速速度ＴAに対する実際の加速速度Ｔ1の速度差が許容範囲Ｈを超える時間が一定時間ｔ1継続した場合にスリップが発生したと判断して、加速速度をスリップを抑制する加速速度ＴBに減速し、このスリップ抑制加速速度ＴBに対する実際の加速速度Ｔ2の速度差が許容範囲Ｌを満足する時間が一定時間ｔ2継続した場合にスリップが解消されたと判断して、加速速度を再度、目標加速速度ＴAに復帰して、コークス消火電車の搬送を行うことを特徴とするコークス消火電車の走行制御方法。
That is, the gist configuration of the present invention is as follows.
1. Coke extinguishing a train, when conveyed from the coke oven to coke extinguishing tower, advance, steady speed, is determined in advance a deceleration rate from the acceleration speed and a constant rate up to a steady speed, during acceleration, the acceleration rate T A of the target actual acceleration speed difference rate T 1 is is determined that the time exceeds the allowable range H can slip when continued for a certain time period t 1 has occurred, the acceleration rate and deceleration suppressing acceleration speed T B slip against, When the time during which the speed difference of the actual acceleration speed T 2 with respect to the slip suppression acceleration speed T B satisfies the allowable range L continues for a certain time t 2, it is determined that the slip has been eliminated, and the acceleration speed is set again to the target acceleration. A traveling control method for a coke fire extinguishing train, wherein the coke fire extinguishing train is transported after returning to the speed TA.
２．コークス消火電車を、コークス炉からコークス消火塔まで搬送するに際し、予め、定常速度、定常速度までの加速速度および定常速度からの減速速度を定めておき、加速時において、スリップが発生すると予測される区域については、目標とする加速速度ＴAからスリップ抑制加速速度ＴBに減速し、該区域をスリップ抑制加速速度ＴBで走行したのち、加速速度を再度、目標加速速度ＴAに復帰して、コークス消火電車の搬送を行うことを特徴とするコークス消火電車の走行制御方法。 2. When transporting a coke fire extinguisher from a coke oven to a coke fire tower, a steady speed, an acceleration speed up to the steady speed, and a deceleration speed from the steady speed are determined in advance, and it is predicted that slip will occur during acceleration. the zone decelerated slip suppressing acceleration speed T B from the acceleration rate T a as a target, after traveling said section area in suppressing slip acceleration speed T B, the acceleration speed again, and returns to the target acceleration speed T a A method for controlling the running of a coke fire extinguishing train, characterized by carrying the coke fire extinguishing train.
本発明によれば、コークス消火電車を、コークス炉からコークス消火塔まで搬送する際に、たとえコークス消火電車の加速走行中にスリップが発生したとしても、それによる悪影響を最小限に止めて、サイクルタイムの短縮を可能とする。 According to the present invention, when a coke fire extinguisher is transported from a coke oven to a coke fire extinguisher, even if a slip occurs during acceleration running of the coke fire extinguisher, an adverse effect caused thereby is minimized, and the cycle is reduced. The time can be shortened.
以下、本発明を具体的に説明する。
図１に、コークス消火電車の基本構成を示す。図中、符号１は、シーケンスや走行速度制御を行う計算機、２は、計算機１からの指令を受けて車輪に接続されたモータＭの回転速度制御を行う走行速度制御装置であり、３が駆動車輪である。また、４は、レールに設置した車輪の回転からコークス消火電車の実際の走行速度を検出する走行速度検出装置であり、５が走行速度を検出用の車輪で、フリー状態でレール６に設置されている。
Hereinafter, the present invention will be specifically described.
FIG. 1 shows a basic configuration of a coke fire fighting train. In the figure, reference numeral 1 is a computer that performs sequence and travel speed control, 2 is a travel speed control device that receives a command from the computer 1 and controls the rotational speed of a motor M connected to a wheel, and 3 is driven. It is a wheel. In addition, 4 is a traveling speed detection device that detects the actual traveling speed of the coke fire fighting train from the rotation of the wheels installed on the rail, and 5 is a wheel for detecting the traveling speed, and is installed on the
コークス炉操業において、コークス消火電車を現在位置から目標位置へ搬送する場合、図２に示すように、予め、定常速度、定常速度までの加速速度および定常速度からの減速速度を定めておき、この目標速度に従って速度制御を行い、目的位置まで搬送する。
加速時においてスリップが発生した場合、図３に示すように、実際の加速速度Ｔ1は目標とする加速速度ＴAより遅くなるため、目標位置までの到達時間は長くなる。
In the coke oven operation, when the coke fire extinguishing train is transported from the current position to the target position, as shown in FIG. 2, the steady speed, the acceleration speed to the steady speed, and the deceleration speed from the steady speed are determined in advance. The speed is controlled according to the target speed, and transported to the target position.
