An automatic control method, device, system and equipment for cloth winding and unwinding of a sludge filter press

Abstract

The present invention discloses an automatic control method for cloth winding and unwinding of a sludge filter press, comprising the following steps: obtaining the real-time operation status data of the execution roller, the cloth winding and unwinding roller, and the distance measuring sensor, and intelligently judging the working mode and operation stage of the cloth winding and unwinding of the sludge filter press; flexibly selecting and adjusting the operation control strategy of the cloth winding and unwinding roller according to the current working mode and operation stage of the cloth winding and unwinding of the sludge filter press; according to the selected control strategy, adopting an advanced dynamic control algorithm to automatically control the running speed of the cloth winding and unwinding roller in real time; by monitoring the roller diameter size of the cloth winding and unwinding roller in real time, automatically judging the end of the cloth winding and unwinding work of the sludge filter press. This application optimizes the cloth winding and unwinding control mechanism of the sludge filter press, realizes efficient and stable automatic operation, and can adopt different control strategies to automatically control the running speed of the cloth winding and unwinding roller in real time for different working modes, so as to ensure that the sludge filter press can maintain a stable and efficient working state when performing the cloth winding and unwinding operation.

Description

Technical Field

[0001] The present invention relates to the technical field of sludge treatment equipment control in the environmental protection field, and particularly relates to an automatic control method, device, system and equipment for the cloth retracting and unreeling of a sludge filter press. Background Art

[0002] In response to the high consumption challenge faced by the municipal sludge treatment field, the currently adopted mechanical pressure filtration process and its core equipment, including sludge filter presses, during the cloth retracting and unreeling operation, the diameters of the retracting and unreeling rollers constantly change. Generally, it is manifested as follows: the diameter of the unreeling roller usually becomes smaller and smaller, and the diameter of the retracting roller usually becomes larger and larger. This change in the diameters of the retracting and unreeling rollers affects the linear speed of the material retracting and unreeling rollers, making it difficult to maintain a stable linear speed of the material retracting and unreeling rollers. When the linear speed of the retracting and unreeling rollers is unstable, the synchronization of the retracting and unreeling rollers decreases, which may cause the rhythm of the retracting and unreeling rollers to be unstable, and further lead to the shutdown of the retracting and unreeling machine, affecting the efficiency of the retracting and unreeling.

[0003] During the cloth retracting and unreeling operation of the existing sludge filter press, there are still deficiencies in terms of technology and application. Specifically, it is manifested as the instability of the cloth retracting and unreeling operation, uneven sludge cloth distribution, low cloth distribution efficiency, and the need to improve the automation level. These problems directly restrict the effective exertion of the sludge treatment capacity and the wide promotion of the technology. Therefore, there is an urgent need for an innovative solution in this field to optimize the cloth retracting and unreeling control mechanism of the sludge filter press and achieve efficient and stable automated operation. Summary of the Invention

[0004] The purpose of the present invention is to provide an automatic control method, device, system and equipment for the cloth retracting and unreeling of a sludge filter press to solve the problem of poor cloth retracting and unreeling operation effect in the existing technology.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] An automatic control method for the cloth retracting and unreeling of a sludge filter press includes the following steps:

[0007] Obtain the real-time operating status data of the execution roller, the cloth retracting and unreeling roller, and the distance measuring sensor, and intelligently judge the working mode and operating stage of the cloth retracting and unreeling of the sludge filter press;

[0008] According to the current working mode and operating stage of the cloth retracting and unreeling of the sludge filter press, flexibly select and adjust the operation control strategy of the cloth retracting and unreeling roller;

[0009] Based on the selected control strategy, adopt an advanced dynamic control algorithm to automatically control the running speed of the cloth retracting and unreeling roller in real time.

[0010] According to the real-time roller diameter size of the cloth retracting and unreeling roller obtained by the distance measuring sensor of the cloth retracting and unreeling roller, automatically judge whether to end the cloth retracting and unreeling work of the sludge filter press.

[0011] As a further solution of the present invention: Obtaining the real-time operating state data of the execution roller, the cloth winding and unwinding roller, and the distance measuring sensor includes:

[0012] Obtaining the running speed and the forward and reverse states of the execution roller;

[0013] Obtaining the running speed and the forward and reverse states of the cloth winding and unwinding roller;

[0014] Obtaining the real-time roller diameter size and the remaining amount of the filter cloth of the cloth winding and unwinding roller through the distance measuring sensor of the cloth winding and unwinding roller;

[0015] Obtaining the position distance of the end of the tension roller in the kidney-shaped chute through the distance measuring sensor of the tension roller.

[0016] As a further solution of the present invention: The method for intelligently judging the working mode and the running stage of the cloth winding and unwinding of the sludge filter press includes: Judging whether the cloth winding and unwinding working mode is in the cloth winding mode or the cloth unwinding mode, and in the cloth winding mode or the cloth unwinding mode, the corresponding cloth winding and unwinding roller is in the starting running stage, the automatic running stage, and the completion running stage.

[0017] As a further solution of the present invention: The method for judging the cloth winding and unwinding working mode includes:

[0018] According to the obtained forward and reverse state data of the execution roller, automatically judging the cloth winding and unwinding working mode: When the execution roller is in the forward rotation state, it is determined as the cloth unwinding working mode, and the cloth winding and unwinding roller is set to the forward rotation state; when the execution roller is in the reverse rotation state, it is determined as the cloth winding working mode, and the cloth winding and unwinding roller is set to the reverse rotation state.

