A trolley material knocking-off power-off protection control method

Abstract

The application provides a trolley material loading power-off protection control method, and belongs to the technical field of automatic control. The power-off protection control method is applied to a Gray bus system and a production material loading system. The production material loading system acquires and stores Gray code values and trolley positions from the Gray bus system at specified intervals. When the Gray bus system is powered off, if the trolley is in a material loading state, the production material loading system performs material loading power-off protection on the trolley; if the trolley is in a walking state, the production material loading system performs walking power-off protection on the trolley. The method is mainly used for automatic protection control when an abnormality occurs in the trolley material loading process in processes such as metallurgical blast furnaces, sintering, coking and other yards, thereby avoiding safety hazards caused by trolley random movement, facilitating safe production, being simple and practical, realizing unmanned control, and being widely used in various yards.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of automation control, and particularly relates to a trolley material feeding power-off protection control method. BACKGROUND

[0002] In the processes of metallurgical material yard, blast furnace, sintering, steelmaking, coking and the like, the raw materials need to be stored in warehouses, and generally there are multiple warehouses. When feeding materials to the warehouses, it is common to install a limit switch in each warehouse, and when the trolley moves to the vicinity of the target warehouse, the limit switch will sense and send a position signal to prompt the trolley to stop. This way of control is simple, but since the environment of the warehouse is generally poor, the service life of the limit switch is short, and it needs to be replaced frequently. Moreover, when the limit switch fails, the trolley is easy to move out of position, which needs to be monitored by the operator.

[0003] In recent years, the Gray bus mode is adopted, and when the trolley moves, the Gray bus measures the position of the trolley in real time, which can track the position of the trolley in real time, and realizes automatic feeding of the trolley to the warehouse. However, sometimes when the Gray bus system is powered off abnormally, the code value is not convenient or is random, which leads to inconsistency between the position signal collected by the trolley and the actual code value. Especially in the automatic material feeding process, the trolley will move randomly, which leads to incorrect warehouse number of the material, and affects the normal production. The misoperation of the trolley exists safety hazards. SUMMARY

[0004] The embodiment of the application provides a trolley material feeding power-off protection control method, which classifies protection according to the state of the trolley when the Gray bus system is powered off, and solves the problem that when the Gray bus system is powered off abnormally, the trolley moves randomly in the automatic material feeding process, which leads to incorrect warehouse number of the material and affects the normal production.

[0005] The embodiment of the application provides a trolley material feeding power-off protection control method, which is applied to a Gray bus system and a production material feeding system. The production material feeding system acquires and stores Gray code values and trolley positions at specified intervals of time from the Gray bus system. The protection control method comprises the following steps.

[0006] It is judged whether the Gray bus is powered off. If not, the Gray bus system controls the trolley to feed materials. If powered off, the production material feeding system controls the trolley.

[0007] When the production material feeding system controls the trolley, the state of the trolley is judged, and the state of the trolley comprises a material feeding state and a walking state.

[0008] When the trolley is in the material feeding state, the production material feeding system performs material feeding power-off protection on the trolley.

[0009] The method of the material feeding power-off protection comprises the following steps.

[0010] Call the current Gray code value and the previous Gray code value, and determine whether the current Gray code value change rate is normal;

[0011] If the current Gray code value change rate is normal, the trolley position adopts the current actual Gray code value; if the current Gray code value change rate is abnormal, the trolley position adopts the previous Gray code value;

[0012] The production material handling system controls the trolley to be stationary and keeps the correct Gray code value, avoiding the trolley from moving randomly.

[0013] In a feasible implementation, when the trolley is in a walking state, the production material handling system performs walking power-off protection on the trolley;

[0014] The walking power-off protection method comprises:

[0015] Call the current Gray code value and the previous Gray code value, and determine whether the current Gray code value change rate is normal;

[0016] If the current Gray code value change rate is normal, the trolley position adopts the current actual Gray code value; if the current Gray code value change rate is abnormal, the trolley position adopts the previous Gray code value;

[0017] When the current Gray code value change rate is abnormal, the production material handling system performs positioning control on the trolley according to time.

