A waste incinerator pusher control method and system based on balance control

Abstract

The present invention relates to the technical field of intelligent control, and discloses a control method and system for a pusher of a waste incinerator based on balanced control. The present invention sets different speeds for a middle pusher and pushers on both sides in a compression section, so that there is a preset position difference before they enter a feeding section, thereby eliminating the need for additional speed settings in the feeding section to create a position difference, thereby avoiding feed instability caused by pusher oscillations; and, by obtaining the average speed of the pushers in the previous round in the feeding section, setting the speed of the pushers that enter the feeding section in the next round, and adjusting the pushers on both sides in real time according to the speeds of the pushers on both sides to ensure that the speeds of the pushers on both sides are consistent, thereby making the feeding process smoother.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent control, and in particular to a control method and system for a pusher of a waste incinerator based on balance control. Background Art

[0002] During the process of waste incineration, first, a grab crane grabs the waste from the waste storage pit and loads it into the feed hopper chute. The waste feed hopper is located below the feed hopper chute, and the waste falls onto the feed platform by its own gravity in the waste feed hopper chute, and is then pushed into the incinerator by a pusher.

[0003] The journey of the pusher to push the waste is divided into a compression section and a feeding section. The pusher moves at a high speed in the compression section and can achieve a compression effect on the waste. The speed of the pusher in the feeding section is slower and is used to push the waste into the incinerator. The pusher changes from the fast speed in the compression section to the slow speed in the feeding section. Especially when the load of the incinerator is low, the speed in the feeding section will be much lower than that in the compression section, resulting in a situation of pusher speed oscillation, making the feeding of the incinerator unstable.

[0004] In the prior art, the pusher is divided into an intermediate pusher and side pushers. Since the waste on both sides in the incinerator burns faster than the waste in the middle, the positions of the side pushers are ahead of the intermediate pusher when pushing the waste. When operating in the compression section, the speed of the intermediate pusher is the same as that of the side pushers and there is no displacement difference. When operating in the feeding section, the speed of the intermediate pusher is the same as that of the side pushers but the position is slightly behind that of the side pushers. That is, more speed settings are required for the intermediate pusher or the side pushers to change from the fast speed in the compression section to the slow speed in the feeding section, making the oscillation of the pusher speed more serious and the feeding of the incinerator more unstable. Summary of the Invention

[0005] The purpose of the present invention is to provide a control method, device and equipment for a pusher of a waste incinerator based on balance control, aiming to solve the problem of unstable feeding in the prior art.

[0006] The present invention is implemented as follows. In the first aspect, the present invention provides a control method for a pusher of a waste incinerator based on balance control, including:

[0007] When the side pushers and the intermediate pusher are at the starting point of the compression section, a signal is sent to drive the side pushers and the intermediate pusher; wherein, the side pushers include a first side pusher and a second side pusher, the first side pusher and the second side pusher are arranged on both sides of the intermediate pusher, the speed of the first side pusher is the same as that of the second side pusher and is faster than that of the intermediate pusher;

[0008] When the two side pusher and the middle pusher run to the feeding section, a signal for setting the speeds of the two side pusher and the middle pusher is issued; after the speeds of the two side pusher and the middle pusher are set, they maintain the same speed;

[0009] Detect the relative speed of the first side pusher and the second side pusher;

[0010] When the detection result exceeds a preset value, exchange the speeds of the first side pusher and the second side pusher.

[0011] In one embodiment, the signal for driving the two side pusher and the middle pusher includes:

[0012] Issue a signal for driving the two side pusher, and the two side pusher have the same speed;

[0013] Issue a signal for driving the middle pusher, and the middle pusher is slower than the two side pusher;

[0014] When the two side pusher run to the feeding section, there is a preset displacement difference between the two side pusher and the middle pusher, and at this time the middle pusher also runs to the feeding section; the feeding section of the middle pusher is ahead of the feeding section of the two side pusher by the preset displacement difference.

[0015] In one embodiment, when the two side pusher run to the feeding section, the signal for setting the speeds of the two side pusher and the middle pusher includes:

[0016] Detect the positions of the two side pusher and the middle pusher;

[0017] When the detection result is the feeding section, issue a signal for setting the speeds of the two side pusher and the middle pusher.

