JP5825011B2 - Coke fire extinguishing train deceleration stop control method and apparatus - Google Patents

Description

  The present invention relates to a running control of a coke fire extinguisher in a coke factory that performs a process of carbonizing coal and generating coke, and relates to a method and an apparatus for controlling deceleration and stopping of a coke fire extinguisher in a coke factory.

Coke fire extinguishing trains are automatically operated in a coke factory to carry red coal coke extruded from a coke oven that performs a process of carbonizing coal and generating coke to a fire extinguishing facility. For this reason, fire extinguishing trains are operated to satisfy the following conditions.
・ Precisely stops at the specified position for delivery of red hot coke.
・ Because the cycle time of fire-fighting trains affects production, drive to the target position in the shortest time.

In order to operate the fire-fighting train in the shortest time, the speed pattern of automatic operation by the inverter (INV) speed control (hereinafter also referred to as inverter control) is the target stop from the starting position as shown in FIG. In the period up to the position, the speed pattern of the shortest time is a triangular shape with the maximum acceleration / deceleration rate of the inverter.
However, since the maximum speed of the fire train is inevitably determined due to equipment restrictions such as the mechanical strength of the vehicle body and the running track (rail), the automatic travel of the fire train in the shortest time is shown in FIG. As shown in b), a trapezoidal shape that accelerates from the starting position with the maximum acceleration rate, runs at the maximum speed determined from the above factors, and decelerates to the target stop position with the maximum deceleration rate. The speed pattern of time is the best. In this way, the target speed in the operation of a fire extinguisher is the speed achieved at the maximum acceleration rate of the inverter when accelerating from the starting position, and from the maximum speed to the maximum deceleration rate of the inverter when decelerating to the target stop position. The speed achieved.

By the way, a speed error occurs between the actual speed of the fire fighting train and the target speed of the speed pattern by the inverter control as described above. If a speed error occurs when the fire train decelerates and the actual speed exceeds the target speed without being reduced to the target speed, the target speed is the speed at the maximum deceleration rate of the inverter. The speed error cannot be reduced any further. Therefore, when the vehicle is decelerated and stopped at the maximum speed from the maximum speed, once the vehicle exceeds the target speed, the fire extinguishing train stops beyond the target position even if the vehicle is decelerated.
As described above, when the fire train exceeds the target position, it is necessary to run the fire train once more and return it to the target position, which causes a problem that the cycle time becomes long.

In order to increase the stopping accuracy, the speed may be reduced, but in that case, the cycle time becomes longer. Therefore, by setting the speed within the range where the stop error due to the speed error is required as a predetermined low speed for stop control, and dropping the speed once to the predetermined low speed before the stop, the stop accuracy can be improved.
FIG. 6C shows a speed pattern of the shortest time considering the maximum speed, which is a predetermined low speed before stopping at this time. Here, as the predetermined low speed, the cycle time becomes longer as the speed is reduced, and the stop accuracy becomes worse as the speed is increased. Therefore, it is necessary to determine an optimum value as a result of adjustment.
For example, assuming that the error with respect to the speed is a%, the stop error due to the speed error when the vehicle is decelerated and stopped from the predetermined low speed traveling is as follows.
Stop error = (Speed error) × (Stop time)
= (Predetermined low speed x a / 100) x predetermined low speed / deceleration rate)
The predetermined low speed is determined so that the stop error is within the allowable range of stop accuracy.

For this reason, conventionally, a method for decelerating a fire train shown below is disclosed in Patent Document 1.
In the method of decelerating a fire train disclosed in Patent Document 1,
First, as shown in FIGS. 7 (a) and 7 (b), in the fire-fighting train, when stopping to the target stop position and entering the speed limit area, the stop and speed to the target stop position. In order to enter the restricted area at the target speed, a deceleration pattern (deceleration rate) is calculated from the remaining distance, and the fire train is automatically controlled.
Secondly, in a fire-fighting train, the speed is detected with an idler device (the wheel is grounded on the rail and the rotation angle of the wheel is measured with an absolute coder) with respect to the calculated speed pattern, and the vehicle speed is controlled by inverter control. Is controlling.

Japanese Patent Laid-Open No. 9-13040

However, the conventional technique disclosed in Patent Document 1 has the following problems.
1. When the driving wheel or driven wheel of the fire extinguisher slips, it cannot decelerate while slipping, and a speed deviation occurs between the target speed and the actual speed of a preset speed pattern.
2. If the speed deviation becomes large, it cannot stop to the target stop position. In addition, the vehicle may enter the speed limit area beyond the speed limit.
3. In the above case, automatic operation of the fire train cannot be continued.
4). In order to restore the automatic operation of the above-mentioned fire extinguisher train, it is necessary for the operator to get on the fire train and take a response, so that not only a production loss occurs, but in a continuous process such as a coke plant, The time taken out from the kiln after the kiln is delayed from the beginning, and as a result, the coke staying in the carbonization chamber is pulverized and the yield of the produced coke is not only lowered, but also the produced coke The strength also decreases.

An object of the present invention is to solve the above-mentioned problems of the prior art by using a mechanical brake for braking and deceleration control when a drive wheel or driven wheel slips during automatic traveling of a fire fighting train. Is to provide a deceleration stop control method and apparatus for a coke fire extinguisher train that can suppress the control and continue the predetermined deceleration speed control.
Another object of the present invention is to solve the above-mentioned problems of the prior art, in which the driving wheel or the driven wheel of the fire train slips and the target speed and the actual speed of the speed pattern of the automatic operation of the fire train are Even if the speed deviation increases, the speed deviation is forcibly reduced to prevent it from stopping to the target stop position and entering the speed limit area beyond the speed limit, Coke fire extinguishing train deceleration stop control method and apparatus that can prevent or reduce the occurrence of automatic operation shut-off of a fire extinguisher train and, as a result, increase the amount of coke produced. Is to provide.

  In order to achieve the above object, a method for controlling deceleration and stopping of a coke fire train according to the first aspect of the present invention performs an automatic running speed control of the fire train by controlling an electric motor that drives the coke fire train with an inverter. The fire train is decelerated from a deceleration start point provided in front of the target stop position by automatically traveling along a predetermined speed pattern in the coke factory, and stopped at the target stop position. A method for controlling deceleration and stopping of a coke fire train, wherein when the fire train decelerates, a speed deviation between a preset target speed and an actual speed is monitored, and the speed deviation exceeds a set value. The fire brake is forcibly decelerated by operating a mechanical brake of the fire train for a predetermined time, and when the speed deviation returns to the set value or less, the fire train Release the mechanical brake, return to the automatic traveling speed control of the fire train with the inverter, and automatically run the fire train with the preset speed pattern, each automatic travel from the previous time to 3 times before Sometimes, an excess point where the speed deviation exceeds the set value and an excess area where the speed deviation exceeds the set value are stored in a memory, and the excess point and the excess area stored in the memory are stored. The speed pattern at the time of the automatic running this time is adjusted with respect to the preset speed pattern according to the number of times that are the same.

Here, when the excess point and the excess area stored in the memory are the same three times, from the point at a predetermined distance before the excess point, Preferably, the deceleration rate is changed to a deceleration rate that is half the deceleration rate of the preset speed pattern, and the vehicle is automatically driven and stopped at the target stop position.
In addition, when the excess point and the excess area stored in the memory are once or twice, the deceleration rate of the speed pattern at the time of the current automatic traveling is set within the excess area from the excess point. When the speed deviation exceeds a preset value, the mechanical brake of the fire-fighting train is set to a predetermined value when the speed deviation exceeds a set value. Forcibly decelerate the fire train by operating for a period of time, or when the speed deviation does not exceed a set value and the fire train is stopped at the target stop position, at the next automatic travel, It is preferable that the fire-extinguishing train is automatically driven at the preset speed pattern.

