JPH02187510A - Control of refuse incinerator and control device therefor - Google Patents

Abstract

PURPOSE:To make the operation automatic and make it possible to hold the point of complete burning of the refuse always in a stable by detecting optically the point of burning the dust out in a combustion chamber and calculating the deviation from a control target and speed of movement of the result of detection and applying fuzzy inference to control the operation cycle or rotational speed of the combustion chamber. CONSTITUTION:Image signals from a camera 5 which takes the photograph of the inside of a rotating stoker 3 are sent to a picture image processing device 4. The signal for the position of the point of burning out which is given in the picture image processing device 4 is sent to a Fuzzy control calculation device 6. In the picture image processing device 4 the section of a flame 3a and the section of background are distinguished by binary-coding the picture image signals by a specified threshold value and the point of complete burning is calculated. In the fuzzy control calculation device 6, the deviation of this point of complete burning from a target value and the speed of movement of the deviation are calculated. By applying fuzzy inference to the results of the calculations the amount of adjustment for the operation cycle of a refuse pusher 2 and the amount of adjustment of the rotational speed of the stoker 3 are calculated. Based on those amounts of adjustment a pusher control device 7 controls the operation of the pusher 2, and a stoker control device 8 controls the rotational speed of the stoker 3.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a control method and a control device for a rotary stoker type garbage incinerator.

[Conventional technology] In recent years, with the diversification of municipal waste and solid industrial waste,
There is a need for an incinerator that can reliably and stably incinerate both low and high calorie materials.

In order to meet such demands, it is necessary to measure the combustion state of garbage and control the garbage supply rate, air supply amount, garbage feeding rate, etc.

One measure of the incineration state is the burnout point.

This is the boundary between the combustion zone and the rotary combustion zone when garbage is fed into the furnace and transitions from dry zone to combustion zone to rotary combustion zone. It is necessary to control the cutting point so that it falls within a certain appropriate range.

In the case of a rotary stoker type waste incinerator, the stoker (combustion chamber)
The stoker's rotational speed and the operating cycle of the trash pusher that supplies new trash to the stoker are adjusted according to the monitoring results so that the burnout point is within the appropriate range. Ru.

[Problems to be Solved by the Invention] By the way, in the above-mentioned conventional rotary stoker type garbage incinerator, the relationship between the combustion status of garbage and the amount of adjustment required to control the burnout point of garbage to the target value is as follows. It is difficult to formulate it mathematically, and the amount of adjustment was determined by the judgment of a skilled operator. For this reason, there is a problem in that a skilled operator must always be on hand when the waste incinerator is in operation.

The present invention was made against this background, and therefore provides a method for optimally controlling a waste incinerator according to the combustion situation of waste without requiring a skilled operator to be stationed at all times, and a control device for implementing the method. The purpose is to provide.

[Means for Solving the Problems] In order to solve the above problems, the first invention includes a garbage pusher and a rotary combustion chamber, and the garbage pusher moves new garbage according to the combustion status of garbage in the combustion chamber. supply,
A method for controlling a waste incinerator in which garbage is incinerated while rotating the combustion chamber, comprising: optically detecting a burnout point of garbage in the combustion chamber; a detection result of the burnout point and a control target; a step of calculating a deviation between the two and a moving speed of the detected result, and a step of applying fuzzy inference to the deviation and moving speed to control at least one of the operating cycle of the garbage pusher or the rotation speed of the combustion chamber. It is characterized by comprising the following.

Further, the second invention is provided with a garbage pusher and a rotary combustion chamber, and according to the combustion status of garbage in the combustion chamber, new garbage is supplied by the garbage pusher, and the garbage is incinerated while rotating the combustion chamber. A control device for a waste incinerator, comprising: a detection means for optically detecting a burnout point of garbage in the combustion chamber; a deviation between a detection result of the burnout point and a control target and a moving speed of the detection result; an arithmetic device that calculates the deviation and the moving speed;
It is characterized by comprising a control means for controlling at least one of the operating cycle of the garbage pusher or the rotation speed of the combustion chamber.