[0018] In a feasible implementation, the method for the production material handling system to perform positioning control on the trolley according to time comprises:

[0019] Call the current trolley position acquired by the Gray bus system and the stored trolley material handling information, the trolley material handling information comprising: trolley running speed, each bin position, distance between each bin, and material handling bin sequence;

[0020] According to the current trolley position, distance between each bin, and material handling bin sequence, calculate the distance between the current trolley position and the target bin position;

[0021] According to the distance between the current trolley position and the target bin position and the trolley running speed, calculate the trolley arrival time;

[0022] The production material handling system controls the trolley movement according to the arrival time.

[0023] In a feasible implementation, the method for determining whether the current Gray code value change rate is normal comprises:

[0024] According to the current Gray code value and the specified interval time, calculate the current Gray code value change rate;

[0025] The current Le code value change rate is calculated to determine whether it is within a normal Gray code value change rate range. If it is within the normal Gray code value change rate range, it is determined that the current Le code value change rate is normal. If it is outside the normal Gray code value change rate range, it is determined that the current Le code value change rate is abnormal.

[0026] In an implementable manner, the formula for calculating the Le code value change rate is:

[0027]

[0028] wherein v represents the current Le code value change rate, c n represents the Gray code value at the current position, c n-1 represents the Gray code value at the previous position, and t represents a specified interval time

[0029] In an implementable manner, the method for determining the state of the trolley includes:

[0030] The current trolley position obtained by the Gray bus system and the stored positions of each bin are retrieved.

[0031] It is determined whether the current trolley position is consistent with any bin position. If it is consistent, it is determined that the trolley is in a material handling state. If it is not consistent, it is determined that the trolley is in a walking state.

[0032] In an implementable manner, when the Gray bus is powered off, it is monitored in real time whether the powered-off Gray bus is restored to power supply.

[0033] When the Gray bus is restored to power supply and the Gray code value and the Gray code value change rate are normal, the trolley uses a normal position value to handle material, automatically cuts out the time control for handling material, and switches to the Gray bus system to control the trolley to handle material.

[0034] In an implementable manner, when the Gray bus is powered off and the trolley is in a walking state, the Gray bus system automatically alarms.

[0035] In an implementable manner, the Gray bus system and the production material handling system realize data transmission through Ethernet communication.

[0036] The trolley material handling power-off protection control method provided by the application is applied to the Gray bus system and the production material handling system, the power-off protection control method monitors whether the Gray bus is powered off in real time, if not, the Gray bus system controls the trolley to handle material, and if so, the production material handling system controls the trolley, when the production material handling system controls the trolley, the state of the trolley is judged, when the trolley is in the material handling state, the current Gray code value and the previous Gray code value are called, and whether the current Gray code value change rate is normal is judged, if the current Gray code value change rate is normal, the trolley position adopts the current actual Gray code value, if the current Gray code value change rate is abnormal, the trolley position adopts the previous Gray code value, the production material handling system controls the trolley to be stationary, and the correct Gray code value is maintained, so that the trolley random action condition is avoided.

[0037] The method is mainly an automatic protection control taken when an abnormality occurs in the trolley material handling process in the metallurgical blast furnace, sintering, coking and other material yard processes, which avoids the trolley random action safety hazard, is convenient for safe production, is simple and practical, realizes unmanned control, and can be widely used in various material yards. BRIEF DESCRIPTION OF DRAWINGS

[0038] Fig. 1 is a flowchart of the trolley material handling power-off protection control method provided by the application;

[0039] Fig. 2 is a flowchart of the material handling power-off protection method;

[0040] Fig. 3 is a flowchart of the walking power-off protection method. DETAILED DESCRIPTION

[0041] In order for those skilled in the art to better understand the technical solutions in the application, the technical solutions in the application will be clearly and completely described in the following with reference to the drawings in the application embodiments. Obviously, the described embodiments are only some of the embodiments of the application, not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor should be within the scope of protection of the application.