The set value is a set value of the magnitude of the speed deviation and a time, and the state where the magnitude of the speed deviation exceeds the set value of the magnitude is continued beyond the set value of the time. In this case, it is preferable to forcibly decelerate the fire train by operating a brake of the fire train.
The set value of the magnitude of the speed deviation is an average value of a plurality of actual values, and the set value of the speed deviation time is preferably set to a time when no malfunction occurs.

In addition, if the speed deviation does not return to the set value or less even after a predetermined time has elapsed after operating the brake of the fire train, the brake attached to the freight car side of the fire train is further operated. The fire train is forcibly decelerated, and when the speed deviation returns to the set value or less, the brake of the fire train and the brake on the freight car are released, and the fire train is automatically operated by the inverter. It is preferable to return to traveling speed control.
Alternatively, if the speed deviation does not return to the set value or less even after a predetermined time has elapsed after operating the brake of the fire train, further operate the brake attached to the freight car side of the fire train After operating for a time and forcibly decelerating the fire train, releasing the brake on the freight car side for a predetermined release time is repeated until the speed deviation returns to the set value or less, and the speed deviation is less than the set value. It is preferable to release the brake on the fire train and the brake on the freight car and return to the automatic traveling speed control of the fire train by the inverter.

Moreover, it is preferable that the brake of the fire train is an electromagnetic brake of a mobile device of the fire train, and the brake on the freight car side is an air brake.
Further, when the fire train reaches the deceleration start point, the inverter starts to decelerate to enter a decelerating traveling state, and when the fire train reaches the target stop position, the fire train is stopped by the inverter. While performing automatic traveling speed control of the fire-extinguishing train, so that the fire-extinguishing train is stopped when the fire-extinguishing train that is performing the automatic traveling speed control of the fire-extinguishing train by the inverter reaches the target stop position, It is preferable to operate the brake of the fire train.

  In order to achieve the above object, a deceleration stop control device for a coke fire train according to a second aspect of the present invention includes a mobile device, an electric motor that drives the mobile device, and a mechanical brake attached to the mobile device. A coke fire-fighting train equipped with a certain mobile unit brake is automatically driven along a predetermined route in the coke factory with a preset speed pattern to decelerate from the deceleration start point provided before the target stop position. A control apparatus for decelerating and stopping a coke fire train that stops at the target stop position, wherein the electric motor is controlled by an inverter to perform automatic travel speed control of the fire train, and automatically travels in the preset speed pattern. Speed control means, speed detection means for detecting the actual speed of the fire train, and a target speed set in advance at the time of deceleration of the fire train Speed deviation calculating means for calculating a speed deviation from the actual speed detected by the speed detecting means, comparing means for comparing the speed deviation calculated by the speed deviation calculating means and a preset set value, When the speed deviation exceeds the set value as a result of comparison by the comparison means, the mobile unit brake is operated to forcibly decelerate the fire train, and as a result of the comparison by the comparison unit, the mobile unit is When the speed deviation returns to the set value or less in the operating state of the brake, the mobile unit brake is released, and the automatic traveling speed control of the fire train is performed by the inverter of the speed control means, and the fire train is As a result of comparison by the comparison means, the speed deviation is calculated as follows when the brake control means automatically runs with a preset speed pattern and each automatic running from the previous time to 3 times before. According to the number of times the excess point exceeding the fixed value and the memory storing the excess area where the speed deviation exceeds the set value, and the excess point and the excess area stored in the memory are the same And a speed pattern adjusting means for adjusting a speed pattern at the time of automatic traveling this time with respect to the preset speed pattern.

  Here, when the excess point and the excess area stored in the memory are the same for all three times, the speed pattern adjustment means starts from a point at a predetermined distance before the excess point. The deceleration rate of the speed pattern during automatic driving is changed to a deceleration rate that is half the deceleration rate of the preset speed pattern, and the speed control means is the speed rate changed by the speed pattern adjustment means. It is preferable to automatically run the fire extinguishing train and stop at the target stop position.

  In addition, the speed pattern adjustment means, when the excess point and the excess area stored in the memory are once or twice, within the excess area from the excess point during the current automatic travel The speed control unit changes the deceleration rate of the speed pattern to a deceleration rate that is 2/3 of the deceleration rate of the preset speed pattern, and the speed control means performs the fire extinguishing at the deceleration rate changed by the speed pattern adjustment means. When the speed deviation exceeds a set value as a result of the comparison by the comparison means after the train is automatically run, the brake control means forcibly operates the mobile machine brake of the fire fighting train for a predetermined time. Or the speed control means stopped the fire train at the target stop position without the speed deviation exceeding a set value. In this case, the speed pattern adjustment means returns the speed pattern of the automatic running speed control of the fire fighting train to the preset speed pattern at the next automatic running, and the speed control means returns the returned speed pattern. It is preferable to automatically run the fire-fighting train at a preset speed pattern.

  Here, the fire train further comprises a freight car loaded with red hot coke and pulled by the mobile device, and a freight car brake that is a mechanical brake attached to the freight car side, and the brake control means As a result of the comparison by the comparison means, if the speed deviation does not return below the set value even after a predetermined time has elapsed with the mobile unit brake operated, the freight car brake is further operated. The fire train is forcibly decelerated, and when the speed deviation returns to the set value or less in the operating state of the mobile machine brake and the freight car brake, the mobile machine brake and the freight car brake are released. It is preferable to return to the automatic traveling speed control of the fire fighting train by the inverter.

Further, as a result of the comparison by the comparison means, the brake control means, if the speed deviation does not return below the set value even after a predetermined time has elapsed with the mobile device brake being operated, Until the deviation returns to the set value or less, the freight car brake is operated for a predetermined operation time, and then the freight car brake is released for a predetermined release time, and the speed deviation returns to the set value or less. It is preferable to release the mobile device brake and the freight car brake and return to the automatic traveling speed control of the fire-fighting train by the inverter.
The mobile unit brake is preferably an electromagnetic brake, and the freight car brake is preferably an air brake.

According to the present invention, in a coke factory, when a fire extinguisher is decelerated from a deceleration start point provided in front of the target stop position and stopped at the target stop position, wheels such as a driving wheel and a driven wheel of the fire extinguisher are It is possible to appropriately cope with a plurality of factors such as a change in weather which is a cause of slipping, a decrease in the friction coefficient between the rail and the wheel due to oil or the like, and a gradient of the rail.
Further, according to the present invention, wheels such as driving wheels and driven wheels of the fire train slip, and the speed deviation between the target speed and the actual speed of the speed pattern of the automatic operation of the fire train (the magnitude of the deviation, the time) ) Increases, the speed deviation is forcibly reduced to prevent or reduce the possibility of stopping at the target stop position and entering the speed limit area beyond the speed limit. be able to.

Therefore, according to the present invention, it is possible to prevent or reduce the occurrence of automatic operation interruption (automatic operation interruption) of the fire extinguisher, that is, the automatic operation of the fire extinguishing train goes down and cannot be continued. Therefore, it is possible to prevent or reduce the occurrence of downtime and production loss because an operator takes a fire train and takes a response. As a result, the production amount of coke can be increased. it can.
Further, according to the present invention, even in a continuous process such as a coke factory, it is possible to maintain a plurality of kilns without delaying the time, and as a result, the progress of pulverization of coke remaining in the carbonization chamber This can also prevent the yield of the generated coke from decreasing and the strength of the generated coke.