[Operation] According to the above configuration, the burnout point of the garbage in the combustion chamber is detected, and its deviation and moving speed are also detected. Then, according to these deviations and the moving speed, the operating period of the garbage pusher or the amount of adjustment of the rotation speed of the combustion chamber is calculated by fuzzy inference. Then, the operation control of the garbage pusher or the rotation control of the combustion chamber is performed according to the adjustment amount obtained as a result of the calculation.

[Example] Hereinafter, the present invention will be described in detail with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of a control device for a rotary stoker type garbage incinerator according to an embodiment of the present invention.

In this figure, garbage 1 thrown in from a garbage input hopper (not shown) is supplied to a cylindrical rotary stoker 3 by a garbage pusher 2. The rotary stoker 3 incinerates the waste 1 while rotating around the axis of a cylindrical body.

5 is an industrial television camera (hereinafter referred to as camera 5), which is placed at the position shown in FIG.
to image the inside of. The image signal from the camera 5 is sent to the image processing device 4, and the burnout point position signal determined therein is sent to the fuzzy control calculation device 6. Here, in the image captured by the camera 5, the flame 3a has high brightness and the other parts have low brightness, and the image processing device 4 binarizes the image signal using a predetermined threshold value. The flame 3a and the background portion are distinguished, and the position of the burnout point is calculated. Then, the fuzzy control calculation device 6 calculates the deviation of this burnout point from the target value and the moving speed of this deviation, and by applying fuzzy inference to these calculation results, the operating cycle of the garbage pusher 2 is determined. The adjustment amount and the adjustment amount of the rotation speed of the stoker 3 are calculated.

Then, according to each of these adjustment amounts, the pusher control device 7
The stoker control device 8 controls the operation of the garbage bunker 2.
controls the rotation speed of the stoker 3.

FIG. 2 is a block diagram showing the configuration of the fuzzy control calculation device 6 in FIG. 1. In this figure, parts corresponding to those in FIG. 1 described above are given the same reference numerals. 10 is an incinerator, which represents a system including the garbage pusher 2, stoker 3, camera 5, and image processing device 4 in FIG. The measured value BRN of the burnout point in the incinerator 10 is supplied to the summing point 11, the deviation D[3RNPV from the burnout black film constant value is detected, and the PI controller 12, rate of change calculation unit 13, and fuzzy calculation unit 14.

In the PI controller 12, the burnout point deviation DBRNP
DRCP for stoker rotation speed change required to eliminate V
I and push cycle change DPUSPI are calculated using the following formula (
It is determined according to 1) and (2).

DROP 1--(RCPXDBRNPV+RCI
XDBRN I) ・・・・・・(1)DPUSP
I--(PUSPXDBRNPV+Pus tx
(2) Here, each variable is n c p Proportional (P) gain for Nistoker rotation speed control RCI Integral (1) Gain PUS for Nistoker rotation speed control
P: Proportional (P) gain PUSI for pusher periodic control + Integral (1) gain DBRN for pusher periodic control I: Represents the burnout point deviation integral value.

On the other hand, the rate of change calculation unit (3) calculates DBRNPV to the rate of change of the deviation from the previous burnout point deviation DBRNPV and the current burnout point deviation DI (RNPV) and outputs it.

Then, in the fuzzy calculation unit 14, the adjustment amount of the stoker rotation speed and the pusher cycle is inferred from each output signal of the P summer controller 12 and the change rate calculation unit 13 and the burnout point deviation D B It N I) V. . This inference procedure will be explained below.