[0018] In one embodiment, setting the speeds of the two side pusher and the middle pusher includes:

[0019] When the two side pusher and the middle pusher run for the first time, set the speeds of the two side pusher and the middle pusher to a preset speed;

[0020] When the two side pusher and the middle pusher run for the second time and later, set the speeds of the two side pusher and the middle pusher to the average speed of the previous run of the two side pusher and the middle pusher in the feeding section.

[0021] In one embodiment, when the speeds of the two side pusher and the middle pusher are close to the average speed, the speeds of the two side pusher and the middle pusher will be automatically adjusted according to the feeding section condition.

[0022] In one embodiment, the detecting the relative speed of the first side pusher and the second side pusher includes:

[0023] Detecting the relative position of the first side pusher and the second side pusher;

[0024] Detecting the running time of the first side pusher and the second side pusher;

[0025] Calculating and obtaining the relative speed of the first side pusher and the second side pusher in real time according to the relative position and the running time.

[0026] In one embodiment, when the detection result exceeds a preset value, exchanging the speeds of the first side pusher and the second side pusher includes:

[0027] Comparing the detection result with the preset value;

[0028] When the detection result is greater than the preset value, setting the speed of the first side pusher to the speed of the second side pusher;

[0029] When the detection result is greater than the preset value, setting the speed of the second side pusher to the speed of the first side pusher.

[0030] In one embodiment, when the detection result does not exceed the preset value, the speeds of the two side pusher and the middle pusher are controlled by their respective PID controllers.

[0031] In a second aspect, the present invention provides a control device for a pusher of a waste incinerator based on balance control, including:

[0032] A driving unit; the driving unit is used to send a signal for driving the two side pusher and the middle pusher when the two side pusher and the middle pusher are at the starting point of the compression section;

[0033] An adjusting unit; the adjusting unit is used to send a signal for setting the speeds of the two side pusher and the middle pusher when the two side pusher runs to the feeding section;

[0034] A detecting unit; the detecting unit is used to detect the relative speed of the first side pusher and the second side pusher;

[0035] An exchange unit; when the detection result exceeds a preset value, the exchange unit is configured to exchange the speeds of the first side pusher and the second side pusher.

[0036] In a third aspect, the present invention provides a control system for a pusher of a waste incinerator based on balance control, which is characterized by comprising: two side pushers, an intermediate pusher, a position sensor, and a terminal, and the terminal can implement a control method for a pusher of a waste incinerator based on balance control as described above.

[0037] Compared with the prior art, the present invention sets different speeds for the intermediate pusher and the two side pushers in the compression section, so that there is a preset position difference before entering the feeding section, thus eliminating the need for additional speed settings in the feeding section to create a position difference, avoiding the uneven feeding caused by the oscillation of the pusher; moreover, by obtaining the average speed of the pusher in the feeding section in the previous round, the speed of the pusher entering the feeding section in the next round is set, and the two side pushers are adjusted in real time according to the speeds of the two side pushers to ensure that the speeds of the two side pushers are consistent, making the feeding process smoother. Description of the Drawings

[0038] Figure 1 is a specific flowchart of a control method for a pusher of a waste incinerator based on balance control provided by an embodiment of the present invention;

[0039] Figure 2 is a specific flowchart of step S1 of a control method for a pusher of a waste incinerator based on balance control provided by an embodiment of the present invention;

[0040] Figure 3 is a specific flowchart of step S2 of a control method for a pusher of a waste incinerator based on balance control provided by an embodiment of the present invention;

[0041] Figure 4 is a specific flowchart of step S22 of a control method for a pusher of a waste incinerator based on balance control provided by an embodiment of the present invention;

[0042] Figure 5 is a specific flowchart of step S3 of a control method for a pusher of a waste incinerator based on balance control provided by an embodiment of the present invention;

[0043] Figure 6 is a specific flowchart of step S4 of a control method for a pusher of a waste incinerator based on balance control provided by an embodiment of the present invention;

[0044] Figure 7 is a specific flowchart of a control device for a pusher of a waste incinerator based on balance control provided by an embodiment of the present invention. Detailed Embodiments

[0045] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0046] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship, they are based on the orientation or positional relationship shown in the accompanying drawings. This is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the accompanying drawings are only for illustrative purposes and cannot be construed as a limitation of this patent. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0047] The implementation of the present invention will be described in detail below with reference to specific embodiments.