It is sectional drawing which shows schematic structure of one Embodiment of the deceleration stop control apparatus of the coke fire extinguisher which implements the deceleration stop control method of the coke fire extinguisher which concerns on this invention. (A) And (b) is a graph which respectively shows the speed response at the time of deceleration stop control of this invention and the conventional coke fire-extinguishing train, and a speed deviation response with a target speed. It is a flowchart which shows an example of the deceleration stop control method of the coke fire extinguisher which concerns on this invention. It is a flowchart which shows an example of the automatic running control method of the coke fire extinguisher applied to the deceleration stop control method of the coke fire extinguisher shown in FIG. It is a flowchart which shows the detail of an example of the deceleration control step based on the speed deviation monitoring of the automatic running control method of the coke fire extinguisher shown in FIG. (A), (b) and (c) is a graph which respectively shows the speed pattern of the automatic driving | operation of the coke fire-extinguishing train by inverter control. (A) And (b) is a graph which shows the speed pattern at the time of the stop to the target stop position of the conventional coke oven moving machine, and a speed limit area approach.

  Hereinafter, a method for controlling deceleration and stopping of a coke fire extinguisher train according to the present invention and a device for controlling deceleration and stopping of a coke fire extinguisher according to the present invention will be described in detail with reference to the preferred embodiments shown in the accompanying drawings. .

FIG. 1 is a cross-sectional view showing a schematic configuration of an embodiment of a deceleration / stop control device for a coke fire train according to the present invention that implements the deceleration / stop control method for a coke fire train according to the present invention.
A coke fire extinguishing train (hereinafter simply referred to as a fire extinguishing train) 10 shown in the figure is automatically operated to convey red hot coke extruded from a coke oven to a fire extinguishing equipment, and automatically runs on a rail (rail) 12. It has a mobile device 14 and a freight car 16 that is pulled by the mobile device 14 and loads red hot coke.

  The mobile device 14 pulls the freight car 16 loaded with red hot coke, and moves on the rails 12 disposed between the positions of a plurality of kilns in the coke oven, between the coke charging positions and the positions of the respective kilns, or the like. The vehicle automatically travels and serves as a drive source for rotationally driving the drive wheels 18a to automatically travel the pair of left and right drive wheels 18a and driven wheels 18b that roll on the rail 12 and the mobile device 14, and thus the fire-fighting train 10. An electric motor (motor M) 20, a mobile device brake 22 that functions as a mechanical brake that applies braking force to the drive wheels 18 a to decelerate and / or stop the mobile device 14, and thus the fire-fighting train 10, And a deceleration stop control device (hereinafter simply referred to as a control device) 24 that implements the method of controlling deceleration and stopping of a coke fire fighting train according to the invention.

Here, the mobile device 14 has a mobile device main body housing (not shown), in which the electric motor 20, the mobile device brake 22 and the control device 24 are housed and supported. The rotation shafts between the drive wheels 18a and the driven wheels 18b are rotatably supported.
Further, the rotational driving force of the electric motor 20 is transmitted to the drive wheels 18a via a speed reducer (not shown).
In the illustrated example, the mobile unit brake 22 is a mechanical brake that is finally used mainly to accurately stop the fire train 10 at the target stop position. In order to return the actual speed of the fire train 10 to the target speed when the speed exceeds the target speed at the maximum deceleration rate of the inverter indicated by the dotted line in FIG. 2A, the maximum deceleration rate of the speed control by the inverter is achieved. It is used to decelerate the fire-fighting train 10 at a deceleration rate that cannot be achieved. The mobile unit brake 22 mechanically (physically) applies a braking force to the drive wheels 18a to decelerate the fire extinguishing train 10, and finally, the mobile unit brake 22 can be stopped accurately at the stop position. Such a brake may be used, and examples thereof include an electromagnetic brake used as a vehicle brake and a mechanical brake such as an air brake and a hydraulic brake using a braking cylinder. Among them, an electromagnetic brake is used. preferable.

The freight car 16 is for loading red hot coke to be transported to a freight car main body (not shown), and a pair of left and right driven wheels 26 that roll on the rail 12 and the freight car 16, and hence the mobile device 14, that is, the fire train 10. A freight car brake 28 that functions as a mechanical brake that applies a braking force to the driven wheel 26 to decelerate and / or stop the vehicle.
Here, in the illustrated example, the freight car brake 28 has a large inertia because the weight of the freight car is large, for example, several tens of tons, specifically 30 tons, and so on. In addition to mechanically applying a braking force to the drive wheels 18a of the mobile device 14 by the mobile device brake 22 when the vehicle cannot be decelerated and finally stopped accurately, there is a possibility that The braking force is mechanically applied to the 16 driven wheels 26 to decelerate the freight car 16 and the mobile device 14, that is, the fire-fighting train 10, and finally stop accurately. That is, the freight car brake 28 is originally used for preventing the flow of the fire train 10 when it is stopped. In the present invention, the actual speed of the fire train 10 is indicated by a dotted line in FIG. When the target speed at the maximum deceleration rate is exceeded, the fire train 10 is decelerated at a larger deceleration rate that cannot be achieved by applying the mobile device brake 22 used to return the actual speed of the fire train 10 to the target speed. It is used when making it. The freight car brake 28 may be a mechanical brake similar to the mobile machine brake 22, but is preferably an air brake among the various mechanical brakes described above.

  Next, the deceleration stop control device 24 for the coke fire extinguishing train according to the present invention automatically causes the fire extinguishing train 10 as described above to travel automatically from a predetermined starting position to a predetermined target stop position in a predetermined speed pattern. An inverter (INV) for controlling the electric motor 20 to the target speed of a predetermined speed pattern by controlling the electric motor 20 by the inverter (INV) for stopping the target accurately at the target stop position. A speed controller 30 for controlling the electric motor 20 by means of a motor, a speed detector 32 for measuring the rotation of the driven wheel 18b of the mobile device 14 and detecting the actual speed of the mobile device 14 (the fire train 10), and a deceleration of the fire train 10 The speed deviation calculator 34 for calculating the speed deviation between the target speed and the actual speed detected by the speed detector 32, and the speed deviation calculated by the speed deviation calculator 34 A comparator 36 that compares the set value with the set value, and a brake controller that operates or releases the mobile device brake 22 or the mobile device brake 22 and the freight car brake 28 according to the comparison result by the comparator 36. 38, a predetermined speed pattern of the fire train 10, its target speed, a set value (size, time) to be compared with the speed deviation, and every automatic travel of the fire train 10 along a predetermined route in the coke factory. From the result of comparison by the memory (register) 40 that stores the excess point where the speed deviation exceeded the set value and the excess area where the speed deviation exceeded the set value, and the comparison result by the comparator 36, the speed deviation exceeded the set value. The excess point and the excess area are identified from the data of the time point and its duration, and the area identification unit 50 that outputs to the memory 40 and the excess point and excess error stored in the memory 40 are output. A has a velocity pattern regulator 52 for adjusting the preset speed pattern in the memory 40 in accordance with the number of times of automatic traveling of extinguishing a train 10 is the same.

