Integrated control system and control method for detachable snow-melting agent spreading device

Abstract

The invention discloses an integrated control system for a detachable snow-melting agent spreading top, and relates to the field of snow-melting agent spreading. The integrated control system for a detachable snow-melting agent spreading top includes an auxiliary engine remote control module and an automatic spreading operation control module, wherein the auxiliary engine remote control module includes an auxiliary engine start-stop operation element, a specially designed auxiliary engine start-stop analog interface circuit, an auxiliary engine speed adjustment knob, and a throttle control module. It has an integrated control system that can integrate the control of the engine and the automatic control of the snow-melting agent spreading top. The operating elements of the system can be integrated into a small terminal operation box, which can be flexibly shifted. It can be placed in the cab during the snow-melting agent spreading operation for the operator to perform the automatic operation of the auxiliary engine and various spreading operations, and can be disassembled and separated from the chassis vehicle along with the snow-melting agent spreading top as a whole, and there is no need to temporarily disconnect the wiring during the disassembly and assembly process, which is convenient to use.

Description

Technical Field

[0001] The invention relates to the field of deicing agent spreading, and in particular to a detachable deicing agent spreading upper control system. Background Art

[0002] Snow-melting agent spreading is generally used in winter when heavy snowfall and severe cold cause snow and ice on the road. In order to ensure smooth road traffic, snow-removing agents such as sand, salt and other snow-removing materials are spread. In order to maximize the utilization rate of equipment, owners or construction units often hope to use a detachable and detachable design for the snow-melting agent spreading device and the dump truck chassis, and each is independent. In the time period or season when the snow-melting agent spreading operation is not required, the snow-melting agent spreading device can be hoisted down, and other special operation devices can be installed on the original truck chassis for other construction operations.

[0003] At present, the detachable snow-melting agent spreading tops on the market all use imported auxiliary engines as the power driving source for the spreader. The start / stop switch and speed control of the auxiliary engine are all on the auxiliary engine body. Before or after the spreading operation, the operator needs to go to the location of the auxiliary engine to start / stop the auxiliary engine and adjust the speed of the auxiliary engine. In addition, since the snow-melting agent spreading tops often need to be hoisted and disassembled from the chassis, the existing snow-melting agent spreading tops only adjust the transmission speed of the spreading disc or the conveying scraper by manually adjusting the electric control knob or mechanical knob at the working device, and the chassis speed signal is not included in the top control system, so one-button operation in the cab and automatic control of the width and spreading amount cannot be achieved. In order to make the operation of the removable deicing agent spreading top more centralized and convenient, and the control more automated and precise, there is an urgent need for an integrated control system that can integrate the engine control and the automated control of the deicing agent spreading top. The operating components of the system can be integrated into a small terminal operation box, which can be flexibly moved. It can be placed in the cab during the deicing agent spreading operation for the operator to perform the auxiliary engine and various spreading operations. It can also be disassembled and separated from the chassis vehicle along with the deicing agent spreading top, and there is no need to temporarily disconnect the wiring during the disassembly and assembly process, which is convenient to use. At present, there is no report on the integrated control system of the removable deicing agent spreading top that can meet this demand. Summary of the invention

[0004] The purpose of the present invention is to provide an integrated control system for a detachable snow-melting agent spreading machine: the control system can integrate the operation control of the auxiliary engine of the spreader and the automatic control of the special device for the detachable snow-melting agent spreading machine. With the present invention, the operator can easily start and stop the imported auxiliary engine and control the speed through the operation terminal of the integrated control system while sitting in the cab; the operator can input the target spreading width and spreading amount through the touch screen human-machine interface in the cab, and the system will automatically control the working speed of the spreading disc and the conveying scraper according to the real-time vehicle speed to achieve the target spreading width and spreading amount; the terminal operation box of the system of the present invention is compact and flexible, and can be hoisted and disassembled as a whole with the snow-melting agent spreading machine. There is no need to temporarily disconnect the wiring during the disassembly process, and it is easy to use. In order to achieve the above objectives, the present invention adopts the following technical solutions: an integrated control system for a detachable snow-melting agent spreading device, characterized in that the integrated control system includes an auxiliary engine remote control module and an automatic spreading operation control module; the auxiliary engine remote control module includes an auxiliary engine start-stop operating element, a specially designed auxiliary engine start-stop analog interface circuit, an auxiliary engine speed adjustment knob, a throttle control module, and a throttle motor; the automatic spreading operation control module includes an operating switch, a touch screen, a speed signal acquisition element, a position signal acquisition element, a DC electric push rod, a PLC control group, and an integrated control program using a closed-loop algorithm, and the auxiliary engine start-stop operating element, the auxiliary engine speed adjustment knob, the operating switch, and the touch screen constitute a terminal operation box to control the entire control system.