[0042] The Gray bus positioning system comprises an address code generator, an antenna box, an address decoder, a Gray bus, a protocol conversion module and an installation auxiliary part, and when the Gray bus system is powered off abnormally, random codes will appear, resulting in sudden change of the position signal collected by the trolley. Especially in the automatic material loading process, the trolley will move randomly, resulting in incorrect loading of the material into the bin, affecting normal production, and the trolley malfunction exists safety hazards. The method is mainly an automatic protection control taken when the trolley loads material abnormally in the process of metallurgical blast furnace, sintering, coking and other material yards, which avoids the safety hazards caused by the random movement of the trolley, is convenient for safety production, simple and practical, realizes unmanned control, and can be widely used in various material yards.

[0043] The specific structure of the trolley material loading power-off protection control method provided in the application will be described in detail below with reference to the drawings.

[0044] Referring to Figs. 1-3 The embodiment of the application provides a trolley material loading power-off protection control method, which is applied to a Gray bus system and a production material loading system. The production material loading system acquires and stores Gray code values and trolley positions from the Gray bus system at specified intervals. The protection control method comprises the following steps:

[0045] Determining whether the Gray bus is powered off. If not, the Gray bus system controls the trolley to load material. If powered off, the production material loading system controls the trolley.

[0046] When the production material loading system controls the trolley, the state of the trolley is determined, which includes a material loading state and a walking state.

[0047] When the trolley is in the material loading state, the production material loading system performs material loading power-off protection on the trolley.

[0048] The material loading power-off protection method comprises the following steps:

[0049] The current Gray code value and the previous Gray code value are retrieved, and it is determined whether the current Gray code value change rate is normal.

[0050] If the current Gray code value change rate is normal, the trolley position adopts the current actual Gray code value. If the current Gray code value change rate is abnormal, the trolley position adopts the previous Gray code value.

[0051] The production material loading system controls the trolley to be stationary, and the correct Gray code value is maintained to avoid the random movement of the trolley.

[0052] When the trolley is in the walking state, the production material loading system performs walking power-off protection on the trolley.

[0053] The walking power-off protection method comprises the following steps:

[0054] Call the current Gray code value and the previous Gray code value, and determine whether the current Gray code value change rate is normal;

[0055] If the current Gray code value change rate is normal, the trolley position adopts the current actual Gray code value; if the current Gray code value change rate is abnormal, the trolley position adopts the previous Gray code value;

[0056] When the current Gray code value change rate is abnormal, the production material handling system controls the trolley according to time.

[0057] The Gray bus system is responsible for the collection of the trolley Gray code signal and the position calculation, and the production material handling system realizes the collection of the bin signal, the control of the trolley, etc., and the data transmission between the two systems is completed through Ethernet communication.

[0058] In the material handling process, the protection control of the Gray bus power-off and other abnormal conditions is performed according to the trolley condition. Since the trolley moves at a constant speed, the distance between each bin is also fixed, so the moving time of the trolley between the bins can be calculated, and similarly, the moving time between two or more bins can also be calculated by the material handling system.

[0059] The method is applied to two systems, one is the Gray bus responsible for the collection of the trolley Gray code signal and the position calculation, and the other is the production material handling system, which realizes the collection of the bin signal, the control of the trolley, etc. In addition, the data transmission between the two systems is completed through Ethernet communication. In the material handling process, the protection control of the Gray bus power-off and other abnormal conditions is performed according to the trolley condition. Since the trolley moves at a constant speed, the distance between each bin is also fixed, that is, the Gray code value of each bin discharge port is also fixed, so the moving time of the trolley between the bins and the corresponding code value can be calculated, and similarly, the time of the discharge port position between two or more bins can also be calculated by the material handling system.

[0060] For example:

[0061] Taking a certain blast furnace coal injection raw coal bin as an example:

[0062] The raw coal bin includes five bins, each bin has three discharge ports, and each discharge port corresponds to a unique Gray code value, as shown in the following table:

[0063]

[0064] The trolley moves at a constant speed, and the corresponding code value change rate is also constant. The calculation formula of the Gray code value change rate is:

[0065]

[0066] Wherein, v represents the current Gray code value change rate, c n represents the Gray code value of the current position, c n-1Gray code value of previous position, t represents a specified interval time.