  The speed controller 30 reads the fire train 10 from the memory 40 (given from the register), for example, the speed of the shortest time considering the maximum speed shown in FIGS. 6B and 6C. In order to automatically travel at the target speed corresponding to the corrected speed pattern (deceleration rate) when the pattern or the speed pattern adjuster 52, which will be described later, is corrected from this speed pattern, the automatic travel speed of the mobile device 14 is The electric motor 20 is driven and controlled by speed control (inverter control) by an inverter (INV) so as to be a predetermined speed pattern or a target speed of a corrected speed pattern by the speed pattern adjuster 52. The speed controller 30 may be anything as long as the fire train 10 can automatically travel with a predetermined speed pattern of automatic operation by inverter control. The speed pattern by the inverter control performed by the speed controller 30 is not particularly limited, and may be any of the speed patterns shown in FIGS. 6A, 6B, and 6C, for example. The speed patterns shown in FIGS. 6B and 6C are more preferable. The speed pattern (deceleration rate) corrected by the speed pattern adjuster 52 has corrected any of the speed patterns shown in FIGS. 6A, 6B, and 6C, and corrected the deceleration rate. Is.

The speed detector 32 detects the actual speed of the mobile device 14, and thus the fire-fighting train 10, and outputs the detected actual speed to the subsequent speed deviation calculator 34, and the speed detector 32 of the driven wheel 18 b of the mobile device 14 is output. A pulse generator (PLG) 42 that outputs a pulse according to rotation, for example, outputs one pulse at one rotation, a counter 44 that counts (counts) pulses output from the pulse generator 32, and within a predetermined time And a speed calculator 46 for multiplying the count value of the counter 44 by the circumference of the driven wheel 18b to calculate the actual speed of the mobile unit 14, and thus the fire-fighting train 10.
In the illustrated example, the pulse generated by the pulse generator 42 in accordance with the rotation of the driven wheel 18b of the mobile device 14 is counted by the counter 44, and the actual speed of the mobile device 14 is calculated. The present invention is not limited, and any device may be used as long as the actual speed of the mobile device 14 can be detected.

  For example, in the speed pattern shown in FIG. 6B, the speed deviation calculator 34 starts from the starting position, accelerates, reaches the maximum speed, travels for a predetermined time, and then stops at the target stop position. The target speed read from the memory 40 (given from the register) during the deceleration from the deceleration start point provided before the target stop position, for example, a preset target speed from the speed pattern, for example, FIG. The speed deviation between the target speed indicated by the one-dot chain line or the target speed set from the deceleration rate of the corrected speed pattern by the speed pattern adjuster 52 and the actual speed of the fire train 10 detected by the speed detector 32 is calculated. The speed deviation is output to the comparator 36 at the subsequent stage.

The comparator 36 compares the speed deviation calculated by the speed deviation calculator 34 with a preset value of the speed deviation read from the memory 40 (given from the register), and compares the comparison result with the subsequent brake. This is for outputting to the controller 38 and the area specifying unit 50.
Here, the preset value of the speed deviation is composed of a speed deviation magnitude threshold L and a set time (time threshold) T as shown in FIGS. As shown by a solid line in FIG. 2B, the comparator 36 is a point in time when the time during which the magnitude of the speed deviation exceeds the threshold value L exceeds the set time T, that is, the speed deviation is the threshold value. When L and the set time T are exceeded, the result is output to the brake controller 38 and the area specifying unit 50 in the subsequent stage. The comparator 36 preferably continues to output the result to the brake controller 38 and the area specifying unit 50 in the subsequent stage while the state where the speed deviation exceeds the threshold value L and the set time T continues.

  The brake controller 38 is one of the most characteristic parts of the present invention. The brake controller 38 receives the comparison result of the comparator 36 and operates or releases the mobile device brake 22 according to the comparison result, or the mobile device brake 22 and The operation of operating or releasing the freight car brake 28 is performed. A specific brake operation by the brake controller 38 will be described later.

  The memory 40 is for storing and storing data necessary for control of the control device 24. Data of a predetermined speed pattern of the fire train 10 used by the speed controller 30 and the speed deviation calculator 34, for example, The target speed data with respect to the elapsed time from the start of the speed pattern as shown in FIGS. 6B and 6C, and the magnitude of the set value compared with the speed deviation by the comparator 36. Data on threshold L, data on set time T, and the like are stored. The memory 40 may be configured by a known storage device such as a ROM, RAM, HD (hard disk), or register.

Further, the memory 40 stores the excess points and the excess points specified by the area specifying unit 50 when the speed deviation exceeds the set value every automatic driving in the last three automatic drivings of the fire fighting train 10. The area is received from the area specifying unit 50, and the excess points and the excess areas from the previous time until the third automatic driving are stored. That is, the memory 40 stores the excess points and the excess areas that exceed the deceleration rate of the preset speed pattern due to factors such as slip during automatic running to each kiln when the coke is discharged three times before the previous time. Remember.
Of course, if the speed deviation does not exceed the set value in the automatic running of the fire train 10 at a certain time, the excess point and the excess area are not specified by the area specifying unit 50, so The area is not memorized. In this case, it may be stored in the memory 40 that the speed deviation does not exceed the set value.

The area specifying unit 50 receives the result when the speed deviation exceeds a set value, for example, the threshold L and the set time T, from the comparator 36, and the position of the fire train 10 at that time, that is, the fire train 10 in the coke factory. A point on the predetermined travel route is specified as an excess point, and the duration in which the state where the speed deviation exceeds the set value is continuously maintained, that is, the speed deviation is within the set value from the time when the speed deviation exceeds the set value. When the speed deviation returns to within the set value from the excess time until the point in time where the speed deviation exceeded the set value, that is, the area where the speed deviation exceeded the set value. This is for specifying the area up to the recovery point, which is the position of, as the excess area.
The specification of the excess point and the excess area in the area specifying unit 50 is performed by multiplying the count value of the counter 44 used when calculating the actual speed in the speed detector 32 described above and the circumferential length of the driven wheel 18b. When the point of the automatic travel start time or the deceleration start time is known, the actual distance of automatic travel of the fire train 10 from the deceleration start time to the time when the speed deviation exceeds the set value is calculated, and from this actual distance The excess point is calculated, the actual distance of automatic travel of the fire train 10 from the time when the speed deviation exceeds the set value to the time when the speed deviation returns to the set value is calculated, and the excess area is calculated from this actual distance. Can be done by.

It should be noted that the speed pattern of the fire-fighting train 10 that is automatically traveling in the excess points and the excess areas that are specified by the area specifying unit 50 (a preset speed pattern, a corrected speed pattern, and an actual automatic speed pattern). , Time integration from the start of automatic driving or deceleration start time to the time when the speed deviation exceeds the set value, and the speed deviation returns to the set value from the time the speed deviation exceeds the set value The excess area may be calculated by time integration up to the time point, or a number of signs (not shown) arranged in a predetermined travel route of the fire train 10 in the coke factory are attached to the fire train 10. You may make it calculate by detecting with a position sensor.
In addition, the method for obtaining the excess point and the excess area specified by the area specifying unit 50 is not particularly limited, and a known position detection method or the like can be used.

The speed pattern adjuster 52 relates to the automatic traveling of the fire train 10 from the previous time to the previous three times according to the number of automatic travels of the fire train 10 having the same excess point and the excess area stored in the memory 40. The speed pattern (deceleration rate) during automatic traveling of the fire extinguisher 10 is adjusted with respect to a preset speed pattern (deceleration rate) stored in the memory 40.
Note that adjustment of the speed pattern during automatic traveling of the fire train 10 by the speed pattern adjuster 52 and automatic traveling speed control of the fire train 10 by the speed controller 30 will be described later.

Specific operations of the mobile machine brake 22 and the freight car brake 28 by the brake controller 38 will be described.
As a result of the comparison by the comparator 36, the brake controller 38 determines that the speed deviation exceeds a set value (size threshold L and set time T), that is, as shown by a solid line in FIG. At a braking operation point when the set time T has elapsed while the magnitude of the vehicle exceeds the threshold L, the mobile device brake 22 is operated to brake the rotation of the drive wheels 18a, and the mobile device 14 (fire-extinguishing train) is forcibly applied. 10) Decelerate at a deceleration rate that cannot be achieved by inverter control.