[0005] Preferably, the auxiliary engine start-stop operating element in the auxiliary engine remote control module is connected to the auxiliary engine via an auxiliary engine start-stop simulation interface circuit. The auxiliary engine start-stop simulation interface circuit can simulate the mutual on-off state of the start-stop switch of the imported auxiliary engine body. Through this auxiliary engine start-stop simulation interface circuit, the start-stop control signal of the ordinary knob switch is adaptively connected and converted with the engine body circuit originally controlled by the imported auxiliary engine body start-stop switch, thereby realizing the start-stop control of the auxiliary engine in the cab. The auxiliary engine is connected to the throttle motor (6) via a throttle cable. The auxiliary engine speed adjustment knob transmits the speed adjustment signal to the throttle control module (5) installed through the circuit to realize the extension and retraction control of the throttle motor shaft.

[0006] As a preference: the operating switch adopts an ordinary push button switch, a knob switch or a toggle switch, which is installed on the terminal operating box, and sends the fully automatic work / stop or each working mechanism individual start / stop control command in the form of a digital signal in the 0 / 1 state to the PLC control group, and the PLC control group communicates with the touch screen in real time through the RS-485 port, and the touch screen reads and displays the vehicle speed, scatter disc speed, conveyor belt speed equipment working parameter values ​​calculated by the PLC control group in real time for the operator to view, and the PLC control group is also connected to the speed signal acquisition element and the position signal acquisition element, The speed signal acquisition component includes a spreading disc speed sensor, a conveying speed sensor, a radar or a pulse vehicle speed measuring device, which respectively adopt a high-frequency inductive sensor, a radar speed measuring device or a high-frequency inductive sensor to collect various speed signals and transmit them to the PLC control group. Through the algorithm program of the PLC control group, the real-time vehicle speed and rotation speed signals are calculated and displayed on the touch screen. The position signal acquisition component adopts a rotary paddle level meter to detect the level status of the snow melting agent silo in real time, and send the level status to the PLC control group in the form of a digital signal of 0 / 1 status, and display the silo level status through the touch screen.

[0007] Preferably, the DC electric push rod comprises a scatter plate lifting electric push rod and a material door opening electric push rod, the push rod is connected to the output signal end of the PLC control group, and adjusts the material door opening size and the scatter plate height respectively. At the same time, the piston rod position feedback signal of the DC electric push rod body is transmitted to the analog input module in the PLC control group in the form of analog signal, and is converted into the material door opening size and the height of the scatter plate from the ground through the internal program calculation and analysis of the PLC control group, participates in the calculation of the DC electric push rod drive signal, and is transmitted to the touch screen display through the RS-485 port of the PLC control group, and is provided to the operator for real-time viewing.

[0008] As a preference: the PLC control group comprises a CPU module, an analog input module, and an analog output module capable of writing and executing operation programs; the IN terminal of the CPU module and the IN terminal of the analog input module are respectively connected to the operating switch, the speed signal acquisition element, the position signal acquisition element, and the DC electric push rod, and the internal program provided to the CPU module is associated with the input condition for operation; the RS-485 port of the CPU module is connected to the RS-485 port of the touch screen, and a consistent communication protocol is executed to read the target working parameter value input by the operator and transmit the program operation result parameter value for display on the touch screen; the OUT terminal of the CPU module or the OUT terminal of the analog output module is respectively connected to the DC electric push rod, the hydraulic proportional valve of the spreading plate, and the hydraulic proportional valve coil of the conveying mechanism, and the operation result of the CPU module control program is converted into an output signal and sent to each working mechanism execution element to realize the control instruction and target working parameter of the operator;

[0009] An integrated control method for a detachable snow melting agent spreading device, the method adopts an integrated control program of a closed-loop algorithm, the integrated control program of the closed-loop algorithm includes the following four closed-loop control algorithms: a closed-loop control algorithm for the rotation speed of a spreading plate and the spreading width, a closed-loop control algorithm for the rotation speed of a conveyor belt or a conveyor screw and the spreading amount, a closed-loop control algorithm for the height of a spreading plate, and a closed-loop control algorithm for the opening of a material door.

