JPH07242877A - Halt controlling method for coke moving machine - Google Patents

Abstract

PURPOSE:To provide the subject method designed to halt a coke moving machine exactly at a specified target position in the shortest time under any circumstance, because of absorbing the displacement of the target position, weather variation and the variation in the tack index between the wheels of a coke guide truck and rails due to the gradient of the rails. CONSTITUTION:In the automatic traveling halt of a coke guide truck, the final halt command point in the halt program is defined as follows: 3rd speed reduction point X1 (the final halt command point) = the preceding 3rd speed reduction point X1 - halt deviation of the oven equal to that of one time before (correction 1)-average halt deviation of the nearest several ovens (correction 2).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic traveling stop control method for a coke mobile vehicle such as a coke guide vehicle, which is intended to properly stop the coke mobile vehicle at a predetermined working position in the shortest time.

[0002]

2. Description of the Related Art Coke mobiles travel to a designated work position (designated kiln) scheduled in advance and stop,
After performing a predetermined work, a series of work is performed in which the vehicle travels to the next designated work position and stops. Conventionally, driving work such as traveling to a designated work position and stopping has been performed by a skilled operator who has boarded a coke guide vehicle. Further, due to recent needs for labor saving, for example, based on the position information from the position detecting device and the speed information from the speed detecting device by a control device equipped with a computer, as disclosed in Japanese Patent Laid-Open No. 60-170691. Automatic driving to the designated destination position is also stopped.

[0003]

In the automatic traveling operation of the coke mobile machine, the stop accuracy is the most important, but the stop control is performed according to a predetermined braking pattern by the control device equipped with the computer. This means that it is possible to eliminate individual differences that have occurred between operators, as compared with the stopping work that is conventionally performed by operators.
However, the conventional control device as disclosed in Japanese Patent Laid-Open No. 60-170691 cannot control the displacement of the designated work position due to the temperature change of the coke oven because the stop control is performed with a predetermined braking pattern. Furthermore, it was not possible to follow changes in the weather such as rainfall and wind power, changes in the rail slope, and changes in the stopping braking distance due to deformation. As a result, the running time, the stopping time varied, and the firing interval varied, and the fire fall time and the standing time were not constant, and the coke quality was impaired.

In order to solve these problems, it is necessary to lengthen the deceleration time to stop the operation. However, since it takes a long time to stop the operation, it takes a long time to remove the kiln and the operation rate decreases. There is a problem of doing.

The problem to be solved by the present invention is to efficiently take in information on the characteristics of each kiln, weather change, and rail slope in the stop control of a mobile unit in which a stop control program is incorporated, and stop at a designated target position. To do exactly. Further, the present invention provides a stop control method for a coke mobile device capable of minimizing the time required for stopping.

[0006]

[Means for Solving the Problems] The above problems are solved by controlling the speed of a traveling motor of a coke mobile unit having a plurality of working positions on an orbit installed around a coke oven, based on position information of the mobile unit. In the method of stopping at a predetermined work position, the final stop command point (X
The last stop command point (Xm) when 1) was stopped at that position last time, the actual stop position deviation amount (correction amount 1) when it was stopped at that position last time, and the mobile device stopped most recently. Based on the average stop deviation amount (correction amount 2) of a plurality of stop results obtained, X1 = Xm + correction amount 1 + correction amount 2 is used to obtain a stop position control method for a coke mobile device. Will be solved by.

[0007]

[Function] The cause of the stop error is the specific factor for each work position such as the displacement of the specified work position due to the temperature change of the coke oven, the slope and deformation of the rail, and the stop braking distance due to the weather change such as rainfall and wind power. And other factors common to the installation environment of the mobile device. The former is the actual stop when the last stop command point (Xm) when stopped at that position last time, as shown in the schematic diagram of the stop deviation amount and correction amount 1 in FIG. By correcting with the position shift amount (correction amount 1), the latter is corrected by the average stop shift amount (correction amount 2) of a plurality of stop records in which the mobile device has stopped most recently, and thus the current stop command. The position can be optimized.

Further, since this method corrects only at the final deceleration point and does not affect other running speeds and efficiency, the time for stop position control is minimized. be able to.

[0009]

EXAMPLES Examples of the present invention will be described. FIG. 2 shows an apparatus configuration of an embodiment of the present invention, and FIG. 1 shows a traveling stop pattern of the coke guide vehicle of the present invention. In FIG. 2, the traveling pattern to the designated target position scheduled in advance by the traveling control unit in the sequence control device is stored. Two
Is 10 mm on the side of the coke oven in the position detection part in the control device.
The traveling control unit 1 is provided with position information sent from an absolute address type guide wireless position detecting device 5 in which position information is set at intervals. In addition, the speed detection device 6 including a pulse generator continuously captures the speed into the speed detection unit 3 and provides the speed to the travel control unit 1.