Conventionally, speed control by an inverter is performed so as to follow a predetermined speed pattern. However, as shown in FIG. 2A and FIG. When the speed deviation increases beyond the target speed, the maximum deceleration rate of the inverter will be exceeded in order to recover the speed deviation, and there is no conventional method for reducing the speed deviation. As described above, although the speed gradually decreases, the speed deviation does not become small and the speed deviation cannot be made equal to or less than the threshold value L.
On the other hand, in the present invention, as shown in FIG. 2A, when the actual speed of the fire train 10 exceeds the target speed and the speed deviation becomes large, the mobile device brake 22 of the fire train 10, for example, electromagnetic The brake is operated for a predetermined time (Tb seconds) and suddenly decelerated. Thus, the fire train 10 can be forcibly decelerated. When a mechanical brake such as the mobile machine brake 22 is operated, the drive wheel 18a is locked and the vehicle wheel 18a is decelerated while slipping on the rail 12, but as shown in FIG. Since the braking force is larger than the deceleration rate by the inverter, the speed deviation can be made smaller than that of the conventional case as shown in FIG.

In the present invention, the time point when the magnitude of the speed deviation exceeds the threshold value L is not set as the brake operation point because the speed deviation is temporarily exceeded the threshold value L due to noise or the like. This is to prevent the mobile device brake 22 from malfunctioning when it is not certain that the threshold value L has been exceeded.
Here, the set value of the speed deviation, that is, the speed deviation magnitude threshold L and the set time T may be appropriately set in consideration of the stop error accuracy and the like.
The threshold value L is preferably a plurality of actual values, for example, an average value of the latest three actual values in consideration of stop error accuracy and the like.
The set time T is preferably short in order to suppress errors, but is preferably set in consideration of malfunction and chattering.

Thereafter, as a result of the comparison by the comparator 36 due to the deceleration of the mobile unit 14 by the operation of the mobile unit brake 22, the speed deviation magnitude returns to a state below the threshold L as shown in FIG. At the brake release point, the brake controller 38 releases the mobile device brake 22 and releases the braking of the rotation of the drive wheels 18a.
As a result, the mobile device 14 and the fire train 10 return from the forced deceleration by the mobile device brake 22 to the automatic travel speed control by the inverter control of the speed controller 30.
After that, when the fire train 10 is decelerated by the inverter control of the speed controller 30 and approaches the target stop position and decelerated to a predetermined low speed, for example, a predetermined low speed as shown in FIG. The controller 38 operates the mobile device brake 22, preferably further the freight car brake 28, so that the fire-extinguishing train 10 can be accurately stopped at the target stop position.

On the other hand, if the speed deviation does not return to the threshold value L or less even after a predetermined time has passed after the mobile unit brake 22 is operated as a result of the comparison by the comparator 36, the brake controller In addition, the freight car brake 28 is operated and used together to forcibly decelerate the fire-fighting train 10.
As described above, as a result of the combined operation of the mobile device brake 22 and the freight car brake 28 by the brake controller 38, the fire-extinguishing train 10 is forcibly decelerated at a deceleration rate higher than the deceleration rate by the operation of the mobile device brake 22. When the deviation returns to the threshold value L or less, the brake controller 38 releases the mobile device brake 22 and the freight car brake 28. Here, the brake controller 38 may release the mobile machine brake 22 and the freight car brake 28 at the same time, but preferably the freight car brake 28 is released first and the mobile machine brake 22 is released later.
As a result, the fire-extinguishing train 10 (the mobile device 14 and the freight car 16) returns from the forced deceleration by the mobile device brake 22 and the freight car brake 28 to the automatic travel speed control by the inverter control of the speed controller 30.

However, since the freight car brake 28 is originally used for preventing the flow at the time of stopping, the wheel, that is, the driven wheel 26 is instantaneously locked when operated during traveling.
For this reason, it is preferable that the freight car brake 28 repeats the operation of the predetermined fixed time operation and the predetermined fixed time release alternately until the speed deviation is within the predetermined deviation, that is, the threshold value L or less.
As a result, as described above, when the speed deviation returns to the threshold value L or less, the fire extinguisher 10 releases the mobile device brake 22 and the freight car brake 28 by the brake controller 38, and the inverter 10 of the speed controller 30 performs the inverter control. Return to automatic travel speed control.
After that, when the fire-extinguishing train 10 is decelerated by the inverter control of the speed controller 30 and decelerated to a predetermined low speed by approaching the target stop position, the brake controller 38 is connected to the mobile device brake 22, preferably further, By operating the freight car brake 28, the fire train 10 can be accurately stopped at the target stop position.

Next, in the deceleration stop control of the fire extinguisher of the present invention, the speed pattern adjuster 52 adjusts the speed pattern (deceleration rate) during automatic travel of the fire train 10 and the automatic speed control of the fire train 10 by the speed controller 30. This will be described in more detail.
In the present invention, the speed pattern adjuster 52 determines that the speed deviation is the set value when the excess point and the excess area stored in the memory 40 are the same at all three times, that is, at the same excess point and the excess area at all three times. Over a predetermined speed pattern (hereinafter also referred to as a normal speed pattern) and a predetermined distance before the excess point ( xm), it is preferable to adjust the speed pattern so as to change the deceleration rate of the speed pattern at the time of this automatic traveling to a deceleration rate that is half of the normal deceleration rate.

In this case, during the current automatic traveling of the fire train 10, the speed controller 30 changes the normal deceleration rate changed by the speed pattern adjuster 52 from a predetermined distance (xm) before the excess point. Since deceleration is started at a new deceleration rate of half and the fire train 10 is automatically driven, overrun of the fire train 10 from the target stop position can be prevented, and the fire train 10 can be accurately stopped at the target stop position. it can.
Here, in this automatic traveling of the fire train 10, the predetermined distance (xm) before the excess point that determines the point at which the deceleration rate is changed can prevent overrun of the fire train 10 from the target stop position. What is necessary is just to set suitably according to the new deceleration rate (half of normal) changed.

In addition, when the excess point and the excess area stored in the memory 40 are the same two times or less, the speed pattern adjuster 52 performs the current automatic travel within the excess area from the excess point. It is preferable to adjust the speed pattern so that the deceleration rate of the speed pattern is changed to 2/3 of the normal deceleration rate.
In this case, the speed controller 30 automatically causes the fire extinguishing train 10 to travel at a new deceleration rate that is changed by the speed pattern adjuster 52 and is 2/3 of the normal deceleration rate.
When the speed deviation exceeds the set value as a result of the comparison by the comparator 36 in the subsequent automatic traveling of the fire train 10, the mobile controller brake 22 of the fire train 10 is operated for a predetermined time by the brake controller 38 and forced. The fire train 10 is decelerated.

On the other hand, in the subsequent automatic running of the fire fighting train 10, if the speed deviation does not exceed the set value as a result of the comparison by the comparator 36, the fire fighting train 10 can be stopped at the target stop position. During automatic traveling, it is preferable to apply a preset normal speed pattern stored in the memory 40 so that the fire-extinguishing train 10 automatically travels in the normal speed pattern.
The case where the same excess point and the excess area are not more than twice includes the case where the one excess point and the excess area are stored in the memory 40. Here, when there is no excess point and excess area stored in the memory 40, the preset normal speed pattern stored in the memory 40 is applied, and the fire fighting train 10 is automatically set in the normal speed pattern. Just drive.