[0010] The method is as follows: after power-on, a "control mode" instruction is detected and judged. If it is an "automatic" mode, a "working mode" instruction is detected and judged. If it is a "working" state, on the one hand, a target scattering disc height value and a target scattering disc speed value are calculated based on the input spreading width value, and at the same time, the measured height value and the measured speed value of the scattering disc are continuously detected within the program, and these two measured values ​​are continuously compared and calculated with the corresponding target values ​​to calculate a driving signal value, and an output signal is used to drive the electric push rod of the scattering disc and the action of the scattering disc proportional valve; on the other hand, a target material gate opening and a target conveying speed are calculated based on the input target spreading amount value and the detected measured vehicle speed value, and at the same time, the measured material gate opening and the measured conveying speed are continuously detected within the program. The opening value and the measured conveying speed value are continuously compared with the corresponding target values, and the driving signal value is calculated. The output signal is used to drive the electric push rod of the material door and the conveying proportional valve; the command judgment of the "control mode" is detected. If it is the "semi-automatic" mode, the command judgment of the operation switch is further performed. If the "conveyor screw" switch is in the "open" state, the program will compare the input target conveying speed with the measured conveying speed, calculate the driving signal value, and output the signal to drive the conveying proportional valve; if the "spreading" switch is in the "open" state, the program will compare the input target scattering disk speed with the measured scattering disk speed, calculate the driving signal value, and output the signal to drive the scattering disk proportional valve.

[0011] As a preferred embodiment: the closed-loop control algorithm for the spreader disc speed and spreading width uses an inductive sensor to collect the spreader disc speed signal, transmits it to the CPU module IN terminal of the PLC control group in the form of a high-speed PTO pulse, calculates the measured speed of the spreader disc through the internal algorithm of the program, and calculates the target spreader disc speed according to the target spreading width, continuously compares the measured speed of the spreader disc with the target speed, calculates the current analog value for controlling the opening of the spreader disc hydraulic proportional valve according to the current difference, and outputs it through the OUT terminal of the CPU module or the OUT terminal of the analog output module to control the opening of the spreader disc hydraulic proportional valve, so that the spreader disc speed reaches the target value and the target spreading width is achieved;

[0012] Formula 1: n1 = (B × K1) / δ

[0013] Where: n1 is the target speed of the spreading wheel, B is the spreading width, K1 is the speed coefficient of the spreading wheel, and δ is the speed multiple of the spreading wheel;

[0014] As a preferred embodiment: the closed-loop control algorithm for the speed and spreading amount of the conveyor belt or conveyor screw is characterized in that an inductive sensor is used to collect the speed signal of the conveyor belt or conveyor screw, which is transmitted to the CPU module IN terminal of the PLC control group in the form of a high-speed PTO pulse, and the measured speed of the conveyor belt or conveyor screw is calculated through the internal algorithm of the program, and the target conveying speed is calculated according to the spreading amount and the vehicle speed, and the measured conveying speed is continuously compared with the target speed, and the current control analog value of the opening of the conveying hydraulic proportional valve is calculated according to the current difference, and the conveying hydraulic proportional valve opening is controlled through the OUT terminal of the CPU module or the OUT terminal of the analog output module, so that the conveying speed reaches the target value and the target spreading amount is achieved;

[0015] Formula 2: n2=(V×B×Q×K2) / (L×η×ρ)

[0016] Where: n2 is the target speed of the conveyor belt, B is the spreading width, Q is the spreading amount, K2 is the spreading amount coefficient, L is the displacement of the conveying mechanism, η is the efficiency coefficient of the conveying mechanism, and ρ is the density coefficient of the snow melting agent.

[0017] Preferably, the closed-loop control algorithm for the height of the scattering disc adopts the piston rod position feedback signal of the electric push rod for lifting the scattering disc to collect the height signal of the scattering disc and transmit it to the IN terminal of the analog input module (15) of the PLC control group in the form of an analog signal. The current height value of the scattering disc is calculated by the internal algorithm of the program, and the target height value of the scattering disc is calculated according to the spreading width. The measured height of the scattering disc and the target height are continuously compared, and the 0 / 1 value of the control signal of the electric push rod (14) for lifting the scattering disc is calculated according to the difference, and the signal is output through the OUT terminal of the CPU module (12) of the PLC control group to control the extension and retraction of the DC electric push rod of the scattering disc, so that the scattering disc reaches the target height.

[0018] Formula 3: H1=B×K3

[0019] Where: H1 is the target height of the spreader, B is the spreading width, and K3 is the spreader height coefficient.

[0020] As a preferred embodiment: the closed-loop control algorithm for the material door opening adopts the feedback signal of the piston rod position of the material door opening electric push rod, collects the material door opening signal, and transmits it to the IN terminal of the analog input module of the PLC control group in the form of an analog signal. The current material door opening value is calculated through the internal algorithm of the program, and at the same time, the target value of the material door opening size is calculated according to the target speed of the conveyor belt. The measured value of the material door opening is continuously compared with the target value, and the 0 / 1 value of the current control signal of the electric push rod for controlling the material door opening is calculated according to the difference, and the signal is output through the OUT terminal of the CPU module of the PLC control group to control the material door opening electric push rod.

[0021] The push rod is extended and retracted so that the door opening reaches the target height.

