Control system and control method of torpedo ladle cover adding and taking device, equipment and medium

Abstract

The invention discloses a control system and method for a torpedo ladle cover adding and taking device, equipment and a medium, and belongs to the technical field of metallurgy. The control system comprises a battery pack, a high-frequency power module, an inverter, a cover adding and taking device and a controller, the cover adding and taking device comprises a tank cover, and the tank cover is used for covering a tank opening of the torpedo tank; the battery pack, the high-frequency power module, the inverter and the cover adding and taking device are sequentially connected, and the high-frequency power module is connected with the controller. The high-frequency power supply module is used for adjusting the output voltage of the battery pack to a preset target direct-current voltage and outputting the voltage to the inverter or the controller; the inverter is used for converting the target direct-current voltage output by the high-frequency power supply module into a preset target alternating-current voltage and outputting the preset target alternating-current voltage to the cover adding and taking device; the controller is used for controlling the cover adding and taking device to conduct cover adding and taking operation. When the torpedo ladle is located at any position, the control system has driving force to carry out cover adding and cover taking operation.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a control system and control method, equipment and medium for a torpedo can cover adding and removing device. Background Art

[0002] Torpedo tanks are molten iron tanks used by metallurgical enterprises to transport molten iron. The high-temperature refractory material or high-temperature liquid molten iron in the tank is in direct contact with the air through the open tank mouth, and heat exchange occurs continuously. This is even more serious in rainy and snowy weather. A large amount of heat energy is conducted to the atmosphere, causing the temperature of the molten iron to drop further and causing energy loss.

[0003] At present, the method of adding a cover to the tank mouth is adopted to reduce the heat exchange between molten iron and air. Usually, the torpedo tank is stopped at a fixed point and the cover is covered on the tank mouth.

[0004] However, the above solution can only add and remove the lid at a fixed point. When the torpedo tank is in operation, the lid cannot be added or removed, resulting in low working efficiency of the torpedo tank. Summary of the invention

[0005] In view of the above problems, the present invention is proposed to provide a control system, method, equipment and medium for a torpedo tank cover adding and removing device that solves the above problems. The cover of the torpedo tank is arranged on the torpedo tank, and the output voltage of the battery pack is used as the driving power supply of the cover adding and removing device, so that the torpedo tank has a driving force to perform cover adding and removing operations when it is in any position.

[0006] In a first aspect, the present invention provides a control system for a torpedo tank cover-adding and removing device, the control system comprising a battery pack, a high-frequency power module, an inverter, a cover-adding and removing device and a controller, the cover-adding and removing device is arranged on the torpedo tank and comprises a tank cover, the tank cover is used to cover the tank mouth of the torpedo tank;

[0007] The battery pack, the high-frequency power module, the inverter and the capping and removing device are connected in sequence, and the high-frequency power module is connected to the controller;

[0008] The high-frequency power supply module is used to adjust the output voltage of the battery pack to a preset target DC voltage and output it to the inverter or the controller;

[0009] The inverter is used to convert the target DC voltage output by the high-frequency power module into a preset target AC voltage, and output it to the capping device;

[0010] The controller is used to control the capping and removing device to perform capping and removing operations.

[0011] Optionally, the capping and removing device further comprises a locking mechanism for locking the tank cap.

[0012] Optionally, the controller is further used for:

[0013] If a capping instruction is received, the tank cover is controlled to move toward the tank opening of the torpedo tank at a preset first speed;

[0014] If a cover removal instruction is received, the can cover is controlled to move in a direction away from the can mouth at a preset second speed;

[0015] If a deceleration instruction is received, the tank cover is controlled to move at a decelerated speed;

[0016] If a stop command is received, the tank cover is controlled to stop moving.

[0017] Optionally, the controller is further used for:

[0018] If the moving speed of the tank cover is less than a preset speed threshold, the locking mechanism is controlled to lock the tank cover.

[0019] Optionally, the controller is further used for:

[0020] If the can cover is in a transverse movement state, the can cover is controlled not to move longitudinally;

[0021] If the can cover is in a longitudinal moving state, the can cover is controlled not to move laterally.

[0022] Optionally, the battery pack includes a plurality of lithium iron phosphate batteries connected in series.