[0048] Refer to Figure 1 as shown in Figure 1 which provides a preferred embodiment of the present invention.

[0049] Figure 1 is a schematic diagram of the specific process of a control method for a pusher of a waste incinerator based on balance control provided by an embodiment of the present invention:

[0050] Step S1: When the pusher on both sides and the middle pusher are at the starting point of the compression section, send a signal to drive the pusher on both sides and the middle pusher.

[0051] Specifically, the pusher is used to push the waste falling on the feeding platform into the incinerator. More specifically, this process is divided into two sections: the compression section and the feeding section. The pusher has a faster speed in the compression section and can achieve a compression effect on the waste. The pusher has a slower speed in the feeding section and is used to push the waste into the incinerator.

[0052] More specifically, the pusher is divided into a middle pusher and pushers on both sides. The middle pusher is used to push the waste in the middle position, and the pushers on both sides are used to push the waste on both sides. The pushers on both sides include a first side pusher and a second side pusher, and the first side pusher and the second side pusher are arranged on both sides of the middle pusher; more specifically, both the middle pusher and the pushers on both sides are composed of several grates, and the number of grates forming the middle pusher and the pushers on both sides is not limited and can be changed by adjustment.

[0053] It can be understood that the garbage on both sides in the incinerator burns faster than the garbage in the middle. Considering the combustion efficiency, when pushing the garbage, the positions of the pusher on both sides are ahead of the pusher in the middle.

[0054] More specifically, the pusher in the middle and the pushers on both sides have a high speed in the compression section and a low speed in the feeding section. And in the feeding section, the positions of the pushers on both sides are ahead of the pusher in the middle, that is, there is a fixed displacement difference between the pushers on both sides and the pusher in the middle when operating in the feeding section. Moreover, if the displacement difference is realized after the pushers on both sides and the pusher in the middle enter the feeding section, it will cause more speed change times for the pushers on both sides and the pusher in the middle, resulting in speed oscillation of the pushers on both sides and the pusher in the middle, making the feeding unstable. Therefore, in this embodiment, the displacement difference between the pushers on both sides and the pusher in the middle is realized in the compression section.

[0055] More specifically, in the compression section, the speeds of the pushers on both sides are the same and faster than that of the pusher in the middle. It can be understood that the length of the compression section is fixed and the speed difference between the pushers on both sides and the pusher in the middle is fixed. Therefore, when the pushers on both sides and the pusher in the middle enter the feeding section, the displacement difference between them is also fixed.

[0056] Step S2: When the pushers on both sides and the pusher in the middle run to the feeding section, send a signal for setting the speeds of the pushers on both sides and the pusher in the middle.

[0057] Specifically, the speeds of the pushers on both sides are greater than that of the pusher in the middle. Therefore, when the pushers on both sides run to the feeding section, there is a preset displacement difference from the pusher in the middle. More specifically, when the pushers on both sides run to the feeding section, the pusher in the middle also runs to the feeding section, that is, the feeding section of the pusher in the middle has a preset displacement difference ahead compared with the feeding sections of the pushers on both sides.

[0058] It can be understood that the operation of the pusher in the feeding section is slower than that in the compression section. Therefore, it is necessary to set the speeds of the pushers on both sides and the pusher in the middle that will enter the feeding section.

[0059] More specifically, the speed setting is to set the initial speeds of the pushers on both sides and the pusher in the middle that enter the feeding section. After the pushers on both sides and the pusher in the middle enter the feeding section, it is necessary to make real-time adjustments to the speeds according to the specific situation of the garbage in the feeding section.

[0060] Step S3: Detect the relative speeds of the first side pusher and the second side pusher.

[0061] Specifically, the two side pusher includes a first side pusher and a second side pusher. The first side pusher and the second side pusher are arranged on both sides of the middle pusher. During the process of pushing garbage, there are requirements for the first side pusher and the second side pusher to have the same speed and the same position. Therefore, it is necessary to detect the relative speed of the first side pusher and the second side pusher and adjust them according to the detection results.