[0022] Formula 4: H2=n2×K4

[0023] Among them: H2 is the target value of the material door opening, n2 is the target conveying speed value, and K4 is the material door opening coefficient.

[0024] The present invention solves multiple key technical problems and achieves the following beneficial effects:

[0025] 1. The present invention solves the problem of simulating the original start-stop switch of the imported auxiliary engine to control the circuit on-off state of each electrical component of the auxiliary engine body when starting, stopping and working, so that the remote start-stop control of the imported auxiliary engine can be realized by operating the ordinary knob switch. In addition, the throttle control switch, circuit and actuator can realize the throttle control of the imported auxiliary engine. The combination of the two allows the operator to sit in the cab and easily realize the remote start-stop and speed control of the imported auxiliary engine through the integrated control system operation terminal of the present invention;

[0026] 2. The present invention can realize one-touch simple operation and automatic control of snow melting agent spreading operation. The operator can sit in the cab and input the target spreading width and spreading amount value and one-touch operation on / off through the touch screen. The system of the present invention can automatically control the start and stop of the spreading disc and the conveying mechanism, speed control, automatic adjustment of the height of the spreading disc and the opening size of the material door, so as to achieve the target spreading width and spreading amount value. In addition, the semi-automatic mode can be selected to realize the single independent control of each working mechanism;

[0027] 3. The terminal operation box of the system of the present invention is small and flexible to move. It can be hoisted and disassembled as a whole when the snow-melting agent is spread. There is no need to temporarily disconnect the wires during the disassembly process, which is easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is the electrical connection block diagram of the integrated control system of the present invention.

[0029] Figure 2 It is a flow chart of the integrated control program using a closed-loop algorithm of the present invention.

[0030] Figure 3 It is a block diagram of the auxiliary generator start-stop analog interface circuit of the present invention.

[0031] Figure 4 It is a block diagram of the auxiliary engine speed control circuit of the present invention.

[0032] Figure 5 The integrated control system PLC circuit principle of the present invention Figure 1 .

[0033] Figure 6 The integrated control system PLC circuit principle of the present invention Figure 2 . DETAILED DESCRIPTION

[0034] The present invention will be described in detail below in conjunction with the accompanying drawings: Figure 1 As shown, an integrated control system for a detachable snow melting agent spreading device is characterized in that the integrated control system includes an auxiliary engine remote control module 23 and an automatic spreading operation control module 24; the auxiliary engine remote control module 23 includes an auxiliary engine start-stop operating element 2, a specially designed auxiliary engine start-stop analog interface circuit 3, an auxiliary engine speed adjustment knob 4, a throttle control module 5, and a throttle motor 6; the automatic spreading operation control module 24 includes an operating switch 20, a touch screen 7, a speed signal acquisition element, a position signal acquisition element 11, a DC electric push rod, a PLC control group 22, and an integrated control program using a closed-loop algorithm, and the auxiliary engine start-stop operating element 2, the auxiliary engine speed adjustment knob 4, the operating switch 20, and the touch screen 7 constitute a terminal operation box 19. Control the entire control system, the auxiliary engine start-stop operating element 2 in the auxiliary engine remote control module 23 is connected to the auxiliary engine 21 through the auxiliary engine start-stop simulation interface circuit 3, and the auxiliary engine start-stop simulation interface circuit 3 can simulate the mutual on-off status of the start-stop switch of the imported auxiliary engine 21 body. Through this auxiliary engine start-stop simulation interface circuit 3, the start-stop control signal of the ordinary knob switch is adaptively connected and converted with the engine body circuit originally controlled by the imported auxiliary engine body start-stop switch, so as to realize the start-stop control of the auxiliary engine in the cab, and the auxiliary engine 21 is connected to the throttle motor 6 through the throttle cable, and the auxiliary engine speed adjustment knob 4 transmits the speed adjustment signal to the throttle control module 5 installed through the circuit to realize the telescopic control of the throttle motor 6 axis.