Based on the above information, in the traveling stop control method of the present invention, as shown in FIG. 1, the coke guide vehicle finishes a predetermined work, starts traveling toward the next kiln, and reaches the designated target position. In the process of stopping at X0, acceleration is performed at a constant acceleration, and when the speed reaches 60% of the rated speed, the acceleration ends, and the first
The speed is maintained until the deceleration point X3.

Originally, as shown in FIG.
It seems that the vehicle can be stopped at the specified target position in the shortest time to accelerate and decelerate to%, but the time at which the rated speed is reached may vary due to external disturbances. If the time at which the speed reaches the rated speed fluctuates, the fluctuation cannot be absorbed and the final deceleration point X1 will fluctuate.
It is difficult to secure the stopping accuracy. Therefore, after accelerating to 60%, the speed is maintained and the first deceleration point X3 is uniformized. When reaching the first deceleration point X3 before L3 from the designated target position X0, voltage control of the traveling motor is performed to reduce the traveling speed to 5%.

Then, when the second deceleration point X2 before L2 is reached from the designated target position X0, the traveling speed is decelerated to 1%.
Further, the third deceleration point X before L1 from the designated target position X0
When it reaches 1, a stop command is sent to the brake control unit 4,
The braking device 7 is used to stop.

In this series of running and stopping programs,
Information on the characteristics of each kiln, weather change, and rail gradient is given to the third deceleration point X1. For example, in a certain work place, when the rail has a descending gradient of 3/1000, the braking distance becomes longer than that of a non-gradient, so that the third deceleration point X1 shifts by about 3% toward the second deceleration point. .

That is, third deceleration point X1 (final stop command point) = previous third deceleration point Xm-stop deviation amount of the same kiln as before (correction amount 1) -average stop deviation amount of the latest several kilns ( Correction amount 2) As for the correction amount 1, instead of using the same kiln stop deviation amount as the previous time, the correction amount 1 =
(W1 · Previous shift + w2 · Previous shift + + · ·
・) Here, w1, w2, ... Are weighting factors. By storing these values in the program logic controller (not shown), the displacement of the designated target position X0 is absorbed.

Further, the correction amount 2 is the correction amount 2 = (stop deviation amount (1) + stop deviation amount (2) + ... + stop deviation amount (n)) / n when the past n times results are taken in. And Here, the past record is the record at the time of the latest stop, and does not necessarily have to be the same hook. The number n of times of taking in is determined in consideration of the operation pitch and the like. Similar to the correction amount 1, a weighted average that strengthens the weight of a closer situation may be used. As a result, the change in the adhesion coefficient with the wheels of the coke guide vehicle due to the change in the weather is absorbed, and at the same time, it is stored in the program logic controller as data to be used when the next kiln is removed.

As described above, it is possible to cope with changes in the braking distance due to various disturbances, and it is possible to accurately run and stop in the shortest time.

[0017]

According to the present invention, the characteristics of each kiln, weather change,
By constructing a stop control program in which the rail slope is taken into consideration, it is possible to stop at the designated target position accurately and at the shortest time point under any circumstances. As a result, the dry distillation and burnout times were constant, the quality of coke was improved, and stable operation rates became possible.

[Brief description of drawings]

FIG. 1 is an explanatory view of a traveling stop pattern of a coke guide vehicle of the present invention.

FIG. 2 is a device configuration diagram of an embodiment of the method of the present invention.

FIG. 3 is an explanatory diagram of a travel stop pattern when the coke guide vehicle is accelerated to a rated speed.

FIG. 4 is a schematic diagram of a stop deviation amount and a correction amount 1.

[Explanation of symbols]

 1 Travel Control Section 2 Position Detection Section 3 Speed Detection Section 4 Brake Control Section 5 Position Detection Device 6 Speed Detection Device 7 Braking Device 8 Control Device

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Taiichi Kida 1-2-1, Marunouchi, Chiyoda-ku, Tokyo Nihon Steel Pipe Co., Ltd.

Claims (1)

[Claims] 1. A method of stopping a coke moving machine having a plurality of working positions on an orbit installed around a coke oven by controlling a speed of a traveling motor based on position information of the moving machine to a predetermined working position. At, the final stop command point (X1) for ending the speed control of the mobile unit is the final stop command point (Xm) when it was previously stopped at that position, and the actual stop position when it was previously stopped at that position. Displacement amount (correction amount 1)
And X1 = Xm + based on the average stop deviation amount (correction amount 2) of a plurality of stop results of the mobile device most recently stopped.
A method for controlling a stop position of a coke mobile device, which is obtained by a correction amount 1 + a correction amount 2.