JPH09263762A - Method and apparatus for controlling travelling speed of moving machine for coke oven operation - Google Patents

Abstract

PROBLEM TO BE SOLVED: To correctly control the travelling speed in the accelerated or decelerated state of a moving machine for coke oven operation without being affected by wheel slip and skid. SOLUTION: The travelling distance Lc from the starting point of acceleration or decelearation is calculated in a travelling-distance calaculating circuit 13b on the basis of the number of revolutions of a driving wheel, etc., of a moving machine for coke oven operation, and the calculation: Vc =(2αLc +V0 <2> )<1/2> is performed in a speed command value calculating circuit 18 on the basis of the acceleration and deceleration change rate α and the speed V0 at constant- speed travelling to give a speed command value Vc in acceleration or deceleration. The speed of an electric motor 3 driving a driving wheel 2b is controlled with a speed control apparatus 23 on the basis of the difference between the value Vc and the actual speed sent from a speed calculation circuit 16. After the speed control, a fine speed control is performed; then the motor is brought into the state of inertial running at the vicinity of the stop position; and when the stop position is detected with a stop position detecting mechanism, the brake mechanism is brought into operation.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coke oven work for controlling a traveling speed of a mobile machine traveling on a rail laid between kiln equipments including auxiliary equipments constituting a coke oven facility. The present invention relates to an improvement of a traveling speed control method and device for a mobile machine.

[0002]

2. Description of the Related Art In a traveling speed control method for a mobile machine for coke oven work of this type, generally, a large number of kilns arranged in parallel are sequentially operated, for example, every five kilns, and the time required for one cycle of the kilns. Is limited by the operating rate. In addition, in the coke process, which is characterized in that the moving machine that runs on each rail is run and positioned with respect to the kiln, furnace lid, dust collection connector, and other furnace auxiliary equipment mechanisms that are stationary, the smooth and efficient It is necessary to perform proper traveling movement, that is, to perform traveling positioning within the cycle time with required accuracy.

Here, the mobile machine is a brick structure which is exposed to an external atmosphere and has a weak structure on a rail laid between each kiln equipment including each auxiliary equipment constituting the coke oven equipment. The traveling control is performed by the automatic control operation under a relatively harsh condition of being on the object and having poor accuracy.

As this traveling control method, conventionally, for example, JP-A-48-41464 (hereinafter referred to as a first conventional example) and JP-A-58-180582 (hereinafter referred to as a second conventional example) are known. And JP-A-3-97783 (hereinafter,
The one described in the third conventional example) has been proposed.

The first conventional example is an automatic stopping device for a coal charging vehicle that travels left and right on rails provided along a plurality of coal tower hoppers of a coke oven. The main iron piece and the auxiliary iron piece are arranged, the main electromagnet for stopping position confirmation and the auxiliary electromagnet are arranged, and these are detected by the proximity switch arranged in the coal charging vehicle, thereby decelerating the coal charging vehicle. And configured to control the stop.

In the second conventional example, a kiln position detecting piece is provided for each kiln of the coke oven, and a kiln core detector for detecting the kiln position detecting piece is also provided on the coke oven working machine and a rail. A rolling wheel is provided separately from the running wheel, and a position detector that detects the kiln number by counting the pulses according to the rotation is provided, and based on the kiln number detection signal of the position detector Acceleration running state, constant speed running state and deceleration running state until just before stop are controlled in that order, and the deceleration speed and stop position control are performed by the detection signal of the kiln core detector, so that the kiln of the designated kiln number can be quickly A traveling control device for a coke oven working machine that can automatically and accurately stop is disclosed.

In the third conventional example, a target core detecting mechanism for detecting the target cores of a large number of coke ovens to detect the positional relationship between the moving machine and the corresponding furnaces, and the core of the furnace included in the target cores are detected. Detection device from the furnace core detection mechanism, a position correction mechanism that finely moves the main frame of the mobile machine to correct the relative position between the mobile machine and the furnace core, and a detection signal from the furnace core detection mechanism. There is disclosed a positioning device for a coke oven moving machine, which comprises a main control mechanism for controlling a position correction mechanism based on the above.