[0035] The operating switch 20 of the present invention adopts an ordinary push button switch, a knob switch or a toggle switch, which is installed on the terminal operation box 19, and sends the fully automatic work / stop or each working mechanism individual start / stop control command in the form of a digital signal in the 0 / 1 state to the PLC control group 22. The PLC control group 22 communicates with the touch screen 7 in real time through the RS-485 port. The touch screen 7 reads and displays the vehicle speed, scatter disc speed, and conveyor belt speed equipment working parameter values ​​calculated by the PLC control group 22 in real time for the operator to view. The PLC control group 22 is also connected to a speed signal acquisition element and a position signal acquisition element 11. The speed signal acquisition element includes a scatter disc speed sensor 9, a conveying speed sensor 8, and a radar or pulse vehicle speed measuring device 10. High-frequency inductive sensors, radar speed measuring devices, or high-frequency inductive sensors are used respectively to collect various speed signals and transmit them to the PLC control group 22. The algorithm program of the PLC control group 22 calculates The real-time vehicle speed and rotation speed signals are displayed on the touch screen 7. The position signal acquisition element 11 adopts a rotary paddle level meter to detect the material level status of the snow melting agent silo in real time, and sends the material level status to the PLC control group 22 in the form of a digital signal of 0 / 1 state, and displays the material level status of the silo through the touch screen 7. The DC electric push rod includes a scattering plate lifting electric push rod and a material door opening electric push rod. The push rod is connected to the output signal end of the PLC control group 22 to adjust the material door opening size and the scattering plate height respectively. At the same time, the piston rod position feedback signal of the DC electric push rod body is transmitted to the analog input module 15 in the PLC control group 22 in the form of analog signal, and is converted into the material door opening size and the height of the scattering plate from the ground through the internal program calculation analysis of the PLC control group 22, and participates in the calculation of the DC electric push rod drive signal, and is transmitted to the touch screen 7 through the RS-485 port of the PLC control group 22 for display, and provided to the operator for real-time viewing.

[0036] The PLC control group 22 of the present invention comprises a CPU module 12 capable of writing and executing a calculation program, an analog input module 15, and an analog output module 16. The IN terminal of the CPU module 12 and the IN terminal of the analog input module 15 are respectively connected to the operation switch 20, the speed signal acquisition element, the position signal acquisition element 11, and the DC electric push rods 13 and 14, and the internal program provided to the CPU module 12 is used as an input condition for associated calculation. The RS-485 port of the CPU module 12 is connected to the RS-485 port of the touch screen 7 to execute a consistent communication protocol to read the target working parameter value input by the operator and transmit the program calculation result parameter value for display on the touch screen. The OUT terminal of the CPU module 12 or the OUT terminal of the analog output module 16 is respectively connected to the coils of the DC electric push rod, the hydraulic proportional valve 18 of the spreading plate, and the hydraulic proportional valve 17 of the conveying mechanism, and the calculation result of the control program of the CPU module 12 is converted into an output signal and sent to each working mechanism execution element to realize the control instruction and target working parameter of the operator;

[0037] like Figure 2-6 The invention discloses an integrated control method for a detachable snow melting agent spreading device, which adopts an integrated control program of a closed-loop algorithm, wherein the integrated control program of the closed-loop algorithm includes the following four closed-loop control algorithms: a closed-loop control algorithm for the rotation speed of a spreading plate and the spreading width, a closed-loop control algorithm for the rotation speed of a conveyor belt or a conveyor screw and the spreading amount, a closed-loop control algorithm for the height of a spreading plate, and a closed-loop control algorithm for the opening of a material gate.

[0038] The method is as follows: after power-on, a "control mode" instruction is detected and judged. If it is an "automatic" mode, a "working mode" instruction is detected and judged. If it is a "working" state, on the one hand, a target scattering disc height value and a target scattering disc speed value are calculated based on the input spreading width value, and at the same time, the measured height value and the measured speed value of the scattering disc are continuously detected within the program, and these two measured values ​​are continuously compared and calculated with the corresponding target values ​​to calculate a driving signal value, and an output signal is used to drive the electric push rod of the scattering disc and the action of the scattering disc proportional valve; on the other hand, a target material gate opening and a target conveying speed are calculated based on the input target spreading amount value and the detected measured vehicle speed value, and at the same time, the measured material gate opening and the measured conveying speed are continuously detected within the program. The opening value and the measured conveying speed value are continuously compared with the corresponding target values, and the driving signal value is calculated. The output signal is used to drive the electric push rod of the material door and the conveying proportional valve; the command judgment of the "control mode" is detected. If it is the "semi-automatic" mode, the command judgment of the operation switch is further performed. If the "conveyor screw" switch is in the "open" state, the program will compare the input target conveying speed with the measured conveying speed, calculate the driving signal value, and output the signal to drive the conveying proportional valve; if the "spreading" switch is in the "open" state, the program will compare the input target scattering disk speed with the measured scattering disk speed, calculate the driving signal value, and output the signal to drive the scattering disk proportional valve.