[0023] Optionally, the output end of the inverter is connected to the battery pack via a switch, and the controller is further used for:

[0024] If an energy recovery instruction is received, the switch is controlled to close so that the inverter charges the battery pack.

[0025] In a second aspect, the present invention provides a control method for a torpedo can cover-adding and removing device, the method being applicable to the control system of the torpedo can cover-adding and removing device described above, the method comprising:

[0026] If a capping instruction is received, the tank cover is controlled to move toward the tank opening of the torpedo tank at a preset first speed;

[0027] If a cover removal instruction is received, the can cover is controlled to move in a direction away from the can mouth at a preset second speed;

[0028] If a deceleration instruction is received, the tank cover is controlled to move at a decelerated speed;

[0029] If a stop command is received, the tank cover is controlled to stop moving.

[0030] In a third aspect, the present invention provides an electronic device comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method described in the second aspect by executing the computer instructions.

[0031] In a fourth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the method described in the second aspect.

[0032] The technical solution provided in the embodiments of the present invention has at least the following technical effects or advantages:

[0033] The embodiment of the present invention provides a control system, method, device and medium for a torpedo tank cover adding and removing device. The control system includes a battery pack, a high-frequency power module, an inverter, a cover adding and removing device and a controller. The cover adding and removing device is arranged on the torpedo tank and includes a tank cover, and the tank cover is used to cover the tank mouth of the torpedo tank; the battery pack, the high-frequency power module, the inverter and the cover adding and removing device are connected in sequence, and the high-frequency power module is connected to the controller; the high-frequency power module is used to adjust the output voltage of the battery pack to a preset target DC voltage. Since the output voltage of the battery pack may be low, the output voltage is boosted by the high-frequency power module , the target DC voltage is obtained, and the power consumption of the high-frequency voltage module is low, which can save the energy consumption of the entire control system, and output to the inverter or controller to provide power for the inverter or controller; the inverter is used to convert the target DC voltage output by the high-frequency power module into a preset target AC voltage, and output it to the capping and removing device. Since the capping and removing device requires AC power, an inverter is required to convert the target DC voltage into the target AC voltage. At the same time, the inverter can also play a voltage stabilizing role, making the input voltage of the capping and removing device more stable; the controller is used to control the capping and removing device to perform capping and removing operations. This control system enables the torpedo tank to have a driving force for capping and removing operations when it is in any position, and the stability of the operation process is very good.

[0034] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0036] Figure 1 It is a structural block diagram of a control system of a torpedo can cover adding and removing device provided by an embodiment of the present invention;

[0037] Figure 2 The present invention is a flowchart of a method for controlling a torpedo can cover adding and removing device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the present application clearer, the implementation mode of the present application will be further described in detail below in conjunction with the accompanying drawings. It should be understood that the embodiments of the present disclosure and the specific features in the embodiments are detailed descriptions of the technical solutions of the present application, rather than limitations on the technical solutions of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0039] Figure 1 : is a structural block diagram of a control system of a torpedo can cover removal device provided by an embodiment of the present invention, such as Figure 1 As shown, the control system includes: a battery pack 1, a high-frequency power module 2, an inverter 3, a capping device 4 and a controller 5. The capping device 1 is arranged on the torpedo tank and includes a tank cover, which is used to cover the tank mouth of the torpedo tank; the battery pack 1, the high-frequency power module 2, the inverter 3 and the capping device 4 are connected in sequence, and the high-frequency power module 2 is connected to the controller 5; the high-frequency power module 2 is used to adjust the output voltage of the battery pack 1 to a preset target DC voltage, and output it to the inverter 3 or the controller 5; the inverter 3 is used to convert the target DC voltage output by the high-frequency power module 2 into a preset target AC voltage, and output it to the capping device 4; the controller 5 is used to control the capping device 4 to perform capping and capping operations.