In the P-rule section I5, based on the output value of the PI controller 12, a maintenance function Ml indicating the degree of deviation of the burnout point is generated. In addition, in the trend rule part I6, the burnout point deviation D B I't
From NPV and deviation change rate △DI3RNPV,
The burnout point deviation movement speed is calculated as a measure of the long-term trend of the burnout point measurement value (curve S) shown in FIG. Then, a membership function M2 indicating the extent of the moving speed ΔDBItNPV and a membership function M3 indicating the extent of the burnout point deviation are generated.

Then, in the fuzzy synthesis section I7, fuzzy sets from the Pl rule and the trend rule are synthesized in order to obtain the adjustment m of the stoker rotation speed and the pusher period. Here, the PI rule means to express the output value of the PI controller 12 by a triangular membership function M1 as shown in FIG. This is a rule that expresses speed and burnout point deviation by membership functions M2 and M3, respectively. And this fuzzy calculation section! 4, membership functions corresponding to the adjustment amounts inferred from both rules are synthesized by the fuzzy synthesis section 17.

FIG. 7 shows this membership function.

In this figure, the horizontal axis is the change in stoker rotation speed 1) RC
PI or pusher cycle change DP U S P I
The vertical axis shows the value μ of the membership function.

μ takes a value from 0 to 1, for example, a certain definite value D
When ROPI is included in a certain set (fuzzy set), it indicates the degree to which surrounding values belong to the same set.

Here, P1 in the fuzzy calculation unit 14 explained above
The six processing contents of rules, trend rules, and fuzzy synthesis will be explained with reference to FIG.

In the following description, only the portion related to the processing of the stoker rotational speed change DROP I will be described for the sake of clarity. The figures shown in FIGS. 5(a) to 5(d) each represent a membership function.

Also, in these figures, D B n N I) V
is the burnout point deviation, and △△DI3flNPV is the deviation movement speed. Also, NB, NM, NS, ZOLPS, P
M and PB are the above six-value DBRNPV, △△DBrlNP
It is a fuzzy set of V and DROP I, and each fuzzy set includes: NB: Negative and large NM: Negative and medium NS: Negative and small ZO: HaboO PS; Positive and small PM: Positive and medium PB: A value that is positive and large belongs to a valley.

Now, the deviation D B l(N P V h< -0, 4m
, the deviation movement speed is 10.3 re/ain. In this case, as is clear from FIGS. 5(a) to (d), the deviation DI3RNPV can be an element of either the fuzzy set NM or NS, and the deviation movement speed △△DBIIINPV can be an element of the fuzzy set NM or NS. It can be either element of NS. Therefore, as a case to be calculated, (a) m difference DB RN I) V - NM and deviation movement speed △△I) U RN l) V = N
For M (b) deviation 1) RRN P V = N
S , and deviation movement speed △△I) [31(N P
When V = NM (c) ili'J difference 1) r
3 RN PV '= NM, and (Q difference movement speed △△D 1111 NI) V = NS (+1) deviation DI3 RN PV = NS
, and the deviation is the hyperactivity speed △△D B RN PV =
There are four options for NS. Figure 5(a)-(d)
shows the calculations in these four cases.

In the case of (a), as shown in the figure, the deviation 1) BRN P
When vh<fuzzy set NM, the value μ of the membership function M3 is 0.2. On the other hand, when the moving speed ΔΔD [3It N P V belongs to the fuzzy set NM, the value μ of the membership function M2 is 0°6. Then, if the deviation D U It N P V belongs to the fuzzy set NM, and the moving speed △△D [3RN P
If M belongs to the fuzzy set NM, NB is selected as the fuzzy set for the stoker rotational speed change DRC1)I according to the correspondence table shown in FIG. Here, the correspondence table shown in Fig. 6 is created based on the judgment of a skilled operator or the past operating data of the waste incinerator, and is created using fuzzy calculations. J! 14
is stored in advance. Further, a similar table is created for the pusher cycle changes and is stored in the fuzzy calculation unit 14.