[0039] The closed-loop control algorithm for the speed and spreading width of the spreading disc adopts an inductive sensor 9 to collect the speed signal of the spreading disc, transmits it to the CPU module 12IN terminal of the PLC control group 22 in the form of a high-speed PTO pulse, calculates the actual speed of the spreading disc through the internal algorithm of the program, and calculates the target speed of the spreading disc according to the target spreading width, continuously compares the actual speed of the spreading disc with the target speed, calculates the current analog value for controlling the opening of the hydraulic proportional valve 18 of the spreading disc according to the current difference, and outputs it through the OUT terminal of the CPU module 12 or the OUT terminal of the analog output module (16), controls the opening of the hydraulic proportional valve 18 of the spreading disc, so that the speed of the spreading disc reaches the target value and the target spreading width is achieved;

[0040] Formula 1: n1 = (B × K1) / δ

[0041] Where: n1 is the target speed of the spreading wheel, B is the spreading width, K1 is the speed coefficient of the spreading wheel, and δ is the speed multiple of the spreading wheel;

[0042] The closed-loop control algorithm for the conveyor belt or conveyor screw speed and spreading amount is characterized in that an inductive sensor 8 is used to collect the conveyor belt or conveyor screw speed signal, which is transmitted to the CPU module 12N terminal of the PLC control group 22 in the form of a high-speed PTO pulse, and the measured speed of the conveyor belt or conveyor screw is calculated through the internal algorithm of the program. At the same time, the target conveying speed is calculated according to the spreading amount and the vehicle speed, and the measured conveying speed is continuously compared with the target speed. The current control analog value of the opening of the conveying hydraulic proportional valve 17 is calculated according to the current difference, and the output is controlled through the OUT terminal of the CPU module 12 or the OUT terminal of the analog output module 16 to control the opening of the conveying hydraulic proportional valve 17, so that the conveying speed reaches the target value and the target spreading amount is achieved;

[0043] Formula 2: n2=(V×B×Q×K2) / (L×η×ρ)

[0044] Where: n2 is the target speed of the conveyor belt, B is the spreading width, Q is the spreading amount, K2 is the spreading amount coefficient, L is the displacement of the conveying mechanism, η is the efficiency coefficient of the conveying mechanism, and ρ is the density coefficient of the snow melting agent.

[0045] The closed-loop control algorithm for the height of the scattering disc adopts the piston rod position feedback signal of the electric push rod 14 for lifting the scattering disc, collects the height signal of the scattering disc, and transmits it to the IN terminal of the analog input module (15) of the PLC control group 22 in the form of an analog signal. The current height value of the scattering disc is calculated through the internal algorithm of the program, and the target height value of the scattering disc is calculated according to the spreading width. The measured height of the scattering disc and the target height are continuously compared, and the 0 / 1 value of the current control signal of the electric push rod 14 for lifting the scattering disc is calculated according to the difference, and the OUT terminal of the CPU module (12) of the PLC control group 22 is output to control the extension and retraction of the DC electric push rod of the scattering disc, so that the scattering disc reaches the target height.

[0046] Formula 3: H1=B×K3

[0047] Where: H1 is the target height of the spreader, B is the spreading width, and K3 is the spreader height coefficient.

[0048] The closed-loop control algorithm for the material door opening adopts the piston rod position feedback signal of the material door opening electric push rod 13, collects the material door opening signal, and transmits it to the IN terminal of the analog input module 15 of the PLC control group 22 in the form of an analog signal. The current material door opening value is calculated through the internal algorithm of the program. At the same time, according to the target speed of the conveyor belt, the target value of the material door opening size is calculated. The measured value of the material door opening is continuously compared with the target value, and the 0 / 1 value of the current control signal of the material door opening electric push rod 13 is calculated according to the difference. The signal is output through the OUT terminal of the CPU module (12) of the PLC control group 22 to control the extension and retraction of the material door opening electric push rod 13, so that the material door opening reaches the target height.

[0049] Formula 4: H2=n2×K4

[0050] Among them: H2 is the target value of the material door opening, n2 is the target conveying speed value, and K4 is the material door opening coefficient.