[0040] In this embodiment, the power supply of the capping device 4 comes from the battery pack 1. However, the input voltage of the capping device 4 is AC, while the output voltage of the battery pack 1 is DC and relatively small. Therefore, the battery pack 1 cannot directly provide power for the capping device 4. The voltage output by the battery pack 1 needs to be converted by the high-frequency power module 2 and the inverter 3, and then input to the capping device 4. The output voltage of the battery pack 1 is converted by the high-frequency power module 2 to obtain the target DC voltage. When the target DC voltage is input to the inverter 3, the target DC voltage is the high voltage required by the inverter 3; when the target DC voltage is input to the controller 5, the target DC voltage is the low voltage required by the controller 5. That is to say, the voltage output by the battery pack 1 is divided into two paths after passing through the high-frequency power module 2, one path becomes high voltage and is input to the inverter 3, and the other path becomes low voltage and is input to the controller 5. For example, the input voltage of the inverter 3 is DC 600V, and the controller 5 can be a PLC controller (Programmab le Logic Controltro ll er, programmable logic controller) with an input voltage of DC 24V.

[0041] Next, the inverter 3 converts the target DC voltage into the target AC voltage required by the capping and removing device 4, and transmits the target AC voltage to the capping and removing device 4, so that the capping and removing device 4 obtains power, thereby realizing the capping and removing operations. The controller 5 controls when to perform the capping and removing operations.

[0042] The capping and removing device 4 further comprises a driving mechanism for driving the can lid to open and close. The driving mechanism comprises a motor for providing driving force for the capping and removing operations.

[0043] It should be noted that the high-frequency power module 2 not only has a multi-voltage level output mode, but also has very low energy consumption. While effectively reducing the temperature drop of molten iron, it also reduces the power consumption of the entire control system, providing a strong guarantee for the production operation of the control system and extending the operation time of the control system. At the same time, the target DC voltage output by the high-frequency power module 2 is unstable. If it is directly output to the cover adding and removing device 4, it is easy to cause an impact on the motor and affect the service life of the motor. Therefore, the inverter 3 can not only convert the target DC voltage into the target AC voltage, but also make the target AC voltage relatively stable, without impacting the motor, extending the service life of the motor, and improving the stability of the entire control system.

[0044] In this embodiment, the control system also includes a torpedo tank truck and a torpedo tank. The torpedo tank, battery pack 1, high-frequency power module 2 and inverter 3 can all be arranged on the torpedo tank truck. The tank cover is arranged on the torpedo tank, and the cover can be added and removed at any time in real time without being restricted by parking and running. Among them, each torpedo tank truck can be equipped with a controller 5 and an RS232 / RS485 interface card.

[0045] Optionally, the controller 5 is further configured to:

[0046] If a capping instruction is received, the tank cover is controlled to move toward the tank mouth of the torpedo tank at a preset first speed; if a cap removal instruction is received, the tank cover is controlled to move away from the tank mouth at a preset second speed; if a deceleration instruction is received, the tank cover is controlled to decelerate; if a stop instruction is received, the tank cover is controlled to stop moving.

[0047] In this embodiment, when it is necessary to cover the can mouth with the can lid, a capping instruction will be sent to the controller 5. After receiving the capping instruction, the controller 5 will control the driving mechanism to drive the can lid to move toward the can mouth at a first speed; when it is necessary to remove the can lid from the can mouth, a cap removal instruction will be sent to the controller 5. After receiving the cap removal instruction, the controller 5 will control the driving mechanism to drive the can lid to leave the can mouth at a second speed. During the capping or cap removal period, when the can lid moves to the deceleration position, a deceleration instruction will be triggered. After receiving the deceleration instruction, the controller 5 will control the can lid to decelerate, so as to facilitate accurate control of the can lid to cover the can mouth, and also avoid the can lid moving too fast, generating impact force, and making it difficult to control the can lid to stop moving. When the can lid moves to the limit position, a stop instruction will be generated. When the controller 5 receives the stop instruction, the can lid will be controlled to stop moving. Among them, the first speed and the second speed can be the same or different, and can be set according to actual conditions.