When slip occurs at the time of acceleration, as shown in FIG. 3, the actual acceleration speed T 1 becomes slower than the target acceleration speed T A , so the arrival time to the target position becomes longer.
そこで、本発明では、加速時にスリップが発生した場合には、図４に示すような、走行速度制御を行うのである。
(1) 走行速度検出装置４により、実際の加速速度Ｔ1を検出しておき、目標とする加速速度ＴAと実際の加速速度Ｔ1との速度差（ＴA−Ｔ1）が許容範囲Ｈを超える時間が一定時間ｔ1継続した場合、スリップが発生したと判断する。
通常、上記した許容速度範囲Ｈは0.2〜0.5m/s程度、また判定のための一定時間ｔ1は0.5〜２ｓ程度とする。
Therefore, in the present invention, when slip occurs during acceleration, traveling speed control as shown in FIG. 4 is performed.
(1) The actual acceleration speed T 1 is detected by the traveling speed detection device 4, and the speed difference (T A −T 1 ) between the target acceleration speed T A and the actual acceleration speed T 1 is within an allowable range. When the time exceeding H continues for a certain time t 1, it is determined that a slip has occurred.
Usually, the allowable speed range H is about 0.2 to 0.5 m / s, and the predetermined time t 1 for determination is about 0.5 to 2 s.
(2) スリップが発生したと判断した場合、図５に示すように、加速速度を目標加速速度ＴAからスリップを抑制する加速速度ＴBに変更する。
スリップを抑制する加速速度の決定方法は次のとおりである。
スリップが発生した時の電流値を検出し、この電流値以下となる加速レートを求め、この加速レートを用いて、現在の位置、速度から停止位置までの目標速度を求め、適用する。
(2) If the slip is determined to have occurred, as shown in FIG. 5, to change the acceleration speed from the target acceleration speed T A to suppress acceleration speed T B slip.
The method for determining the acceleration speed for suppressing the slip is as follows.
A current value at the time of occurrence of slip is detected, an acceleration rate lower than this current value is obtained, and a target speed from the current position and speed to the stop position is obtained and applied using this acceleration rate.
(3) 上記したスリップ抑制加速速度ＴBを適用後、このスリップ抑制加速速度ＴBと実際の加速速度Ｔ2の速度差（ＴB−Ｔ2）が許容範囲Ｌを満足する時間が一定時間ｔ2継続した場合、スリップが解消されたと判断し、図６に示すように、加速速度を再度、目標加速速度ＴAに復帰させる、目標速度の再計算を行う。
また、上記した許容速度範囲Ｌは0.1〜0.4m/s程度、また判定のための一定時間ｔ2は0.5〜２ｓ程度とする。
なお、ＴBとＴ2の速度差が許容範囲Ｌを満足する時間が一定時間ｔ2継続しなかった場合には、未だスリップが解消していないと判断して、改めてスリップ抑制加速速度ＴB′まで減速し、同様の操作を行って、スリップの解消の有無を判断し、その後、目標速度の再計算を行う。
また、図４にも示したとおり、目標加速速度ＴAと実際の加速速度Ｔ1との速度差が許容範囲Ｈ超える時間が、一定時間ｔ1継続することがない場合には、予め定めた目標速度で最後まで制御すればよい。
(3) After applying the above-described slip suppression acceleration speed T B , the time during which the speed difference (T B −T 2 ) between the slip suppression acceleration speed T B and the actual acceleration speed T 2 satisfies the allowable range L is constant time. If t 2 is continued, it is determined that the slip is eliminated, as shown in FIG. 6, the acceleration rate again, to return to the target acceleration speed T a, the recalculation of the target speed.
The allowable speed range L described above is about 0.1 to 0.4 m / s, and the predetermined time t2 for determination is about 0.5 to 2 s .
If the time during which the speed difference between T B and T 2 satisfies the permissible range L does not continue for a certain time t 2, it is determined that the slip has not yet been resolved, and the slip suppression acceleration speed T B is renewed. Decelerate to ′ and perform the same operation to determine whether slip has been eliminated, and then recalculate the target speed.
In addition, as shown in FIG. 4, when the time that the speed difference between the target acceleration speed T A and the actual acceleration speed T 1 exceeds the allowable range H does not continue for a certain time t 1 , a predetermined time is set. Control to the end at the target speed is sufficient.
上記の制御を行うことにより、スリップに起因した弊害を最小限に抑えることができ、その結果、サイクルタイムの無用の延長を効果的に抑制することができる。 By performing the above control, it is possible to minimize the adverse effects caused by the slip, and as a result, it is possible to effectively suppress unnecessary extension of the cycle time.