Claims

1. A control method for an integrated control system of a detachable snow-melting agent spreading device, characterized in that The integrated control system comprises an auxiliary engine remote control module (23) and an automatic spreading operation control module (24); the auxiliary engine remote control module (23) comprises an auxiliary engine start-stop operation element (2), a specially designed auxiliary engine start-stop analog interface circuit (3), an auxiliary engine speed adjustment knob (4), a throttle control module (5), and a throttle motor (6); the automatic spreading operation control module (24) comprises an operation switch (20), a touch screen (7), a speed signal acquisition element, a position signal acquisition element (11), a DC electric push rod, a PLC control group (22), and an integrated control program using a closed-loop algorithm; the auxiliary engine start-stop operation element (2), the auxiliary engine speed adjustment knob (4), the operation switch (20), and the touch screen (7) constitute a terminal operation box (19) to control the entire control system; The auxiliary engine start-stop operation element (2) in the auxiliary engine remote control module (23) is connected to the auxiliary engine (21) via an auxiliary engine start-stop simulation interface circuit (3). The auxiliary engine start-stop simulation interface circuit (3) can simulate the mutual on-off state of the start-stop switch of the imported auxiliary engine (21) body. Through this auxiliary engine start-stop simulation interface circuit (3), the start-stop control signal of the ordinary knob switch is adaptively connected and converted with the engine body circuit originally controlled by the imported auxiliary engine body start-stop switch, thereby realizing the start-stop control of the auxiliary engine in the cab. The auxiliary engine (21) is connected to the throttle motor (6) via a throttle cable. The auxiliary engine speed adjustment knob (4) transmits the speed adjustment signal to the throttle control module (5) installed through the circuit to realize the extension and retraction control of the throttle motor (6) shaft. The operating switch (20) is a common push button switch, a rotary switch or a toggle switch, which is installed on the terminal operating box (19), and sends the fully automatic work / stop or each working mechanism individual start / stop control command in the form of a digital signal with a 0 / 1 state to the PLC control group (22). The PLC control group (22) communicates with the touch screen (7) in real time through the RS-485 port. The touch screen (7) reads and displays the vehicle speed, the scattering disc speed, and the conveyor belt speed equipment working parameter values ​​calculated by the PLC control group (22) in real time for the operator to view. The PLC control group (22) is also connected to the speed signal acquisition component and the position signal acquisition component (11). The speed signal acquisition element includes a spreading disc speed sensor (9), a conveying speed sensor (8), and a radar or pulse vehicle speed measuring device (10), which respectively use a high-frequency inductive sensor, a radar speed measuring device or a high-frequency inductive sensor to collect various speed signals and transmit them to a PLC control group (22). The algorithm program of the PLC control group (22) calculates real-time vehicle speed and rotation speed signals, which are then displayed on a touch screen (7). The position signal acquisition element (11) uses a paddle-rotating level meter to detect the material level status of the snow melting agent silo in real time, and sends the material level status to the PLC control group (22) in the form of a digital signal of a 0 / 1 state, and displays the material level status of the silo through the touch screen (7); The DC electric push rod comprises a scattering plate lifting electric push rod and a material door opening electric push rod, the push rods are connected to the output signal end of the PLC control group (22), respectively adjusting the material door opening size and the scattering plate height, and at the same time transmitting the piston rod position feedback signal of the DC electric push rod body to the analog input module (15) in the PLC control group (22) in the form of analog signals, and through the internal program calculation and analysis of the PLC control group (22), converted into the material door opening size and the height of the scattering plate from the ground, participating in the calculation of the DC electric push rod drive signal, and transmitted to the touch screen (7) through the RS-485 port of the PLC control group (22) for display, and provided to the operator for real-time viewing; The PLC control group (22) comprises a CPU module (12) capable of writing and executing a calculation program, an analog input module (15), and an analog output module (16); the IN terminal of the CPU module (12) and the IN terminal of the analog input module (15) are respectively connected to the operating switch (20), the speed signal acquisition element, the position signal acquisition element (11), and the DC electric push rod, and the internal program provided to the CPU module (12) is used as an input condition for associated calculation; the RS-485 port of the CPU module (12) is connected to the RS-485 port of the touch screen (7) to execute a consistent communication protocol to read the target working parameter value input by the operator and transmit the program calculation result parameter value for display on the touch screen; the OUT terminal of the CPU module (12) or the OUT terminal of the analog output module (16) is respectively connected to the DC electric push rod, the hydraulic proportional valve (18) of the spreading plate, and the coil of the conveying hydraulic proportional valve (17), and the calculation result of the control program of the CPU module (12) is converted into an output signal and sent to the execution element of each working mechanism to realize the control instruction and target working parameter of the operator; The control method adopts an integrated control program of a closed-loop algorithm, and the integrated control program of the closed-loop algorithm includes the following four closed-loop control algorithms: a closed-loop control algorithm for the rotation speed of a scattering disc and the spreading width, a closed-loop control algorithm for the rotation speed of a conveyor belt or a conveyor screw and the spreading amount, a closed-loop control algorithm for the height of a scattering disc, and a closed-loop control algorithm for the opening of a material gate. The method is as follows: after power-on, a detection and judgment of a "control mode" instruction is performed. If it is in the "automatic" mode, the instruction judgment of the "working mode" is detected. If it is in the "working" state, on the one hand, according to the input spreading width value, the target scattering disc height value and the target scattering disc rotation speed value are calculated, and at the same time, the measured height value and the measured rotation speed value of the scattering disc are continuously detected within the program, and these two measured values ​​are continuously compared and calculated with their corresponding target values, and a driving signal value is calculated, and a signal is output to drive the action of the electric push rod of the scattering disc and the scattering disc proportional valve; on the other hand, according to the input The target spreading amount value and the detected measured vehicle speed value are used to calculate the target material door opening and the target conveying speed. At the same time, the measured material door opening value and the measured conveying speed value are continuously detected inside the program, and the two measured values ​​are continuously compared with their corresponding target values ​​to calculate the drive signal value, and the output signal is used to drive the material door electric push rod and the conveying proportional valve to move; the command judgment of the "control mode" is detected. If it is the "semi-automatic" mode, the command judgment of the operation switch is further performed. If the "conveyor screw" switch is in the "on" state, the program will compare the input target conveying speed with the measured conveying speed, calculate the drive signal value, and output the signal to drive the conveying proportional valve to move; if the "spreading" switch is in the "on" state, the program will compare the input target scattering disk speed with the measured scattering disk speed, calculate the drive signal value, and output the signal to drive the scattering disk proportional valve to move.