Then, the fuzzy set N 1 selected in this way
As the value μ of the membership function of 3, the deviation D B R
NPV! , : The smaller value of μ'(-0, 2) corresponding to Vru and μ(-0, 6) corresponding to the moving speed ΔDBflNPV, that is, μm0.2, is taken.

In this way, the figure SA for the stoker rotational speed change DRCI)I in case (a) is drawn. Then, by the same procedure, figures 5B-SD corresponding to cases (b) to (d) are drawn.

Then, in the composite synthesis section 17, the figure S A of FIG.
The sum SS (Fig. 7) of −S D is obtained, and this figure S
The DRCP I value passing through the center of gravity G of S is output as the stoker rotation speed adjustment A'k D ki CT. Also,
Pusher cycle change DPUSI)! The same fuzzy calculation as described above is also performed for pusher cycle adjustment IDP
UST is output.

Then, at the addition point 18, the pusher cycle setting value and the pusher cycle adjustment amount DPUST are added together and supplied to the pusher control device 7 as control information. Further, at the addition point 19, the stoker rotation speed setting value and the stoker rotation speed adjustment ff1DRcT are added and supplied to the stoker control device 8 as control information.

"Effects of the Invention" As explained above, according to the present invention, the burnout point of the garbage in the combustion chamber is optically detected, the deviation between the detection result of the burnout point and the control target, and the shift of the detection result. The speed is calculated, fuzzy inference is applied to the deviation and the moving speed, and at least one of the operating cycle of the garbage pusher or the rotation speed of the combustion chamber is controlled, so the operation is equivalent to that performed by a skilled operator. This is done automatically, and the burnout point of the garbage is always kept stable.

Therefore, it is possible to save labor in the operation of the waste incinerator and to achieve stable operation.

Furthermore, as a secondary effect, it is possible to control the amount of loss of incinerated ash in the incineration ash.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the configuration of an embodiment apparatus to which the method of the present invention is applied, FIG. 2 is a block diagram showing the configuration of the fuzzy control calculation device 6 in the embodiment, and FIG. A diagram showing an example of the trend of cut point deviation, Figure 4 is a diagram explaining the pt rule in the same example, Figure 5 is a diagram showing an example of fuzzy operation in the same example, and Figure 6 is a diagram showing the same implementation. FIG. 7 is a diagram showing the results of the fuzzy calculation in FIG. 5; FIG. 1...garbage, 2...garbage pusher, 3...
... Rotating stalker, 4... Image processing device, 5.
...Camera, 6...Fuzzy control calculation device. Figure 1 Applicant: Ishikawajima Harima Heavy Industries Co., Ltd. Figure 2 Figure 3 Figure 4 Figure 6 Figure 7

Claims (2)

[Claims] (1) Garbage incineration system equipped with a garbage pusher and a rotary combustion chamber, in which new garbage is supplied by the garbage pusher according to the combustion status of garbage in the combustion chamber, and the garbage is incinerated while rotating the combustion chamber. A method for controlling a furnace, comprising the steps of: optically detecting a burnout point of garbage in the combustion chamber; calculating a deviation between a detection result of the burnout point and a control target and a moving speed of the detection result; A method for controlling a waste incinerator, comprising the step of applying fuzzy inference to the deviation and moving speed to control at least one of the operating cycle of the waste pusher or the rotation speed of the combustion chamber. (2) Garbage incineration system equipped with a garbage pusher and a rotary combustion chamber, in which new garbage is supplied by the garbage pusher according to the combustion status of garbage in the combustion chamber, and the garbage is incinerated while rotating the combustion chamber. In a furnace control device, a detection means for optically detecting a burnout point of garbage in the combustion chamber; and a calculation device for calculating a deviation between a detection result of the burnout point and a control target and a moving speed of the detection result. and perform fuzzy inference on the deviation and moving speed,
A control device for a waste incinerator, comprising: a control means for controlling at least one of the operating cycle of the waste pusher or the rotation speed of the combustion chamber.