[0048] In this embodiment, multiple speed points can also be set, and an acceleration position, a deceleration position and a limit position are set between the fully open position and the fully closed position of the tank cover. When the tank cover passes through the acceleration position, an acceleration instruction will be generated. Therefore, the controller 5 can also be used for:

[0049] If a cover-adding instruction is received, the tank cover is controlled to move toward the mouth of the torpedo tank at a preset first speed; during the period when the tank cover moves toward the mouth of the tank, if an acceleration instruction is received, the moving speed of the tank cover is controlled to accelerate from the first speed to the third speed, if a deceleration instruction is received, the moving speed of the tank cover is controlled to decelerate from the third speed, and if a stop instruction is received, the tank cover is controlled to stop moving. If a cover-removing instruction is received, the tank cover is controlled to move away from the mouth of the tank at a preset second speed; during the period when the tank cover moves away from the mouth of the tank, if an acceleration instruction is received, the moving speed of the tank cover is controlled to accelerate from the second speed to the fourth speed, if a deceleration instruction is received, the moving speed of the tank cover is controlled to decelerate from the fourth speed, and if a stop instruction is received, the tank cover is controlled to stop moving.

[0050] The tank cover can move up and down and forward and backward, and the specific movement can be controlled by the controller 5 according to actual conditions.

[0051] Optionally, the cover adding and removing device 4 further includes a locking mechanism for locking the can cover.

[0052] It can be understood that when the tank cover covers the mouth of the torpedo tank, the tank cover must be locked by a locking mechanism to prevent the tank cover from sliding and contacting the molten iron with the air, resulting in heat exchange and energy loss. The locking mechanism can be a mechanical brake, and when it is detected that the tank cover stops moving, the brake is applied to improve the safety of the control system.

[0053] In this embodiment, the controller 5 is also used to control the torpedo tanker to move forward and backward. Wherein, the inverter 3 may include two inverters, one outputting a voltage for providing electric energy to the motor driving the torpedo tanker to move, and the other outputting a voltage for providing electric energy to the motor driving the tank cover to move.

[0054] Optionally, the controller 5 is further configured to:

[0055] If the moving speed of the tank cover is less than the preset speed threshold, the locking mechanism is controlled to lock the tank cover. In this embodiment, the locking mechanism can be locked automatically. If the moving speed of the tank cover is less than the speed threshold, it means that the moving speed is very slow or even stopped. Therefore, the locking mechanism can be controlled to lock the tank cover. The speed threshold can be 0.

[0056] Optionally, the controller 5 is further configured to:

[0057] If the tank cover is in a state of lateral movement, the tank cover is controlled not to move longitudinally; if the tank cover is in a state of longitudinal movement, the tank cover is controlled not to move transversely.

[0058] It can be understood that the control system has a locking function. During the lateral movement (forward and backward movement) of the can cover, the can cover cannot move longitudinally (up and down) at the same time. Similarly, during the up and down movement, it cannot move forward and backward at the same time to prevent scratching accidents, thereby improving the safety of the cover adding and removing operations.

[0059] Optionally, the battery pack 1 includes a plurality of lithium iron phosphate batteries connected in series.

[0060] It can be understood that the battery pack 1 is composed of multiple lithium iron phosphate batteries connected in series, and each battery can be composed of 30 cells in series and 1 in parallel. The control system also includes a battery management system for managing the battery pack 1. The battery management system monitors the entire operation process of the battery pack 1, including monitoring the basic information, power, operating status, fault diagnosis, etc. of the battery pack 1. It can also start protection measures when a fault occurs. The monitored data can be displayed so that the user can understand the status of the battery pack 1 more intuitively. Exemplarily, the battery pack 1 includes 6 lithium iron phosphate batteries connected in series, so that there is enough space on the torpedo tank truck to install 6 lithium iron phosphate batteries, and it can also meet the power demand for the torpedo tank capping and uncapping operations. Based on the low energy consumption of the high-frequency power module 2, the control system can be used continuously for more than 200 hours, greatly reducing the cost of torpedo tank capping and uncapping.

[0061] The battery management system is connected to the controller 5 for communication, and the charging and discharging control of the battery pack 1 is realized through the controller 5. Therefore, the controller 5 is also used for:

[0062] The remaining power of the battery pack 1 is obtained; if the remaining power is less than a preset power threshold, the torpedo tanker is controlled to move to a preset charging position for charging.

[0063] In this embodiment, the battery pack 1 can also be charged by a movable charger. Therefore, the controller 5 is also used to: if the remaining power is less than a preset power threshold, control the charger to move to the location of the torpedo tanker to charge the battery pack 1.