[0008]

However, in the above-mentioned first conventional example, the main electromagnet for confirming the stop position of the designated coal tower hopper is set in the excited state, and the coal charging vehicle is set in this state. When traveling to the tower hopper side, deceleration is started when the stop position confirmation main electromagnet is detected, and then further deceleration is performed by detecting the stop position main iron piece and auxiliary iron pieces, and it corresponds to the designated coal tower hopper. When the main iron piece for the stop position is detected, the braking operation is performed to stop the coal charging vehicle, so after starting deceleration, if slipping occurs on the wheels, the coal charging vehicle Since the deceleration becomes smaller, the speed of the actual coal charging vehicle becomes higher with respect to the speed command for deceleration control, and the speed at which the stop position main iron piece is detected and the braking operation is performed becomes higher, coal Stopping distance of Nyukuruma is extended, there is an unsolved problem that it is impossible to perform accurate stop position control.

Further, in the second conventional example, the kiln number is detected from the rotation pulse of the rolling wheels provided separately from the traveling wheels, and on the basis of this, the speed control from the running start to immediately before the stop is performed,
Just before the stop position, the deceleration speed and stop position control are performed by the detection signal of the kiln core detector, but from the start of running to just before the stop, the running position is detected based on the rotation pulse of the rolling wheels and deceleration is started. It is used only for detecting the braking point and the braking point, and the traveling position information is not continuously used for speed control.

Therefore, even if the traveling wheels slip, it is possible to detect the position almost accurately if the rolling wheels do not slip. If a slip (skid) occurs due to an unpredictable situation such as a change in the external atmosphere that exceeds the control function such as a crack, a step, a weather condition such as strong wind and rain, etc., that slip is occurring. Since it is determined that the inter-coke oven working machine is not running, the kiln number detection position is displaced, and the acceleration is stepwise as shown by the broken line in comparison with the normal acceleration state shown by the solid line in FIG. When the constant speed travel distance is short, the acceleration state is continued even after the deceleration start point c is exceeded, the cycle time becomes long, and the rolling wheels tend to lock in the deceleration state. If a slip occurs, the deceleration is delayed in steps as shown by the broken line in FIG. 6, and the speed and the stop position control start point e due to the detection signal of the kiln core detector immediately before the stop are exceeded. Since the deceleration state is continued, there is an unsolved problem that the speed at the stop position control start point e is too high and the stop position shifts.

Furthermore, in the third conventional example, when the target core detection mechanism detects a member to be detected arranged in each furnace, the moving machine for the coke oven is run for preliminary positioning. Accurate positioning is possible because the furnace core is detected by the furnace core detection mechanism after it is stopped, so accurate positioning can be performed, but it is necessary to perform traveling control and position adjustment separately. However, there is an unsolved problem that the cycle time becomes long and the structure of the control system becomes complicated and the equipment cost increases.

Therefore, the present invention has been made by paying attention to the unsolved problems of each of the above-mentioned conventional examples. By accurately controlling the speed of a mobile machine with a simple structure, highly accurate stop position control can be achieved. It is an object of the present invention to provide a speed control method and device for a mobile machine for coke oven work that can perform the above.

[0013]

In order to achieve the above-mentioned object, the speed control method for a moving machine for coke oven work according to claim 1 is directed to mutual kiln equipment including each auxiliary equipment constituting the coke oven facility. In a traveling speed control method of a moving machine for coke oven work, which controls a traveling speed of a moving machine traveling on a rail laid in between, when performing acceleration / deceleration control of the moving machine, start acceleration / deceleration of the moving machine. A traveling distance from a point is detected, and a traveling speed of the mobile machine is controlled based on the preset acceleration / deceleration change rate and the traveling distance.

The speed control device for a mobile machine for coke oven work according to a second aspect is a mobile machine that travels on a rail laid between the kiln equipments including the auxiliary equipments that make up the coke oven maintenance. In a traveling speed control device for a moving machine for coke oven work for controlling the traveling speed of the moving machine, a traveling speed detecting means for detecting a traveling speed of the moving machine, and an acceleration / deceleration starting point detection for detecting an acceleration / deceleration starting point of the moving machine. Means, an acceleration / deceleration change rate setting means for setting an acceleration / deceleration change rate corresponding to the acceleration / deceleration start point when the acceleration / deceleration start point is detected by the acceleration / deceleration start point detection means, and the acceleration / deceleration start point detection means. Means for measuring the travel distance from the acceleration / deceleration start point when the acceleration / deceleration start point is detected by the means, and the acceleration / deceleration change rate and the travel distance measurement means set by the acceleration / deceleration change rate setting means. Measured by Acceleration / deceleration speed command value calculation means for calculating the speed command value of the mobile machine based on the traveled distance, the speed command value of the acceleration / deceleration speed command value calculation means, and the traveling speed detection value of the travel speed detection means. And a speed control means for controlling the speed of the mobile machine based on the deviation between