[0062] More specifically, the first side pusher and the second side pusher are provided with position sensors, and the position information of the first side pusher and the second side pusher can be obtained through the position sensors. And starting from the time when the two side pushers start running, it can be understood that speed is equal to distance divided by time. Therefore, the speed difference between the first side pusher and the second side pusher can be calculated and obtained through the position information and the running time.

[0063] Step S4: When the detection result exceeds the preset value, exchange the speeds of the first side pusher and the second side pusher.

[0064] Specifically, if the speed difference between the first side pusher and the second side pusher is within an acceptable range and has little impact on the stable feeding of garbage, the speeds of the first side pusher and the second side pusher are not adjusted.

[0065] More specifically, the speed adjustment method for the first side pusher and the second side pusher is to exchange the speeds of the first side pusher and the second side pusher. It can be understood that the originally fast pusher will become slower, and the originally slow pusher will become faster. And this adjustment is immediate and multiple times. Through multiple immediate adjustments, the speeds of the two side pushers will reach the same.

[0066] Refer to Figure 2 , Figure 2 is a schematic diagram of the specific process of step S1 of a control method for a pusher of a waste incinerator based on balance control provided by an embodiment of the present invention.

[0067] Step S11: Send signals to drive the two side pushers, and the speeds of the two side pushers are the same.

[0068] Specifically, the two side pushers include a first side pusher and a second side pusher. The first side pusher and the second side pusher are arranged on both sides of the middle pusher. During the process of pushing garbage, in order to ensure the stability of garbage feeding in the incinerator, the speeds of the two side pushers are the same.

[0069] Step S12: Send a signal to drive the middle pusher, and the middle pusher is slower than the two side pushers.

[0070] Specifically, the middle pusher is arranged between the two side pushers. The speed of the middle pusher in the compression section is slower than that of the two side pushers, so as to form a fixed displacement difference when the middle pusher and the two side pushers enter the feeding section.

[0071] Step S13: When the two side pushers run to the feeding section, there is a preset displacement difference between the two side pushers and the middle pusher, and at this time, the middle pusher also runs to the feeding section.

[0072] Specifically, the speeds of the two side pushers and the middle pusher are respectively preset with fixed values. Therefore, when the two side pushers run to the feeding section, there is a preset displacement difference between the two side pushers and the middle pusher.

[0073] More specifically, in the incinerator, the garbage incineration speed on both sides is faster than that in the middle. Therefore, the positions of the two side pushers are ahead of the position of the middle pusher.

[0074] It can be understood that the pusher has a high speed in the compression section and a low speed in the feeding section. There is a process of speed change when the pusher enters the feeding section from the compression section. If the displacement difference between the middle pusher and the two side pushers is not generated in advance, it will need to be generated when the middle pusher and the two side pushers enter the feeding section from the compression section. At this time, more speed changes are required, that is, the pusher will generate more speed oscillations, making the garbage feeding unstable. Therefore, the displacement difference between the middle pusher and the two side pushers needs to be generated in the compression section.

[0075] More specifically, a preset displacement difference is set in advance for the feeding section of the middle pusher compared with the feeding section of the two side pushers. Therefore, when the two side pushers run to the feeding section, the middle pusher also runs to the feeding section.

[0076] Refer to Figure 3 , Figure 3 is a schematic diagram of the specific process of step S2 of a control method for a pusher of an incinerator based on balance control provided by an embodiment of the present invention.

[0077] Step S21: Detect the positions of the two side pushers and the middle pusher.

[0078] Specifically, when the two side pushers and the middle pusher enter the feeding section, speed settings are required, and the positions of the two side pushers are ahead of the position of the middle pusher. That is, when the two side pushers enter the feeding section, a predetermined displacement difference is generated between the middle pusher and the two side pushers. At this time, the middle pusher also enters the feeding section. At this time, the speed settings for the two side pushers and the middle pusher are started. Therefore, it is necessary to detect the positions of the two side pushers and the middle pusher to make a time judgment for setting the speeds of the two side pushers and the middle pusher.

[0079] Step S22: When the detection result is the feeding section, send a signal to set the speeds of the two side pusher and the middle pusher.

[0080] Specifically, when the detection result is the feeding section, it means that the two side pushers enter the feeding section, and a predetermined displacement difference is generated between the two side pushers and the middle pusher.