[0064] Optionally, the output end of the inverter 3 is connected to the battery pack 1 through a switch, and the controller 5 is further used for:

[0065] If an energy recovery instruction is received, the switch is controlled to close so that the inverter 3 charges the battery pack 1 .

[0066] It can be understood that the control system also has an energy recovery function to prevent energy waste and improve the operating time of the control system. The amount of electricity required for the capping operation is less than the amount of electricity required for the capping operation. Therefore, during the capping operation, to prevent energy waste, a portion of the target AC voltage output by the inverter 3 can be used to provide kinetic energy for the capping operation, and the excess portion can be used to recharge the battery pack 1. Among them, when the rising value of the target DC voltage output by the high-frequency power module 2 is greater than the preset rising threshold, an energy recovery instruction is generated.

[0067] Based on the same inventive concept, the embodiment of the present invention also provides a control method for a torpedo can cover adding and removing device. Figure 2 Flow chart of a control method of a torpedo can cover removal device provided by an embodiment of the present invention. Figure 2 As shown, the method includes:

[0068] Step S210: if a capping instruction is received, the tank cover is controlled to move toward the tank opening of the torpedo tank at a preset first speed;

[0069] Step S220: if a cover removal instruction is received, the can cover is controlled to move in a direction away from the can opening at a preset second speed;

[0070] Step S230: If a deceleration instruction is received, the tank cover is controlled to move at a decelerated speed;

[0071] Step S240: If a stop command is received, the tank cover is controlled to stop moving.

[0072] Optionally, the method further includes:

[0073] If the moving speed of the tank cover is less than a preset speed threshold, the locking mechanism is controlled to lock the tank cover.

[0074] Optionally, the method further includes:

[0075] If the tank cover is in a horizontal moving state, the tank cover is controlled not to move vertically;

[0076] If the tank cover is in the longitudinal moving state, the tank cover is controlled not to move laterally.

[0077] Optionally, the method further includes:

[0078] If an energy recovery command is received, the switch is controlled to close so that the inverter charges the battery pack.

[0079] An embodiment of the present invention further provides an electronic device, which may include a processor and a memory, wherein the processor and the memory may be communicatively connected to each other via a bus or other means.

[0080] The processor may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application, or may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components and other chips, or a combination of the above-mentioned chips.

[0081] The memory may include a large capacity memory for data or instructions. By way of example and not limitation, the memory may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory may include a removable or non-removable (or fixed) medium. Where appropriate, the memory may be inside or outside the electronic device. In a particular embodiment, the memory may be a non-volatile solid-state memory.

[0082] In one example, the memory may be a read-only memory (ROM). In one example, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0083] The processor implements any one of the control methods for the torpedo can cover adding and removing device in the above-mentioned embodiments by reading and executing the computer program instructions stored in the memory.

[0084] In one example, the electronic device may further include a communication interface and a bus. Among them, the processor, memory, and communication interface are connected through a bus and communicate with each other. The communication interface is mainly used to realize the communication between the modules, devices, units and / or devices in the embodiment of the present application. Where appropriate, the bus may include one or more buses.

[0085] In addition, in combination with the control method of the torpedo can cover-removing device in the above embodiment, the embodiment of the present invention can provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any of the control methods of the torpedo can cover-removing device in the above embodiment is implemented.

[0086] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above-mentioned types of memory.

[0087] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:

[0088] The embodiment of the present invention provides a control system, method, device and medium for a torpedo tank cover adding and removing device. The control system includes a battery pack, a high-frequency power module, an inverter, a cover adding and removing device and a controller. The cover adding and removing device is arranged on the torpedo tank and includes a tank cover, and the tank cover is used to cover the tank mouth of the torpedo tank; the battery pack, the high-frequency power module, the inverter and the cover adding and removing device are connected in sequence, and the high-frequency power module is connected to the controller; the high-frequency power module is used to adjust the output voltage of the battery pack to a preset target DC voltage. Since the output voltage of the battery pack may be low, the output voltage is boosted by the high-frequency power module , the target DC voltage is obtained, and the power consumption of the high-frequency voltage module is low, which can save the energy consumption of the entire control system, and output to the inverter or controller to provide power for the inverter or controller; the inverter is used to convert the target DC voltage output by the high-frequency power module into a preset target AC voltage, and output it to the capping and removing device. Since the capping and removing device requires AC power, an inverter is required to convert the target DC voltage into the target AC voltage. At the same time, the inverter can also play a voltage stabilizing role, making the input voltage of the capping and removing device more stable; the controller is used to control the capping and removing device to perform capping and removing operations. This control system enables the torpedo tank to have a driving force for capping and removing operations when it is in any position, and the stability of the operation process is very good.