[0067] Through field application, the time of the trolley from 3 unloading port to 4 unloading port is 32 seconds, and the change rate of the corresponding Gray code value of the trolley walking can be calculated as (22100-9600) / 32=390.625.

[0068] The time of the trolley walking can be obtained by the material unloading system, and the change of the code value during walking can be calculated, so that even if the Gray code line system is powered off, the code value of the trolley during walking can be calculated.

[0069] 1. Protection when the trolley is unloading:

[0070] The process of unloading indicates that the trolley has reached the target position, and the Gray bus value remains unchanged when powered off. Here, the previous Gray code value and the Gray code value change rate are diagnosed by timing, and when the Gray code value change rate is normal within the timing time, the trolley position adopts the current actual value; when the Gray code value change rate is abnormal and exceeds the normal absolute value, the trolley position adopts the previous Gray code value. In this way, the trolley always maintains the correct Gray code value during unloading, and the trolley does not move randomly.

[0071] 2. Protection when the trolley is walking:

[0072] (1) During the trolley walking process, the Gray bus system power failure code value is abnormal, the system alarms, and the trolley stops according to the production confirmation;

[0073] (2) The previous Gray code value is saved by timing;

[0074] (3) Gray code value change rate diagnosis, change rate normal trolley adopts the current actual value, change rate abnormal adopts the previous Gray code value;

[0075] (4) When the Gray code value changes abnormally, continue to unload according to the production requirements, calculate the distance code value between the current position and the target position of the trolley, and continue to automatically unload according to the trolley walking time budget code value, and position control according to time;

[0076] (5) Gray code system fault diagnosis, normal power supply, Gray code value returns to normal, code value change rate is normal, trolley adopts normal position value to unload, and automatically cuts out time positioning control unloading.

[0077] The application combines field requirements and control experience to provide a trolley abnormal protection control method. According to the trolley state classification protection when the Gray bus system is powered off, when the trolley has arrived at the target bin and is in the process of material handling, the power-off condition keeps the trolley stationary; when the Gray bus is powered off during the trolley movement, the trolley continues to walk to the target bin according to the production requirements to realize automatic material handling, and the Gray bus system alarms. When the Gray bus system is normal, the trolley switches from time-controlled material handling to position value-controlled material handling, and the two can automatically switch control modes, solving the problem of automatic material handling of the trolley in abnormal conditions and unmanned control.

[0078] The method for the production material handling system to control the trolley according to time comprises the following steps:

[0079] The current trolley position obtained by the Gray bus system and the stored trolley material handling information are called, and the trolley material handling information includes the trolley running speed, the positions of each bin, the distances between each bin, and the material handling bin sequence;

[0080] The distance between the current trolley position and the target bin position is calculated according to the current trolley position, the distances between each bin, and the material handling bin sequence;

[0081] The trolley arrival time is calculated according to the distance between the current trolley position and the target bin position and the trolley running speed;

[0082] The production material handling system controls the trolley movement according to the arrival time.

[0083] The method for determining whether the current Gray code value change rate is normal comprises the following steps:

[0084] The current Gray code value change rate is calculated according to the current Gray code value and a specified interval time;

[0085] It is determined whether the current Gray code value change rate is within the normal Gray code value change rate range. If it is within the normal Gray code value change rate range, it is determined that the current Gray code value change rate is normal. If it is outside the normal Gray code value change rate range, it is determined that the current Gray code value change rate is abnormal.

[0086] The method for determining the trolley state comprises the following steps:

[0087] The current trolley position obtained by the Gray bus system and the stored positions of each bin are called;

[0088] It is determined whether the current trolley position is consistent with any bin position. If it is consistent, it is determined that the trolley is in the material handling state. If it is not consistent, it is determined that the trolley is in the walking state.

[0089] After the Gray bus is powered off, it is monitored in real time whether the powered-off Gray bus is restored to power supply;

[0090] When the Gray bus resumes power supply, and the Gray code value returns to normal, the change rate of the Gray code value is normal, the trolley adopts the normal position value to unload, and automatically cuts out the time control to unload, that is, switches to the Gray bus system to control the trolley to unload.