Further, in a speed control device for a moving machine for coke oven work according to a third aspect of the present invention, in the invention of the second aspect, the acceleration / deceleration speed command value calculating means has a distance from the acceleration / deceleration start point to L _C , When the acceleration / deceleration change rate is α and the constant speed traveling speed before the acceleration / deceleration start point is V ₀ , the calculation formula V _C = (2αL _C
It is characterized in that the speed command value V _C is calculated according to + V ₀ ² ) ^1/2 .

[0016]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic configuration diagram showing an embodiment of the present invention. In the figure, 1 is provided for a plurality of N kilns A _{1 to} A _N which are arranged in parallel and constitute a coke oven facility. A coal charging vehicle as a moving machine for coke oven work traveling on a rail 2 and kilns A _{1 to} A in a predetermined order.
Charge _N with coal.

Here, in each of the kilns A _{1 to} A _N , an identification code plate B ₁ to which a through hole corresponding to, for example, a bar code indicating a kiln number and a stop position is bored is formed at a core position along the rail 2. B
_N is provided.

As shown in FIG. 2, this coal charging vehicle 1 has a pair of left and right driven wheels 2a and a driving wheel 2b which roll on a rail 2.
The drive wheel 2b is driven to rotate by an electric motor 3 as a drive mechanism via a speed reducer (not shown), and a braking force is applied by a brake mechanism 5 driven by a braking cylinder 4.

The rotary shaft of the electric motor 3 is
The pulse generator 6 is attached, and from this pulse generator 6
A pulse corresponding to the rotation speed of the electric motor 3 is output.
In addition, the coal charging vehicle 1 has each kiln A₁~ A_NProvided in
Identification code plate B₁~ B _NThe light source 7 is placed at a position facing each other across the
And the light beam from this light source is the identification code plate B₁~ B _NDrilled in
The transmitted light that passes through the through hole is formed by the diaphragm mechanism 8a and the condenser lens.
2b image light received through the optical system consisting of
Stop position detection composed of photoelectric conversion element 8c such as sensor
For example, the mechanism 9 is provided and rolling contact with the rail 2 is made.
For example, a pulse that outputs one pulse per rotation of the driven wheel 2a
The generator 11 and the output pulse of this pulse generator 11 are measured.
A pair of counting counters 12a, 12b and these counters
Multiply the count value of the data 12a and 12b by the circumference of the driven wheel 2a
Running distance calculation circuit 13a, 1 for calculating the running distance
3b and distance detecting mechanism as distance detecting means
14 are provided. The counter 12a is a coal loader.
The counter 12 is cleared when the entry vehicle 1 is started to run.
b is when the coal charging vehicle 1 is started to travel and at the deceleration start point.
They will be cleared when they arrive.

Then, the pulse signal of the pulse generator 6, the detection signal of the stop position detection mechanism 9 and the pulse signal of the distance detection mechanism 14 are input to the controller 15, and the controller 15 drives the electric motor 3 for driving the drive wheels 2b. Speed controlled.