[0081] More specifically, the compression section is used to compress the garbage, so the two side pushers and the middle pusher run at a high speed in the compression section. The feeding section is used to push the garbage into the incinerator for incineration, so the two side pushers and the middle pusher run at a low speed in the feeding section. It can be understood that the speeds of the two side pushers and the middle pusher need to be set when they enter the feeding section from the compression section.

[0082] Refer to Figure 4 , Figure 4 which is a schematic diagram of the specific process of step S22 of a control method for a pusher of a waste incinerator based on balance control provided by an embodiment of the present invention.

[0083] Step S221: When the two side pushers and the middle pusher run for the first time, set the speeds of the two side pushers and the middle pusher to the preset speeds.

[0084] Specifically, through estimation and calculation, an initial feeding section speed is preset for the two side pushers and the middle pusher. When the two side pushers and the middle pusher run for the first time, when the two side pushers enter the feeding section, set the speeds of the two side pushers and the middle pusher to this preset speed.

[0085] Step S222: When the two side pushers and the middle pusher run for the second time and later, set the speeds of the two side pushers and the middle pusher to the average speed at which the two side pushers and the middle pusher ran in the feeding section last time.

[0086] Specifically, after the two side pushers and the middle pusher complete the first push of the garbage, the two side pushers and the middle pusher will retreat to the initial position and perform the next garbage push to feed the incinerator.

[0087] More specifically, when the two side pushers and the middle pusher push the garbage in the feeding section, they will make immediate adjustments according to the resistance of the garbage to ensure the smooth feeding of the incinerator.

[0088] More specifically, after the first run of the two side pushers and the middle pusher, the average speed of the two side pushers and the middle pusher in the feeding section can be obtained. This average speed reflects the speed when the two side pushers and the middle pusher run smoothly in the feeding section. Therefore, in the second run, set the initial speed of the two side pushers and the middle pusher entering the feeding section to this average speed.

[0089] It is understandable that the average speed obtained each time of operation will vary. Therefore, the average speed obtained last time will be applied to the next time to ensure the smooth operation of the feeding.

[0090] In some embodiments, when the speeds of the two side pusher and the middle pusher are close to the average speed, the speeds of the two side pusher and the middle pusher will be automatically adjusted according to the feeding section condition.

[0091] Specifically, when the speeds of the two side pusher and the middle pusher are close to the average speed, the operation of the pusher itself has reached a stable state. At this time, further automatic adjustment is required according to the feeding section condition to ensure the smooth feeding.

[0092] More specifically, the feeding section condition includes the layer resistance of the compressed garbage and the burnout degree of the incinerator. More specifically, when the layer resistance is large, it means that the garbage is easier to push. At this time, the speed should be slowed down to maintain the smooth feeding. When the burnout degree of the incinerator is high, it means that the combustion condition of the incinerator is better. At this time, the speed should be increased to send more garbage into the incinerator to maintain the smooth feeding.

[0093] Refer to Figure 5 , Figure 5 which is a specific process schematic diagram of step S3 of a control method for a garbage incinerator pusher based on balance control provided by an embodiment of the present invention.

[0094] Step S31: Detect the relative positions of the first side pusher and the second side pusher.

[0095] Specifically, the two side pushers include the first side pusher and the second side pusher, and the first side pusher and the second side pusher should ensure the same speed during operation.

[0096] It is understandable that in actual operation, there is a situation where the speeds of the first side pusher and the second side pusher are inconsistent. This situation will affect the unsmooth feeding of the incinerator. Therefore, it is necessary to detect the relative speeds of the first side pusher and the second side pusher. More specifically, speed is equal to distance divided by time. Therefore, it is necessary to detect the relative positions of the first side pusher and the second side pusher to calculate the relative speeds of the first side pusher and the second side pusher.

[0097] More specifically, the first side pusher and the second side pusher are provided with position sensors. Through the position sensors, the positions of the first side pusher and the second side pusher can be obtained, and thus the relative position between the two can be calculated.

[0098] Step S32: Detect the running time of the first side pusher and the second side pusher.