  By implementing the above deceleration stop control of the fire train, when the fire train is decelerated from the deceleration start point provided in front of the target stop position and stopped at the target stop position in the coke factory, the fire train is driven. It is possible to appropriately cope with a plurality of factors such as a change in weather, which is a factor that causes the wheels such as wheels and driven wheels to slip, a decrease in the friction coefficient between the rail and wheels due to oil, etc., and a rail gradient.

  Thus, conventionally, the speed deviation between the target speed and the actual speed that occurs when the drive wheel 18a of the fire train 10 slips becomes large, and the automatic operation of the fire train 10 is interrupted. Since the operation is down, a downtime (D / T) is generated for the restoration work. However, in the present invention, the speed deviation becomes large, and the threshold value of the speed deviation over the set value, that is, the predetermined set time T. If L is exceeded, the brake controller 38 operates the mobile device brake 22, preferably further freight car brake 28, decelerates and returns the speed deviation to the threshold value L or less. In the automatic traveling of the fire train 10 for taking out the kiln, the speed pattern of the automatic traveling of the fire train 10 is adjusted according to the number of times the excess point and the excess area where the speed deviation exceeds the set value are the same. It is possible to reduce (prevent or reduce) the occurrence of automatic driving interruption (down) of the fire train 10, and to prevent the occurrence of downtime (D / T) for restoration work. Coke production can be increased.

For example, the number of extrusion kilns in a coke oven at a coke factory is 90 per day, and the number of fire extinguishing trains in the extrusion kiln is three per one kiln. If the probability is 1%, the number of automatic driving interruptions due to excessive speed when the fire train decelerates is 2.7 times per day.
Number of extrusion kilns 90 / day x number of stops 3 times / line x occurrence rate 1% = 2.7 times / day That is, in the present invention, the speed deviation can be controlled to a certain value or less, and the automatic operation interruption of the fire train is reduced. Therefore, the number of occurrences of automatic operation interruption due to excessive speed can be reduced from 2.7 times / day to 0 times / day.

Therefore, if the automatic operation interruption due to overspeed is 5 minutes per time and the coke production is 75 t per hour (h), the number of occurrences of automatic operation interruption due to overspeed is 2.7 times per day. The increase in coke production due to the cut-off of automatic operation cut is 6159t per year.
Number of automatic operation interruptions due to overspeed 2.7 times / day × Automatic operation interruption time due to overspeed 5 minutes / time × 365 days × Coke production volume 75 t / h = 6159 t / year That is, by applying the present invention, 1 There is an effect that the coke production amount can be increased by 6159 t per year.
The coke fire extinguishing train and its deceleration stop control device according to the present invention are basically configured as described above.

Below, the effect | action of the deceleration stop control apparatus of the coke fire extinguishing train which concerns on this invention, and the deceleration stop control method of the coke fire extinguishing train which concern on this invention are demonstrated.
FIG. 3 is a flowchart showing an example of the deceleration stop control method for the coke fire fighting train according to the present invention. FIG. 4 is a flowchart showing an example of a coke fire extinguisher automatic traveling control method applied to the coke fire extinguisher deceleration stop control method shown in FIG. 3. FIG. 5 is a flowchart showing details of an example of the deceleration control step based on the speed deviation monitoring of the automatic running control method of the coke fire fighting train shown in FIG.
In order to facilitate understanding of the method for controlling deceleration and stopping of the coke fire fighting train of the present invention shown in FIG. 3, prior to the explanation of FIG. 3, the automatic running control method of the coke fire fighting train shown in FIGS. Details of the deceleration control step based on deviation monitoring will be described.
In the following, the deceleration stop control method and the automatic travel control method for the coke fire extinguishing train are speeds shown in FIG. 6B set as a preset speed pattern by the fire extinguishing train 10 and its control device 24 shown in FIG. Although described as being implemented based on a pattern, the present invention is not limited to this.

As shown in FIG. 4, in the automatic running control method for a coke fire extinguisher, first, in step S10, as shown in FIG. 6B, the fire extinguisher 10 starts automatic running from the departure position.
Next, in step S12, based on the speed pattern shown in FIG. 6B, the fire fighting train 10 automatically travels (accelerates traveling) while accelerating at the maximum acceleration rate.
Next, in step S12, based on the speed pattern shown in FIG. 6B, the fire fighting train 10 automatically travels at a constant speed (constant speed travel) at the maximum speed.
Even in the above-described acceleration traveling in step S12 and low-speed traveling in step S14, automatic traveling control of the fire train 10 by speed detection by the speed detector 32 of the control device 24 and inverter control of the speed controller 30 based on the detected actual speed. However, since a known control method can be applied, detailed description is omitted here.

Next, in step S16, as shown in FIG. 6B, when the fire fighting train 10 reaches the deceleration start point provided in front of the target stop position, automatic deceleration traveling from the deceleration start point is started. .
Thus, in step S18, the automatic train 10 performs the automatic deceleration traveling control by the inverter (INV) control of the speed controller 30.
While the automatic deceleration traveling control by the inverter (INV) control is being performed, the actual speed of the fire fighting train 10 is detected by the speed detector 32 in step S20.

Next, in step S22, the actual speed is compared with a predetermined low speed that can be accurately stopped at the target stop position. If the actual speed is equal to or lower than the low speed, the process proceeds to step S24, and the brake controller 38 causes the mobile unit brake 22 to Or, the mobile machine brake 22 and the freight car brake 28 are operated to stop the fire train 10 accurately at the target stop position.
On the other hand, if the actual speed exceeds the predetermined low speed as a result of the comparison in step S22, in step 28, deceleration control based on the speed deviation between the actual speed and the target speed of the speed pattern, which is a feature of the present invention, is performed. The process returns to the automatic deceleration traveling control by the inverter (INV) control in step S18.
The automatic running control method of a coke fire extinguishing train applied to the present invention is basically configured as described above.

The flowchart shown in FIG. 5 shows in detail the deceleration control step based on the speed deviation of step 28 of the automatic running control method of the coke fire fighting train shown in FIG. The flowchart shown in FIG. 5 also includes steps S18 to S26 shown in FIG. 4 for the sake of clear explanation, but the detailed explanation thereof is omitted here.
As shown in FIG. 5, first, in step S30, the actual deviation of the fire train 10 by the speed deviation calculator 34 and the target speed of the speed pattern shown in FIG. ))).

Next, in step S32, the comparator 36 compares the speed deviation with the set values (the threshold value L of the magnitude of the speed deviation and the set time T of the duration) stored in the memory 40, and the speed deviation is determined. If it is equal to or less than the set value (the duration of the state in which the magnitude of the speed deviation exceeds the threshold value L is equal to or less than the set time T), the process returns to the automatic deceleration traveling control by inverter (INV) control in step S18.
On the other hand, as a result of the comparison in the comparator 36 in step S32, when the speed deviation exceeds the set value, that is, when the duration of the state in which the magnitude of the speed deviation exceeds the threshold value L exceeds the set time T. The process proceeds to step S34 and also to step S50.
In step S34, the brake controller 38 operates the mobile unit brake 22 to forcibly decelerate the fire extinguishing train 10 (the mobile unit 14).

Next, in step S36, the actual speed of the fire train 10 being decelerated by the operation of the mobile unit brake 22 is detected in the same manner as in step S22, and the speed deviation between the detected actual speed and the target speed is detected in step S30. Calculate in exactly the same way as
Thereafter, in step S38, the speed deviation calculated in step S36 is compared with the set values (threshold value L, set time T) in the same manner as in step S32.
As a result of the comparison in step S38, when the speed deviation returns to the set value or less (the duration of the state in which the magnitude of the speed deviation is greater than the threshold value L) returns to the set time T, the process proceeds to step S40, and the brake controller 38 releases the mobile unit brake 22 and returns to the automatic deceleration traveling control by the inverter (INV) control in step S18.