The controller 15 receives a pulse signal from the pulse generator 6, and based on this, a traveling speed calculation circuit 16 as a traveling speed calculation means for calculating the current traveling speed of the coal charging vehicle 1 and the traveling speed calculating circuit. The traveling speed V _P of the speed calculation circuit 16 and the stop position detection signal S _{S of the} stop position detection mechanism 9
And the travel distance L _T from the distance detection mechanism 14 is input,
A traveling control device 17 that controls the traveling state based on these and outputs the traveling speed initial value V ₀ and the acceleration / deceleration change rate α at the time of traveling start and deceleration start, and the traveling control device 17 A speed command value calculation circuit 18 that inputs the travel speed initial value V _{0, the} acceleration / deceleration change rate α, and the travel distance L _C from the distance detection mechanism 14, and calculates a speed command value during acceleration / deceleration based on these. A steady speed setting circuit 19 for setting a steady running speed command value, a fine speed setting circuit 20 for setting a fine speed command value immediately before stop, these speed command value calculation circuit 18, steady speed setting circuit 19 and fine speed setting circuit The speed command value selection circuit 21 configured by, for example, an analog multiplexer that selects the speed command value of 20 on the basis of the selection signal CS of the traveling control device 17, and the speed command value selection circuit 21. The speed command value V _T to be applied is compared with the traveling speed V _P of the traveling speed calculation circuit 16, and the comparator 22 that outputs the difference between the two is provided, and the electric motor 3 is operated based on the deviation of the comparator 22. Speed control device 2 for speed control
3 and at least.

Here, the traveling control device 17 is, for example, A /
An input / output interface circuit 17a having a D conversion function and a D / A conversion function, an arithmetic processing unit 17b, and a storage device 1
It is composed of a microcomputer 17d having at least 7c.

Then, the input / output interface circuit 17a
The stop position detection signal S _S of the stop position detecting mechanism 9, the traveling distance L _T of the distance detecting mechanism 14 and the traveling speed V _C of the traveling speed calculating circuit 16 are input to the input side of the traveling distance detecting mechanism 14 from the output side. counter 12a, clear signals for 12b CC _a, CC _b, running speed initial value V ₀ for the speed command value calculating circuit _18, acceleration and deceleration rate of change alpha, selection signal CS for the speed instruction value selecting circuit 21, braking control for the braking mechanism 5 The signal CB is output.

The arithmetic processing unit 17b is turned on by a start switch (not shown) being turned on to execute the preset process shown in FIG. 3, and the traveling start switch 25 is turned on. , Start the traveling control of the coal charging vehicle 1 according to a preset charging pattern, and based on the traveling distance of the traveling distance calculation circuit 13 from the state where the coal charging vehicle 1 is in the charging position for charging coal, the speed command The value selection circuit 21 is selectively operated to control the acceleration traveling state, the steady traveling state, the deceleration traveling state, and the slow speed traveling state, and the stop position detection signal S _S from the stop position detecting mechanism 9
Based on the above, the brake mechanism 5 is operated to control the braking state.

The storage device 17c pre-stores programs necessary for the arithmetic processing of the arithmetic processing device 17b, successively stores the arithmetic results of the arithmetic processing device 17b, etc., and further presets each kiln A ₁ -A. _The coal charging pattern for _N and the traveling distances representing the individual deceleration start point and braking start point for each kiln A _{1 to} A _N are stored.

Further, the speed command value calculating circuit 18 is based on the traveling distance L _C input from the traveling distance detecting mechanism 14, the traveling speed initial value V ₀ and the acceleration / deceleration change rate α input from the traveling control device 17. The following formula (1) is calculated to calculate the speed command value V _C , which is output to the speed command value selection circuit 21.

V _C = (2αL _C + V ₀ ² ) ^1/2 (1) Further, the steady speed setting circuit 19 is preset with a steady speed command value V _U at the time of running at a constant speed. The speed setting circuit 20 is preset with the fine speed command value V _M immediately before the stop, and these are output to the speed command value selection circuit 21.

Next, the operation of the above embodiment will be described with reference to FIG.
This will be described with reference to the flowchart of FIG. Now, it is assumed that the coal charging vehicle 1 is stopped at the charging position where coal is charged therein, and that the coal charging vehicle 1 is charged with coal.

In this state, the traveling start switch 25 is turned on to start the traveling control processing of FIG. 3 in the arithmetic processing unit 17b. First, in step S1, initialization is performed and the counters 12a and 12b of the distance detection mechanism 14 are initialized.
Pulse clear signals CC _{a and} CC _b are output to clear the count values of these counters 12 a and 12 b to “0”, and both “0” are shown to the speed command value selection circuit 21. The 2-bit selection signal CS is output, the speed command value selection circuit 21 selects an empty contact, and the speed command value V _T of “0” is output to the comparator 22.