また、上述のようにして、スリップが発生した場合であっても、スリップの発生に伴う加速速度の制御を行うことができるが、かような速度制御を通して、スリップが多発する区域を特定することができる。
従って、スリップの発生が予測される区域については、予め、図７に示すように、所定の加速速度ＴAからスリップ抑制加速速度ＴBに減速する速度設定とし、この区域をスリップ抑制加速速度ＴBで走行したのちに、加速速度を再度、目標加速速度ＴAに復帰してやることもできる。
そして、この方法によっても、スリップの発生を抑制しつつ、サイクルタイムの短縮を図ることができる。
In addition, as described above, even if a slip occurs, the acceleration speed associated with the occurrence of the slip can be controlled. Through such speed control, an area where the slip frequently occurs is specified. Can do.
Accordingly, the areas where the occurrence of the slip is predicted in advance, as shown in FIG. 7, the speed setting to decelerate the skid reduction acceleration speed T B from a predetermined accelerated velocity T A, slip suppression accelerated rate T of this area to After running at B, and the acceleration speed again, it may be'll return to the target acceleration speed T a.
Also by this method, the cycle time can be shortened while suppressing the occurrence of slip.
本発明の制御方法を適用した場合、従来法に比べてサイクルタイムを一回当たり約12.6秒短縮することができる。
従って、一日当たりのコークスの生産量が約1600トンで、スリップの発生回数が一日当たり10回と仮定すると、本発明の適用により、年間当たり約850トンの生産量増加を達成することができる。
When the control method of the present invention is applied, the cycle time can be shortened by about 12.6 seconds per time compared with the conventional method.
Accordingly, assuming that the daily production of coke is about 1600 tons and the number of slip occurrences is 10 per day, the application of the present invention can achieve an increase in production of about 850 tons per year.
本発明によれば、スリップに起因したサイクルタイムの無用の延長を効果的に抑制して、サイクルタイムを短縮することができるので、その分、コークスの生産量を増加させることができる。 According to the present invention, the cycle time can be shortened by effectively suppressing unnecessary extension of the cycle time due to the slip, so that the production amount of coke can be increased accordingly.
１ 計算機
２ 走行速度制御装置
３ 駆動車輪
４ 走行速度検出装置
５ フリー車輪
６ レール
DESCRIPTION OF SYMBOLS 1
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| JP2010070790A JP5617303B2 (en) | 2010-03-25 | 2010-03-25 | Coke fire fighting train running control method |
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| JP2010070790A JP5617303B2 (en) | 2010-03-25 | 2010-03-25 | Coke fire fighting train running control method |
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| JP2011202021A true JP2011202021A (en) | 2011-10-13 |
| JP5617303B2 JP5617303B2 (en) | 2014-11-05 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013001779A (en) * | 2011-06-15 | 2013-01-07 | Jfe Steel Corp | Method and device for controlling deceleration stop of coke quenching electric locomotive |
| KR101411871B1 (en) | 2012-07-30 | 2014-06-25 | 현대제철 주식회사 | Apparatus for protecting double dumping of quenching car and method thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01266189A (en) * | 1988-04-18 | 1989-10-24 | Mitsubishi Kasei Corp | Coke oven shifter |
| JP2001026783A (en) * | 1999-07-14 | 2001-01-30 | Nkk Corp | Control method for automatic travel of coke oven mover |
| JP2006117808A (en) * | 2004-10-22 | 2006-05-11 | Nippon Steel Corp | Speed controlling method for coke conveying apparatus |
| JP2011063643A (en) * | 2009-09-15 | 2011-03-31 | Jfe Steel Corp | Traveling control method of traveling machine for coke furnace |
-
2010
- 2010-03-25 JP JP2010070790A patent/JP5617303B2/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01266189A (en) * | 1988-04-18 | 1989-10-24 | Mitsubishi Kasei Corp | Coke oven shifter |
| JP2001026783A (en) * | 1999-07-14 | 2001-01-30 | Nkk Corp | Control method for automatic travel of coke oven mover |
| JP2006117808A (en) * | 2004-10-22 | 2006-05-11 | Nippon Steel Corp | Speed controlling method for coke conveying apparatus |
| JP2011063643A (en) * | 2009-09-15 | 2011-03-31 | Jfe Steel Corp | Traveling control method of traveling machine for coke furnace |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013001779A (en) * | 2011-06-15 | 2013-01-07 | Jfe Steel Corp | Method and device for controlling deceleration stop of coke quenching electric locomotive |
| KR101411871B1 (en) | 2012-07-30 | 2014-06-25 | 현대제철 주식회사 | Apparatus for protecting double dumping of quenching car and method thereof |
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| JP5617303B2 (en) | 2014-11-05 |
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