On the other hand, when the speed deviation exceeds the set value as a result of the comparison in step S38, that is, when the duration of the state exceeding the threshold L of the magnitude of the speed deviation exceeds the set time T, the process proceeds to step S42. The brake controller 38 operates the freight car brake 28 in addition to the mobile machine brake 22 to forcibly decelerate the fire extinguishing train 10 (the mobile machine 14 and the freight car 16).
Since the freight car brake 28 is originally used to prevent the flow at the time of stopping, if it is operated during traveling, the wheel, that is, the driven wheel 26 is instantaneously locked, and a necessary deceleration rate is obtained. It may not be possible. For this reason, in step S42, instead of continuously continuing the operation of the freight car brake 28, the operation of the predetermined constant time operation and the predetermined constant time release until the speed deviation becomes equal to or less than the set value (within the predetermined deviation). May be repeated alternately.

Next, in step S44, exactly the same as step S36, the actual speed of the fire-extinguishing train 10 being decelerated is detected by the combined operation of the mobile machine brake 22 and the freight car brake 28, and the speed between the detected actual speed and the target speed. Calculate the deviation.
Thereafter, in step S46, the speed deviation calculated in step S44 is compared with the set values (threshold value L, set time T) in the same manner as in step S38.
As a result of the comparison in step S46, when the speed deviation returns to the set value or less (the duration of the state in which the magnitude of the speed deviation is greater than the threshold value L is less than the set time T), the process proceeds to step S48 and Also migrate.
In step S48, the brake controller 38 releases the mobile unit brake 22 and the freight car brake 28, and returns to the automatic deceleration traveling control by the inverter (INV) control in step S18.

On the other hand, as a result of the comparison in the comparator 36 in step S46, if the speed deviation exceeds the set value (the duration of the state exceeding the threshold L of the magnitude of the speed deviation exceeds the set time T), the process proceeds to step S42. Then, the brake controller 38 continues the state in which the combined operation of the mobile machine brake 22 and the freight car brake 28 is maintained, or under the operation of the mobile machine brake 22, the freight car brake 28 is operated for a predetermined time and a predetermined time. The operation of opening for a certain time is repeated alternately. In addition, when maintaining the combined operation of the mobile machine brake 22 and the freight car brake 28, it is preferable to proceed directly to step S44.
The brake controller 38 in step S42 maintains the combined operation of the mobile machine brake 22 and the freight car brake 28 and operates the freight car brake 28 for a predetermined period of time under the operation of the mobile machine brake 22. The alternating operation with the release for a certain period of time is repeated, the actual speed is detected and the speed deviation is calculated in step 44, and the speed deviation is compared with the set value in step S46. This is repeated until the mobile machine brake 22 and the freight car brake 28 in step 48 are released.

In step S50, the area specifying unit 50 uses the time data when the speed deviation exceeds the set value as a result of the comparison in the comparator 36 in step S32, and the coke factory at the time when the speed deviation exceeds the set value. The position of the travel route in is identified as an excess point.
In step S50, the area specifying unit 50 determines that the time deviation when the speed deviation exceeds the set value and the speed deviation is equal to or less than the set value as a result of comparison in the comparator 36 in step S46. Using the time data, the area of the travel route in the coke factory while the speed deviation exceeds the set value is specified as the excess area.
Next, in step S52, the excess point and excess area specified in step S50 are stored in the memory 40. Thereafter, the process returns to step S18 as the brake is released in step 48.

The automatic traveling control method for a coke fire train and the deceleration control step based on the speed deviation applied to the method for controlling the deceleration stop of the coke fire train of the present invention are basically performed as described above.
As a result, even when the speed of the fire fighting train exceeds the target speed of the speed pattern by the inverter control and the speed deviation becomes large, the speed control can be performed at a deceleration rate larger than the deceleration rate by the inverter control, and the speed deviation is constant. It can be as follows.
As described above, it is understood that the speed deviation can be controlled to a certain level or less by executing the automatic traveling control method of the coke fire extinguisher train applied to the deceleration stop control method of the present invention.

Next, the deceleration stop control method for the coke fire-fighting train of the present invention shown in FIG. 3 will be described.
It is assumed that prior to the start of the automatic operation of the fire train for starting this kiln, the automatic operation of the fire train for starting the kiln has been performed three times or more from the previous time. In other words, the coke fire extinguishing train automatic traveling control method shown in FIG. 4 and the deceleration control step based on the speed deviation shown in FIG. 5 have been executed at least three times most recently.
First, in step S100, the speed pattern adjustment unit 52 reads from the memory 40 the excess points and excess areas in the automatic driving operation of the latest three fire extinguishing trains from the previous time to the previous three times.
Next, in step S102, the speed pattern adjustment unit 52 determines whether or not the number of automatic driving operations of the fire extinguisher whose read excess point and excess area are the same is three or more, that is, the latest fire extinguisher. It is determined whether or not it is the same excess point and excess area for all of the three automatic driving operations.

As a result of the determination in step S102, if the same excess point and excess area are detected three times, the process proceeds to step S104, and the speed pattern adjustment unit 52 decelerates the speed pattern of the automatic driving operation of the fire extinguisher this time. The rate is changed from a point (xm) at a predetermined distance before the excess point to a deceleration rate that is half of the normal deceleration rate of the normal speed pattern stored in the memory 40.
Next, in step S106, the control device 24 performs an automatic traveling operation based on the automatic traveling control method of the fire train shown in FIG. In this case, during the current automatic traveling of the fire-extinguishing train 10, the speed controller 30 starts from a predetermined distance (xm) before the excess point, and has a new deceleration rate that is half the normal deceleration rate changed in step S104. Then, deceleration is started, the fire train 10 is automatically driven, and the fire train 10 is stopped at the target stop position without overrun.

On the other hand, as a result of the determination in step S102, when the number of automatic driving operations of the fire extinguisher with the excess point and the excess area being the same is less than 3, that is, 2 times or less, the process proceeds to step S108, and the memory 40 The presence / absence of an excess point and an excess area read out from is determined.
If there is no excess point or area read from the memory 40 as a result of the determination in step S108, the process proceeds to step S106 without changing the deceleration rate of the speed pattern for the automatic driving operation of the fire extinguisher this time. Then, the normal speed pattern stored in the memory 40 is kept as it is, and the fire train is automatically driven based on the fire train automatic travel control method shown in FIG. 4 and FIG. Is stopped at the target stop position.
If the same excess point and excess area are read twice or the excess point and excess area are read once as a result of the determination in step S108 as a result of the determination in step S108, the process proceeds to step S110, and the speed pattern When the excess point and the excess area stored in the memory 40 are not more than two times, that is, once or twice, the adjuster 52 performs the automatic traveling from the excess point to the excess area. The speed pattern deceleration rate is changed to 2/3 of the normal deceleration rate.

Next, in step S112, the control device 24 performs an automatic traveling operation based on the automatic traveling control method of the fire train shown in FIG. In this case, at the time of the automatic running of the fire train 10 this time, the speed controller 30 is changed from the excess point to the excess area at the new deceleration rate that is 2/3 of the normal deceleration rate changed in step S110. Deceleration is started, the fire train 10 is automatically driven based on the fire train automatic traveling control method shown in FIGS. 4 and 5, and finally the fire train 10 is stopped at the target stop position.
In the automatic running of the fire train 10, for example, when the speed deviation exceeds the set value as a result of comparison by the comparator 36 in step S32 in FIG. 5, the fire control train is operated by the brake controller 38 in step S34 in FIG. The ten mobile unit brakes 22 are operated for a predetermined time to forcibly decelerate the fire-extinguishing train 10, and finally the fire-extinguishing train 10 is stopped at the target stop position, and the automatic traveling operation ends.