In this state, the speed command value V _T is "0" and the coal charging vehicle 1 is stopped at the coal charging position, so that the pulse generator 6 connected to the electric motor 3 detects Since the pulse signal is not output, the current traveling speed V _P calculated by the traveling speed calculation circuit 16 is also “0”.
Since this is supplied to the comparator 22, the deviation output from the comparator 22 also becomes “0”, the excitation voltage is not output from the speed control device 23, and the electric motor 3 continues the stopped state. are doing.

Next, in step S2, the kiln number A _i (i = 1, 2 ... N) for charging the coal this time is referred to by referring to the coal charging pattern stored in advance in the storage device 17c.
And the traveling distances L _D and L _E from the start of traveling to start deceleration corresponding to the kiln number A _i .

Next, in step S3, preset steady speed command value V _U and fine speed command value V _M are set in steady speed setting circuit 19 and fine speed setting circuit 20.

Next, in step S4, the speed initial value V ₀ and "0" are set, and a positive value + α representing the acceleration state as the acceleration / deceleration change rate α is set to the speed command value calculation circuit 1
8, and the speed command value calculation circuit 18 calculates the formula (1) to start calculation of the speed command value V _C.

Then, the process proceeds to step S5, where "0
And it outputs a 2-bit selection signal CS representing one "to the speed command value selecting circuit 21 selects the fine speed command value V _M of the fine speed setting unit 20 at this speed command value selection circuit 21, which speed command The value V _T is output to the comparator 22.

As a result, the comparator 22 outputs a deviation signal corresponding to the fine speed command value V _M , which is the speed control device 2.
3, the speed control device 23 outputs an exciting voltage corresponding to the fine speed command value V _M to the electric motor 3 so that the electric motor 3 is rotationally driven to rotate the drive wheels 2b. The coal charging vehicle 1 starts running.

When the coal charging vehicle 1 starts running, the driven wheels 2a also rotate, and a pulse signal is output from the pulse generator 11 connected to the driven wheels 2a.
a and 12b both count up, the travel distances L _{T and} L _C calculated by the travel distance calculation circuits 13a and 13b increase, and the speed command value V calculated by the speed command value calculation circuit 18 is correspondingly increased. _C also increases.

Next, in step S6, the current travel distance L _T of the travel distance calculation circuit 13a is read, then in step S7, the travel distance is calculated by the speed command value calculation circuit 18 and the speed command is calculated. Value V _C is fine speed command value V
_It is determined whether or not the traveling distance L _S that matches _M is reached, and L
_{When T} <L _S , the process returns to step S6 and L _T ≧ L
_If it is _S , the process proceeds to step S8.

In this step S8, 2 representing "11" is displayed.
The bit selection signal CS is output to the speed command value selection circuit 21, and the speed command value calculation circuit 18 outputs the fine speed command value V _M.
To the speed command value V _C and select it as the speed command value V
Output as _T.

Therefore, the traveling speed of the coal charging vehicle 1 is shown in FIG.
As shown in FIG. 5, the speed increases substantially linearly until the travel distance L _S , that is, the travel speed corresponding to the fine speed command value V _M , and thereafter, the speed calculated by the speed command value calculation circuit 18 is reached. It increases in a parabolic shape based on the command value V _C.

At this time, the speed command value V _C is calculated according to the above-mentioned equation (1), and the coal charging vehicle 1
Since it is increased in accordance with the traveling distance L _C from the acceleration start point of No. 1, even if the drive wheel 2b slips during this period, it will not be affected and will be accelerated as in the conventional example shown in FIG. It is possible to reliably prevent the state from continuing beyond the deceleration start point, and it is possible to perform accurate acceleration control.

Then, the process proceeds to step S9, where the traveling speed is
Current running speed V of the degree calculation circuit 16 _PRead, then
The process proceeds to step S10 and the traveling speed V_PIs the above step
Steady speed command value V set in S2_UWhether or not
Set V_P<V_UWhen, continue to accelerate
If it is determined that the operation is necessary, the process returns to step S9, and V
_P≧ V_UWhen it becomes, it moves to step S11.
You.

In step S11, the selection signal CS of "10" is output to the speed command value selection circuit 21,
The steady speed command value V _U set in the steady speed setting circuit 19 is output as the speed command value V _T by the speed command value selection circuit 21, and then the process proceeds to step S12.