[0099] Specifically, the time is recorded when the first side pusher and the second side pusher start pushing the garbage from the initial position, and the recording starts again whenever the first side pusher and the second side pusher return to the initial position.

[0100] Step S33: Calculate and obtain the relative speed of the first side pusher and the second side pusher in real time according to the relative position and the running time.

[0101] Specifically, speed is equal to distance divided by time. In this embodiment, the distance is equal to the relative position of the first side pusher and the second side pusher, and the time is the running time of the first side pusher and the second side pusher. The relative speed of the first side pusher and the second side pusher can be calculated in real time through the relative position and the running time of the first side pusher and the second side pusher.

[0102] Refer to Figure 6 , Figure 6 FIG. is a schematic flow chart of step S4 of a control method for a pusher of a waste incinerator based on balance control provided by an embodiment of the present invention.

[0103] Step S41: Compare the detection result with a preset value.

[0104] Specifically, the detection result represents the relative speed of the first side pusher and the second side pusher. More specifically, a preset value is obtained through estimation and calculation. When the relative speed of the first side pusher and the second side pusher is less than the preset value, it indicates that the speeds of the first side pusher and the second side pusher are within the allowable range, and there is no need to adjust the speeds of the first side pusher and the second side pusher.

[0105] Step S42: When the detection result is greater than the preset value, set the speed of the first side pusher to the speed of the second side pusher.

[0106] Specifically, when the relative speed of the first side pusher and the second side pusher is greater than the preset value, it means that the speed difference between the two has had a negative impact on the smoothness of the feeding of the incinerator, so adjustment is needed.

[0107] More specifically, the adjustment method is to exchange the speeds of the first side pusher and the second side pusher. It can be understood that after the exchange, the originally faster one will slow down, and the originally slower one will speed up. And the speed exchange is a multiple process. In multiple exchanges, the speeds of the first side pusher and the second side pusher will tend to be consistent, so as to make the feeding of the incinerator smooth.

[0108] More specifically, set the speed of the first side pusher to the speed of the second side pusher.

[0109] Step S43: When the detection result is greater than the preset value, set the speed of the second side pusher to the speed of the first side pusher.

[0110] Specifically, exchange the speeds of the first side pusher and the second side pusher so that their speeds tend to be the same during the exchange. More specifically, set the speed of the second side pusher to the speed of the first side pusher.

[0111] In some embodiments, when the detection result does not exceed the preset value, the speeds of the two side pushers and the middle pusher are controlled by their respective PID controllers.

[0112] Specifically, when the detection result does not exceed the detection value, it means that the error in the speeds of the two side pushers and the middle pusher is within an allowable range. At this time, there is no need to exchange the speeds between them. At this time, the speeds of the two side pushers and the middle pusher are controlled by their respective PID controllers. It can be understood that separating the control of the two side pushers and the middle pusher is beneficial to the smooth progress of the pusher process.

[0113] The present invention provides a control device for a pusher of a waste incinerator based on balance control, including:

[0114] A driving unit; used to send a signal for driving the two side pushers and the middle pusher when the two side pushers and the middle pusher are at the starting point of the compression section;

[0115] An adjustment unit; used to send a signal for setting the speeds of the two side pushers and the middle pusher when the two side pushers run to the feeding section;

[0116] A detection unit; used to detect the relative speed between the first side pusher and the second side pusher;

[0117] An exchange unit; used to exchange the speed of the first side pusher and the speed of the second side pusher when the detected result exceeds the preset value.

[0118] The present invention provides a control system for a pusher of a waste incinerator based on balance control, including: two side pushers, a middle pusher, a position sensor, and a terminal. The terminal can implement a control method for a pusher of a waste incinerator based on balance control as described above.

[0119] The two side pushers and the middle pusher are used to push the waste. The position sensor is used to detect the positions of the two side pushers and the middle pusher. The terminal is used to implement a control method for a pusher of a waste incinerator based on balance control as described above.