[0091] It is easy to understand that, on the basis of the several embodiments provided in the present application, the skilled in the art can combine, split, recombine, etc. to obtain other embodiments, and these embodiments do not exceed the protection scope of the present application.

[0092] The above specific embodiments have further detailed the purposes, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above is only a specific embodiment of the present application, and is not used to limit the protection scope of the embodiments of the present application. Any modification, equivalent replacement, improvement, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A trolley material discharging protection control method, characterized in that: The protection control method is applied to a Gray bus system and a production material loading system, the production material loading system acquires and stores Gray code values and car positions from the Gray bus system at specified interval times, and the protection control method comprises: determining whether the Gray bus is powered off, if not, the Gray bus system controls the car to load materials, and if powered off, switching to the production material loading system to control the car; when the production material loading system controls the car, determining the car state, the car state comprising a material loading state and a walking state; when the car is in the material loading state, the production material loading system performs material loading power-off protection on the car; the material loading power-off protection method comprising: calling the current Gray code value and the previous Gray code value, and determining whether the current Gray code value change rate is normal; if the current Gray code value change rate is normal, the car position adopts the current actual Gray code value, and if the current Gray code value change rate is abnormal, the car position adopts the previous Gray code value; the production material loading system controls the car to be stationary and keeps the correct Gray code value, avoiding the car from moving randomly; when the car is in the walking state, the production material loading system performs walking power-off protection on the car; the walking power-off protection method comprising: calling the current Gray code value and the previous Gray code value, and determining whether the current Gray code value change rate is normal; if the current Gray code value change rate is normal, the car position adopts the current actual Gray code value, and if the current Gray code value change rate is abnormal, the car position adopts the previous Gray code value; when the current Gray code value change rate is abnormal, the production material loading system controls the car according to time.

2. The car material loading power-off protection control method according to claim 1, wherein: the method that the production material loading system controls the car according to time comprises: calling the current car position acquired by the Gray bus system and the stored car material loading information, the car material loading information comprising: car running speed, each bin position, distance between each bin, and material loading bin sequence; calculating the distance between the current car position and the target bin position according to the current car position, the distance between each bin, and the material loading bin sequence; calculating the car arrival time according to the distance between the current car position and the target bin position and the car running speed; the production material loading system controls the car movement according to the arrival time.

3. The car material loading power-off protection control method according to claim 1, wherein: the method of determining whether the current Gray code value change rate is normal comprises: calculating the current Gray code value change rate according to the current Gray code value and the specified interval time; calculating whether the current Gray code value change rate is within the normal Gray code value change rate range, if within the normal Gray code value change rate range, determining that the current Gray code value change rate is normal, and if outside the normal Gray code value change rate range, determining that the current Gray code value change rate is abnormal.

4. The car material loading power-off protection control method according to claim 3, wherein: the calculation formula of the Gray code value change rate is: ； wherein, represents a current Leemane value change rate, represents a Gray code value of a current position, represents a Gray code value of a previous position, and t represents a specified interval time.

5. The trolley material removal power-off protection control method according to claim 3, characterized in that: The method for judging the trolley state comprises: Calling the current trolley position acquired by the Gray bus system and the stored positions of each bin; Judging whether the current trolley position is consistent with any bin position, if consistent, judging that the trolley is in the material removal state; if not consistent, judging that the trolley is in the walking state.

6. The trolley material removal power-off protection control method according to claim 1, characterized in that: After the Gray bus is powered off, real-time monitoring whether the Gray bus is restored to power supply; When the Gray bus is restored to power supply and the Gray code value is restored to normal and the Gray code value change rate is normal, the trolley uses the normal position value to remove material, automatically cuts out the time control to remove material, that is, switches to the Gray bus system to control the trolley to remove material.

7. The trolley material removal power-off protection control method according to claim 6, characterized in that: When the Gray bus is powered off and the trolley is in the walking state, the Gray bus system automatically alarms.

8. The trolley material removal power-off protection control method according to claim 1, characterized in that: The Gray bus system and the production material removal system realize data transmission through Ethernet communication.

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