Therefore, at the point b in FIG. 5, the coal charging vehicle 1 is controlled at a constant speed so as to match the steady speed command value V _U. Then, in step S12, the traveled distance L _T of the traveled distance calculation circuit 12a of the traveled distance detection mechanism 14 is read, then the process proceeds to step S13, and the read traveled distance L _T starts deceleration read in step S2. It is determined whether or not the distance L _D has been reached, and if L _T <L _D, it is determined that the deceleration start point has not been reached, and the system waits until the deceleration start distance is reached, and L _T ≧ L _D At times, it is determined that the deceleration start point has been reached, and the routine moves to step S14.

In step S14, the distance detecting mechanism 1
Pulse counter clear signal CC to the counter 12b of 4
_b is output, the count value of the counter 12b is cleared to "0", and then the process proceeds to step S15, where the speed command value calculation circuit 18 has a speed initial value V _U which is the steady speed command value V _{U. 0} and the negative acceleration / deceleration change rate that represents the deceleration state −
outputs and α to the speed command value calculating circuit 18, these and the travel distance L _C and based on the a speed command value calculating circuit 18 (1) by performing the calculation of the equation to calculate the speed command value V _C.

Next, in step S16, the speed command value selection circuit 21 outputs the selection signal CS of "11", and the speed command value selection circuit 21 outputs the speed command to the speed command value calculation circuit 18. After the value V _C is selected, the process proceeds to step S17.

Therefore, in the speed command value calculation circuit 18,
A speed command value V _C having a small value is calculated according to the traveling distance L _C from the deceleration start point, and this is output to the comparator 22 via the speed command value selection circuit 21 so that the speed control device 23 can operate. The control voltage for the electric motor 3 is lowered to enter the regenerative braking state, and the coal charging vehicle 1 decelerates in a parabolic shape from the deceleration start point c in FIG.

Even in this decelerated state, the speed command calculation circuit 18
Since the speed command is calculated according to the traveling distance L _C from the deceleration start point calculated by the traveling distance calculation circuit 13b, the deceleration state is the braking start point as shown by the broken line in FIG. It is possible to reliably prevent the continuation beyond.

On the other hand, in step S17, the current traveling speed V _P of the traveling speed calculation circuit 16 is read, then the process proceeds to step S18, and the read traveling speed V _P reaches the preset fine speed V _M. It is determined whether or not, and V _P > V _M
If it is, it is determined that the deceleration state needs to be continued, and the process returns to step S17. When V _P ≦ V _M , it is determined that the deceleration state needs to be switched to the slow speed traveling state. Control goes to step S19.

In this step S19, the selection signal "01" is output to the speed command value selection circuit 21, and the speed command value selection circuit 21 sets the fine speed command value V to the fine speed setting circuit 20. Comparator 2 with _M as speed command value V _T
After outputting to 2, the process proceeds to step S20.

For this reason, the coal charging vehicle 1 is controlled at a constant speed from point d, which is the speed corresponding to the fine speed command value V _M in FIG. 5, to this speed, and is controlled to a speed at which the inertial force is small and it is easy to stop. And continue running.

After that, in step S20, the traveling distance L _T of the traveling distance detecting mechanism 14 is read, and then in step S20.
Proceeds to 21, when running distance L _T is determined whether reaches the stop deceleration start distance L _E to start deceleration to stop, a L _T <L _E is as to continue the running returning to step S19 to determine, when it is L _T ≧ L _E, it is determined that it is necessary to shift the stop control process proceeds to step S22.

In this step S22, a 2-bit selection signal CS of "00" is output to the speed command value selection circuit 21, and the speed command value selection circuit 21 selects the same empty contact as in the initial state. , “0”, the speed command value V _T is output to the comparator 22.

Therefore, the control voltage applied from the speed control device 23 to the electric motor 3 becomes "0", and the coal charging vehicle 1 coasts from the point e when the stop deceleration start distance L _E of FIG. 5 is reached. When the vehicle is in the operating state, the traveling speed decreases linearly.