[0120] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for controlling a pusher of a waste incinerator based on balanced control, characterized in that: include: When the two side pushers and the middle pusher are located at the starting point of the compression section, a signal is sent to drive the two side pushers and the middle pusher; wherein the two side pushers include a first side pusher and a second side pusher, the first side pusher and the second side pusher are arranged on both sides of the middle pusher, and the speed of the first side pusher is consistent with that of the second side pusher, and is faster than that of the middle pusher; When the pushers on both sides and the middle pusher run to the feeding section, a signal for setting the speed of the pushers on both sides and the middle pusher is sent; after the speeds of the pushers on both sides and the middle pusher are set, the speeds are kept consistent; detecting a relative speed between the first side pusher and the second side pusher; When the detection result exceeds a preset value, the speed of the first side pusher is exchanged with the speed of the second side pusher.

2. A method for controlling a pusher of a waste incinerator based on balanced control as claimed in claim 1, characterized in that: The sending of the signal to drive the pushers on both sides and the middle pusher includes: Sending a signal to drive the pushers on both sides, and the speeds of the pushers on both sides are consistent; Sending a signal to drive the middle pusher, the middle pusher is slower than the pushers on both sides; When the pushers on both sides run to the feeding section, there is a preset displacement difference between the pushers on both sides and the middle pusher, and at this time the middle pusher also runs to the feeding section; the feeding section of the middle pusher is ahead of the feeding section of the pushers on both sides by the preset displacement difference.

3. A method for controlling a pusher of a waste incinerator based on balanced control as claimed in claim 1, characterized in that: When the pushers on both sides run to the feeding section, a signal for setting the speed of the pushers on both sides and the middle pusher is sent, including: Detecting the positions of the pushers on both sides and the middle pusher; When the detection result is a feeding section, a signal is sent to set the speed of the pushers on both sides and the middle pusher.

4. A method for controlling a pusher of a waste incinerator based on balanced control as claimed in claim 3, characterized in that: The speed setting of the pushers on both sides and the middle pusher includes: When the pushers on both sides and the middle pusher are operated for the first time, the speeds of the pushers on both sides and the middle pusher are set to preset speeds; When the pushers on both sides and the middle pusher are operated for the second time and thereafter, the speeds of the pushers on both sides and the middle pusher are set to the average speeds of the pushers on both sides and the middle pusher at the last operation in the feeding section.

5. A method for controlling a pusher of a waste incinerator based on balanced control as claimed in claim 4, characterized in that: When the speeds of the pushers on both sides and the middle pusher are close to the average speed, the speeds of the pushers on both sides and the middle pusher will be automatically adjusted according to the conditions of the feeding section.

6. A method for controlling a pusher of a waste incinerator based on balanced control as claimed in claim 1, characterized in that: The detecting the relative speed between the first side pusher and the second side pusher comprises: Detecting the relative position of the first side pusher and the second side pusher; detecting the operating time of the first side pusher and the second side pusher; The relative speed between the first side pusher and the second side pusher is obtained by real-time calculation according to the relative position and the running time.

7. A method for controlling a pusher of a waste incinerator based on balanced control as claimed in claim 1, characterized in that: When the detection result exceeds a preset value, exchanging the speed of the first side pusher with the speed of the second side pusher, comprises: Comparing the detection result with the preset value; When the detection result is greater than the preset value, setting the speed of the first side pusher to the speed of the second side pusher; When the detection result is greater than the preset value, the speed of the second side pusher is set to the speed of the first side pusher.

8. The method for controlling a pusher of a waste incinerator based on balanced control as claimed in claim 1, characterized in that: Also includes: When the detection result does not exceed the preset value, the speeds of the pushers on both sides and the middle pusher are controlled by their respective PID controllers.

9. A waste incinerator pusher control device based on balance control, characterized in that: include: Drive unit; The driving unit is used to send a signal to drive the pushers on both sides and the middle pusher when the pushers on both sides and the middle pusher are located at the starting point of the compression section; The adjustment unit is used to send a signal for setting the speed of the pushers on both sides and the middle pusher when the pushers on both sides run to the feeding section; Detection unit; the detection unit is used to detect the relative speed between the first side pusher and the second side pusher; An exchange unit; the exchange unit is used to exchange the speed of the first side pusher with the speed of the second side pusher when the detection result exceeds a preset value.

10. A waste incinerator pusher control system based on balance control, characterized in that: include: Pushers on both sides, a middle pusher, a position sensor and a terminal, wherein the terminal can implement a waste incinerator pusher control method based on balance control as described in any of claims 1-6.

Images