2. The control method according to claim 1, characterized in that The scattering disc speed and spreading width closed-loop control algorithm uses an inductive sensor to collect the scattering disc speed signal, transmits it to the CPU module (12) IN terminal of the PLC control group (22) in the form of a high-speed PTO pulse, calculates the actual speed of the scattering disc through the internal algorithm of the program, and calculates the target scattering disc speed according to the target spreading width, continuously compares the actual speed of the scattering disc with the target speed, calculates the current analog value of the opening of the hydraulic proportional valve (18) of the scattering disc according to the current difference, and outputs and controls the opening of the hydraulic proportional valve (18) of the scattering disc through the OUT terminal of the CPU module (12) or the OUT terminal of the analog output module (16), so that the scattering disc speed reaches the target value and the target spreading width is achieved; Formula 1: n1=(B×K1) / δwherein: n1 is the target speed of the spreading wheel, B is the spreading width, K1 is the speed coefficient of the spreading wheel, and δ is the speed multiple of the spreading wheel.

3. The control method according to claim 2, characterized in that The closed-loop control algorithm for the conveyor belt or conveyor screw speed and spreading amount is characterized in that an inductive sensor is used to collect the conveyor belt or conveyor screw speed signal, which is transmitted to the CPU module (12) IN terminal of the PLC control group (22) in the form of a high-speed PTO pulse, and the actual speed of the conveyor belt or conveyor screw is calculated by the internal algorithm of the program. At the same time, the target conveying speed is calculated according to the spreading amount and the vehicle speed, and the actual conveying speed is continuously compared with the target speed. The current control analog value of the opening of the conveying hydraulic proportional valve (17) is calculated according to the current difference, and the output is output through the OUT terminal of the CPU module (12) or the OUT terminal of the analog output module (16) to control the opening of the conveying hydraulic proportional valve (17), so that the conveying speed reaches the target value and the target spreading amount is achieved; Formula 2: n2=(V×B×Q×K2) / (L×η×ρ) Where: n2 is the target speed of the conveyor belt, B is the spreading width, Q is the spreading amount, K2 is the spreading amount coefficient, L is the displacement of the conveying mechanism, η is the efficiency coefficient of the conveying mechanism, and ρ is the density coefficient of the snow melting agent.

4. The control method according to claim 2, characterized in that The scatter disc height closed-loop control algorithm adopts the piston rod position feedback signal of the scatter disc lifting electric push rod (14), collects the scatter disc height signal, transmits it to the IN terminal of the analog input module (15) of the PLC control group (22) in the form of an analog signal, calculates the current height value of the scatter disc through the internal algorithm of the program, and calculates the target scatter disc height value according to the spreading width, continuously compares the measured height of the scatter disc with the target height, calculates the 0 / 1 value of the current control signal of the scatter disc lifting electric push rod (14) according to the difference, and outputs it through the OUT terminal of the CPU module (12) of the PLC control group (22) to control the extension and retraction of the scatter disc DC electric push rod, so that the scatter disc reaches the target height; Formula 3: H1=B×K3, wherein: H1 is the target height of the scatter disc, B is the spreading width, and K3 is the scatter disc height coefficient.

5. The control method according to claim 1, characterized in that The closed-loop control algorithm for the material door opening adopts the piston rod position feedback signal of the material door opening electric push rod (13), collects the material door opening signal, transmits it to the IN terminal of the analog input module (15) of the PLC control group (22) in the form of an analog signal, calculates the current material door opening value through the internal algorithm of the program, and calculates the target value of the material door opening size according to the target speed of the conveyor belt, continuously compares the measured value of the material door opening with the target value, calculates the 0 / 1 value of the current control signal of the material door opening electric push rod (13) according to the difference, and outputs it through the OUT terminal of the CPU module (12) of the PLC control group (22) to control the extension and retraction of the material door opening electric push rod (13), so that the material door opening reaches the target height; Formula 4: H2=n2×K4 Among them: H2 is the target value of the material door opening, n2 is the target conveying speed value, and K4 is the material door opening coefficient.

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