After that, the process proceeds to step S23 to stop.
Stop position detection signal S of the position detection mechanism 8_SRead, next
Then, the process proceeds to step S24, and the read stop position detection signal is read.
No. S _SIs the kiln number A set in step S1_iWhether or not
Judge whether or not kiln number A_iWhen it does not match
If not, the process returns to step S23 and the kiln number A
_i, The target kiln number A_iIn the kiln core
It judges that it has reached, it moves to step S25,
The braking control signal CB is output to the mechanism 5 to
The mechanism 5 is actuated to the braking state, and the processing ends.

As described above, since the brake mechanism 5 is operated in the state where the coal charging vehicle 1 is in the coasting operation state, the coal charging vehicle 1 has the purpose as shown at point f in FIG. Accurately stopped at the kiln core position of the kiln number A _i , the coal of the cargo is loaded into the kiln A _i .

When the coal charging is completed, the coal charging vehicle 1
The same traveling speed control as described above is performed, the vehicle is moved to the coal charging position, the coal is charged at this position, and the charging process to the next kiln is executed.

As described above, according to the above embodiment, the speed command value in the acceleration state and the deceleration state of the coal charging vehicle is calculated based on the acceleration / deceleration change rate α and the traveling distance L _C from the acceleration / deceleration start point. Therefore, the traveling speed is controlled based on the speed command value according to the actual traveling position, and accurate acceleration / deceleration control can be performed even if the wheel slips.

In the above embodiment, the case where the speed command value calculation circuit 18 calculates the speed command value V _C in the acceleration / deceleration state has been described, but the present invention is not limited to this, and the travel control device 17 may be used. Microcomputer 17d
It is also possible to calculate the speed command value V _C by performing the calculation of the equation (1) with, and in this case, the steady speed command value setting circuit 1
9. The fine speed command value setting circuit 20 and the speed command value selection circuit 21 can be omitted and the microcomputer 17d can perform these processes to directly output the speed command value V _T to the comparator 22.

Further, although the case where the speed command value calculation circuit 18 performs the calculation of the formula (1) has been described, the present invention is not limited to this, and the following formula (2) is used at the time of acceleration and the following formula (3) or at the time of deceleration. The speed command value V _C may be calculated based on the equation (4).

V _C = (2αL _C ) ^1/2 (2) V _C = (V ₀ ² -2βL _C ) ^1/2 (3) V _C = V _0- (2βL _C ) ^1/2 (4) However, α is the acceleration change rate and β is the deceleration change rate, and both can be set to the same value or different values. Further, the values of + α and −α in the above-described embodiment can be similarly changed.

Further, the distance detecting mechanism 14 can also perform the arithmetic processing by the arithmetic processing unit 17b of the microcomputer 17d to calculate the traveling distances L _T and L _C. Furthermore, in the above embodiment, the driven wheel 2a is also used.
The case where the rotation distance of the driven wheel 2a is detected by detecting the rotation of the driven wheel 2a has been described, but the present invention is not limited to this.
It is also possible to roll a separate distance measuring roll onto the rail 2 and calculate the traveling distance from the number of revolutions. Further, when the rail 2 is a straight line, a laser range finder, an ultrasonic distance A meter or the like may be used to detect the absolute distance from the travel starting point.

Furthermore, in the above embodiment, the case where the traveling distance is calculated based on the pulse signal of the pulse generator 11 connected to the driven wheels 2a by the traveling distance calculation circuits 13a and 13b has been described. One or more distance-correction identification code plates are provided at positions corresponding to the acceleration / deceleration state along the distance, and the traveling distances calculated by the traveling distance calculation circuits 13a and 13b when the stop position detection mechanism 8 detects this are corrected. Alternatively, in this case, more accurate acceleration / deceleration control can be performed.

Further, in the above embodiment, two sets of counters 12a and 12b and a traveling distance calculation circuit 13a and 1 are used.
Although the case where 3b is provided has been described, the present invention is not limited to this, and one of the counters 12b and the travel distance calculation circuit 12a is omitted, and instead, the travel distance at the deceleration start point is stored, and May be subtracted from the travel distance L _T of the travel distance calculation circuit 12a to calculate the travel distance from the deceleration start point.

Furthermore, in the above-mentioned embodiment, the case where the present invention is applied to the coal charging vehicle 1 as a mobile machine for coke work has been described, but the present invention is not limited to this, and a coke extruder or another machine. It goes without saying that the present invention can be applied to a mobile machine.