[0089] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0090] Similarly, it should be understood that in order to streamline the present disclosure and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, this disclosed method should not be interpreted as reflecting the intention that the claimed invention requires more features than those explicitly recited in each claim. More specifically, as reflected in the claims below, inventive aspects lie in less than all the features of the individual embodiments disclosed above. Therefore, the claims that follow the specific embodiment are hereby expressly incorporated into the specific embodiment, with each claim itself serving as a separate embodiment of the present invention.

[0091] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "one" or "an" preceding a component does not exclude the presence of a plurality of such components. The present invention may be implemented by means of hardware comprising a number of different components and by means of a suitably programmed computer. In a unit claim enumerating a number of devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc., does not indicate any order. These words may be interpreted as names.

Claims

1. A control system for a torpedo can cover removal device, characterized in that: The control system includes a battery pack, a high-frequency power module, an inverter, a cover adding and removing device and a controller. The cover adding and removing device is arranged on the torpedo tank and includes a tank cover, and the tank cover is used to cover the tank mouth of the torpedo tank; The battery pack, the high-frequency power module, the inverter and the capping and removing device are connected in sequence, and the high-frequency power module is connected to the controller; The high-frequency power supply module is used to adjust the output voltage of the battery pack to a preset target DC voltage and output it to the inverter or the controller; The inverter is used to convert the target DC voltage output by the high-frequency power module into a preset target AC voltage, and output it to the capping device; The controller is used to control the capping and removing device to perform capping and removing operations.

2. The control system of the torpedo can cover removal device according to claim 1, characterized in that: The cover adding and removing device also includes a locking mechanism for locking the can cover.

3. The control system of the torpedo can cover removal device according to claim 1, characterized in that: The controller is also used for: If a capping instruction is received, the tank cover is controlled to move toward the tank opening of the torpedo tank at a preset first speed; If a cover removal instruction is received, the can cover is controlled to move in a direction away from the can mouth at a preset second speed; If a deceleration instruction is received, the tank cover is controlled to move at a decelerated speed; If a stop command is received, the tank cover is controlled to stop moving.

4. The control system of the torpedo can cover removal device according to claim 2, characterized in that: The controller is also used for: If the moving speed of the tank cover is less than a preset speed threshold, the locking mechanism is controlled to lock the tank cover.

5. The control system of the torpedo can cover removal device according to claim 1, characterized in that: The controller is also used for: If the can cover is in a transverse movement state, the can cover is controlled not to move longitudinally; If the can cover is in a longitudinal moving state, the can cover is controlled not to move laterally.

6. The control system of the torpedo can cover removal device according to claim 1, characterized in that: The battery pack includes a plurality of lithium iron phosphate batteries connected in series.

7. The control system of the torpedo can cover removal device according to claim 1, characterized in that: The output end of the inverter is connected to the battery pack through a switch, and the controller is further used for: If an energy recovery instruction is received, the switch is controlled to close so that the inverter charges the battery pack.

8. A control method for a torpedo can cover removal device, characterized in that: The method is applicable to the control system of the torpedo can cover adding and removing device according to any one of claims 1 to 7, and the method comprises: If a capping instruction is received, the tank cover is controlled to move toward the tank opening of the torpedo tank at a preset first speed; If a cover removal instruction is received, the can cover is controlled to move in a direction away from the can mouth at a preset second speed; If a deceleration instruction is received, the tank cover is controlled to move at a decelerated speed; If a stop command is received, the tank cover is controlled to stop moving.

9. An electronic device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method of claim 8 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to cause the computer to execute the method of claim 8.

Images