Next, in step S114, it is determined whether or not the speed deviation exceeds the set value. For example, as a result of comparison by the comparator 36 in step S32 in FIG. 5, the speed deviation may have exceeded the set value. If the speed deviation does not exceed the set value, that is, if the speed deviation does not exceed the set value and the fire train 10 can be stopped at the target stop position In the next automatic traveling operation, the deceleration rate that is 2/3 of the normal deceleration rate in the current automatic traveling operation is set back to the normal deceleration rate of the normal speed pattern stored in the memory 40. .
Thus, the method for controlling deceleration and stopping of the coke fire fighting train of the present invention is completed.

  By implementing the above-described deceleration and stop control method for a fire train, when the fire train is decelerated from the deceleration start point provided in front of the target stop position in the coke factory and stopped at the target stop position, It is possible to appropriately cope with a plurality of factors such as a change in weather, which is a factor causing the wheels such as the driving wheel and the driven wheel to slip, a decrease in the friction coefficient between the rail and the wheel due to oil and the like, and a gradient of the rail.

  The coke fire extinguishing train deceleration stop control method and apparatus according to the present invention have been described in detail with reference to various embodiments and examples. However, the present invention is not limited to the above embodiments and examples. Of course, various improvements and modifications may be made without departing from the scope of the present invention.

10 Coke fire-fighting train (fire-fighting train)
12 rails
14 mobile machine 16 freight car 18a drive wheel (wheel)
18b, 26 driven wheel (wheel)
20 Electric motor (motor)
22 Mobile machine brake 24 Deceleration stop control device (control device) for coke fire fighting train
28 Freight car brake 30 Speed controller 32 Speed detector 34 Speed deviation calculator 36 Comparator 38 Brake controller 40 Memory 42 Pulse generator (PLG)
44 Counter 46 Speed Calculator 50 Area Identification Unit 52 Speed Pattern Adjuster

Claims (4)

The electric motor that drives the coke fire train is controlled by an inverter to perform automatic travel speed control of the fire train, and the fire train is automatically traveled in a predetermined speed pattern along a predetermined route in the coke factory. Is a deceleration stop control method for a coke fire extinguisher train that decelerates from a deceleration start point provided before the target stop position and stops at the target stop position,
At the time of deceleration of the fire train, monitoring the speed deviation between the preset target speed and the actual speed,
When the speed deviation exceeds a set value, the mechanical brake of the fire train is operated for a predetermined time to forcibly decelerate the fire train,
When the speed deviation returns below the set value, release the mechanical brake of the fire train, return to the automatic running speed control of the fire train by the inverter, the fire train is set in advance When driving automatically with a speed pattern,
During each automatic run from the previous time to three times before, the excess point where the speed deviation exceeded the set value and the excess area where the speed deviation exceeded the set value were stored in memory,
According to the number of times that the excess point and the excess area stored in the memory are the same, the speed pattern at the time of the current automatic traveling is adjusted with respect to the preset speed pattern ,
If the excess point and the excess area stored in the memory are the same three times, the deceleration rate of the speed pattern at the time of this automatic traveling is calculated from a point at a predetermined distance before the excess point. , Change to a deceleration rate that is half the deceleration rate of the preset speed pattern, automatically run, stop at the target stop position,
When the excess point and the excess area stored in the memory are the same once or twice, the deceleration rate of the speed pattern at the time of the current automatic driving in the excess area from the excess point, Change to a deceleration rate that is 2/3 of the deceleration rate of the preset speed pattern and automatically run,
Thereafter, when the speed deviation exceeds a set value, the fire brake is forcibly decelerated by operating a mechanical brake of the fire train for a predetermined time, while the speed deviation exceeds the set value. If the fire extinguishing train is stopped at the target stop position without exceeding, the fire extinguishing train is automatically run at the preset speed pattern at the next automatic running . Deceleration stop control method. The set value is the set value of the speed deviation magnitude and time,
When the state where the magnitude of the speed deviation exceeds the set value of the magnitude is continued beyond the set value of the time, the mechanical brake of the fire train is operated to force the fire train. 2. The method for controlling deceleration and stopping of a coke fire fighting train according to claim 1, wherein the deceleration is performed. The set value of the magnitude of the speed deviation is an average value of a plurality of actual values,
3. The method for controlling deceleration and stopping of a coke fire fighting train according to claim 2, wherein the set value of the speed deviation time is set to a time when no malfunction occurs. A coke fire extinguisher comprising a mobile device, an electric motor that drives the mobile device, and a mobile device brake that is a mechanical brake attached to the mobile device is set in advance along a predetermined route in a coke factory. A deceleration stop control device for a coke fire train that decelerates from a deceleration start point provided in front of a target stop position by automatically running with a speed pattern, and stops at the target stop position,
Speed control means for controlling the electric motor with an inverter to perform automatic running speed control of the fire train and automatically running in the preset speed pattern;
Speed detecting means for detecting the actual speed of the fire train,
A speed deviation calculating means for calculating a speed deviation between a preset target speed and the actual speed detected by the speed detecting means at the time of deceleration of the fire extinguishing train;
A comparison means for comparing the speed deviation calculated by the speed deviation calculation means with a preset set value;
When the speed deviation exceeds the set value as a result of comparison by the comparison means, the mobile unit brake is operated to forcibly decelerate the fire train, and as a result of the comparison by the comparison unit, the mobile unit is When the speed deviation returns to the set value or less in the operating state of the brake, the mobile unit brake is released, and the automatic traveling speed control of the fire train is performed by the inverter of the speed control means, and the fire train is Brake control means for automatically running at a preset speed pattern;
As a result of comparison by the comparison means, the excess point where the speed deviation exceeds the set value and the excess area where the speed deviation exceeds the set value are stored during each automatic travel from the previous time to three times before. Memory to keep,
Speed pattern adjusting means for adjusting a speed pattern at the time of the automatic traveling with respect to the preset speed pattern according to the number of times that the excess point and the excess area stored in the memory are the same. Yes, and
When the excess point and the excess area stored in the memory are the same for all three times, the speed pattern adjustment means starts from a point at a predetermined distance before the excess point at the time of the current automatic travel. Change the deceleration rate of the speed pattern to a deceleration rate that is half the deceleration rate of the preset speed pattern,
The speed control means automatically runs the fire train at the deceleration rate changed by the speed pattern adjustment means, stops at the target stop position,
When the excess point and the excess area stored in the memory are the same once or twice, the speed pattern adjustment unit is configured so that the speed pattern adjustment means Change the deceleration rate of the speed pattern to a deceleration rate that is 2/3 of the deceleration rate of the preset speed pattern,
The speed control means automatically runs the fire train at the deceleration rate changed by the speed pattern adjustment means,
After that, when the speed deviation exceeds a set value as a result of comparison by the comparison means, the brake control means forcibly decelerates the fire train by operating a mobile unit brake of the fire train for a predetermined time. Is what
On the other hand, as a result of comparison by the comparison means, when the speed deviation does not exceed a set value and the speed control means stops the fire train at the target stop position, the speed pattern adjustment means, At the next automatic running, the speed pattern of the automatic running speed control of the fire train is returned to the preset speed pattern, and the speed control means moves the fire train with the preset speed pattern thus returned. Coke fire extinguishing train deceleration stop control device, characterized by automatic running .

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