[0065]

As described above, according to the inventions of claims 1 and 2, when the acceleration / deceleration control of the mobile machine for coke work is performed, the traveling distance from the acceleration / deceleration start point of the mobile machine is detected. However, since the traveling speed of the mobile machine is controlled based on the preset acceleration / deceleration change rate and the traveling distance, the acceleration state continues beyond the deceleration start point, or the deceleration state starts braking. It is possible to reliably prevent the continuation beyond the point, to perform highly accurate acceleration / deceleration control, and to obtain an effect that accurate stop position control can be performed without applying a complicated control system. To be

According to the third aspect of the present invention, the speed command value V _C during acceleration / deceleration is calculated by the equation (1). Therefore, the same arithmetic expression can be used during acceleration / deceleration. Therefore, it is possible to obtain the effect that the arithmetic processing can be simplified.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing an embodiment of the present invention.

FIG. 2 is a block diagram showing a control system of a coal charging vehicle.

FIG. 3 is a flowchart showing an example of a travel control processing procedure in the arithmetic processing apparatus of FIG.

FIG. 4 is a characteristic diagram showing a relationship between a traveling distance and a traveling speed, which is used for explaining the operation of the embodiment.

FIG. 5 is a characteristic diagram showing a relationship between a traveling distance and a traveling speed, which shows an acceleration control operation in a conventional example.

FIG. 6 is a characteristic diagram showing a relationship between a traveling distance and a traveling speed showing a deceleration control operation in a conventional example.

[Explanation of symbols]

 1 Coal charging vehicle 2 Rail 2a Driven wheel 2b Drive wheel 3 Electric motor 5 Brake mechanism 6 Pulse generator 9 Stop position detection mechanism 14 Travel distance detection mechanism 15 Controller 16 Travel speed calculation circuit 17 Travel control device 17d Microcomputer 18 Speed command Value calculation circuit 19 Steady speed setting circuit 20 Fine speed setting circuit 21 Speed command value selection circuit 22 Comparator 23 Speed control device

Claims (3)

[Claims] 1. A traveling speed control of a mobile machine for coke oven work for controlling a traveling speed of a mobile machine traveling on a rail laid between kiln equipments including auxiliary equipments constituting the coke oven facility. In the method, when performing acceleration / deceleration control of the mobile machine, a travel distance from an acceleration / deceleration start point of the mobile machine is detected, and the mobile machine is based on the preset acceleration / deceleration change rate and the travel distance. The traveling speed control method for a mobile machine for coke oven work is characterized in that the traveling speed is controlled. 2. A traveling speed control of a mobile machine for coke oven work for controlling a traveling speed of a mobile machine traveling on a rail laid between the kiln equipments including the auxiliary equipments constituting the coke oven maintenance. In the apparatus, a traveling speed detecting means for detecting a traveling speed of the mobile machine, an acceleration / deceleration starting point detecting means for detecting an acceleration / deceleration starting point of the mobile machine, and an acceleration / deceleration starting point by the acceleration / deceleration starting point detecting means. The acceleration / deceleration change rate setting means for setting the acceleration / deceleration change rate corresponding to the acceleration / deceleration start point when detected, and the acceleration / deceleration start when the acceleration / deceleration start point is detected by the acceleration / deceleration start point detection means. A travel distance measuring means for measuring a travel distance from a point, a speed command value of the mobile machine based on the travel speed measured by the travel speed measuring means and the travel speed measured by the travel speed measuring means. Addition to calculate Deceleration speed command value calculation means, and speed control means for controlling the speed of the mobile machine based on the deviation between the speed command value of the acceleration / deceleration speed command value calculation means and the traveling speed detection value of the traveling speed detection means. A traveling speed control device for a mobile machine for coke oven work, comprising: 3. The acceleration / deceleration speed command value calculation means, when the distance from the acceleration / deceleration start point is L _C , the acceleration / deceleration change rate is α, and the constant traveling speed before the acceleration / deceleration start point is V _0. Then, according to the arithmetic expression V _C = (2αL _C + V ₀ ² ) ^1/2 , the speed command value V
The traveling speed control method for a mobile machine for coke oven work according to claim 2, wherein the method is configured to calculate _C.