[0019] As a further solution of the present invention: The method for flexibly selecting and adjusting the operation control strategy of the cloth winding and unwinding roller when judging that the cloth winding and unwinding working mode is in the cloth winding mode includes:

[0020] When the cloth winding and unwinding roller is in the starting running stage, select the tracking control strategy, and calculate and down-regulate n according to the real-time obtained feedback running speed n z of the execution roller, and finally generate the calculated set running speed N b of the cloth winding and unwinding roller, and the running speed N b of the cloth winding and unwinding roller The calculation formula is: b In the formula, R z is the real-time radius of the cloth winding and unwinding roller, and r

[0021] When the feedback running speed of the execution roller reaches the preset running speed, and the running speed of the cloth winding and unwinding roller tracks the stable change of the running speed of the execution roller, and the total duration is preset as X, judge whether the running duration of the cloth winding and unwinding roller is greater than the preset total duration X. If it is greater, the cloth winding and unwinding roller enters the automatic running stage. Otherwise, the cloth winding and unwinding roller is in the starting running stage;

[0022] The cloth winding and unwinding roller is in the automatic operation stage. The PID control strategy is selected and an advanced dynamic control algorithm is adopted to automatically control the running speed of the cloth winding and unwinding roller in real time.

[0023] As a further solution of the present invention: in the cloth receiving mode and when the cloth winding and unwinding roller is in the automatic operation stage, the method for automatically controlling the running speed of the cloth winding and unwinding roller in real time by selecting the PID control strategy includes: obtaining the position distance of the end of the tension roller in the kidney-shaped chute according to the tension roller distance measuring sensor, applying the positive action mechanism, and adjusting the running speed of the cloth winding and unwinding roller in real time. Among them, the advanced dynamic control algorithm formula is: In the formula, ut is the output for adjusting the running speed of the cloth winding and unwinding roller; e(t) is the tension roller position distance error; K p is the proportional coefficient. According to the position distance error of the end of the tension roller in the kidney-shaped chute, the output intensity of the running speed of the cloth winding and unwinding roller is adjusted so that the actual position of the tension roller quickly approaches the desired position; K i is the integral coefficient. According to the position distance error of the end of the tension roller in the kidney-shaped chute, the output offset of the running speed of the cloth winding and unwinding roller is adjusted so that the actual position of the tension roller can finally reach the desired position; K d is the differential coefficient. According to the position distance error of the end of the tension roller in the kidney-shaped chute, the output change of the running speed of the cloth winding and unwinding roller is adjusted so that the actual position of the tension roller approaches the desired position in the long term.

[0024] As a further solution of the present invention: when it is determined that the cloth winding and unwinding working mode is in the cloth unwinding mode, the method for flexibly selecting and adjusting the running control strategy of the cloth winding and unwinding roller includes:

[0025] When the cloth winding and unwinding roller is in the starting operation stage, the tracking control strategy is selected. According to the real-time obtained feedback running speed n z of the execution roller, after calculating and increasing m, the calculated set running speed N b of the cloth winding and unwinding roller is finally generated. The running speed N b of the cloth winding and unwinding roller has the following calculation formula: In the formula, R b is the real-time radius of the cloth winding and unwinding roller, and r z is the radius of the execution roller;

[0026] When the feedback running speed of the execution roller reaches the preset running speed and the running speed of the cloth winding and unwinding roller tracks the stable change of the running speed of the execution roller, the total duration is preset as X. It is judged whether the running duration of the cloth winding and unwinding roller is greater than the preset total duration X. If it is greater, the cloth winding and unwinding roller enters the automatic operation stage. Otherwise, the cloth winding and unwinding roller is in the starting operation stage;

[0027] The cloth winding and unwinding roller is in the automatic operation stage. The PID control strategy is selected and an advanced dynamic control algorithm is adopted to automatically control the running speed of the cloth winding and unwinding roller in real time.

[0028] As a further solution of the present invention: in the cloth feeding mode, when the cloth winding and unwinding roller is in the automatic operation stage, the method for real-time automatic control of the running speed of the cloth winding and unwinding roller by using the PID control strategy includes: according to the position distance of the end of the tension roller in the kidney-shaped chute obtained by the tension roller distance measuring sensor, applying a reaction mechanism to adjust the running speed of the cloth winding and unwinding roller in real time. Among them, the advanced dynamic control algorithm formula is: In the formula, ut is the output for adjusting the running speed of the cloth winding and unwinding roller; e(t) is the position distance error of the tension roller; K p is the proportionality coefficient. According to the position distance error of the end of the tension roller in the kidney-shaped chute, the output intensity of the running speed of the cloth winding and unwinding roller is adjusted, so that the actual position of the tension roller quickly approaches the desired position; K i is the integral coefficient. According to the position distance error of the end of the tension roller in the kidney-shaped chute, the output offset of the running speed of the cloth winding and unwinding roller is adjusted, so that the actual position of the tension roller can finally reach the desired position; K d is the differential coefficient. According to the position distance error of the end of the tension roller in the kidney-shaped chute, the output change of the running speed of the cloth winding and unwinding roller is adjusted, so that the actual position of the tension roller approaches the desired position in the long term.

[0029] As a further solution of the present invention: the method for automatically judging whether to execute the cloth winding and unwinding work of the sludge filter press includes:

[0030] In the cloth feeding mode, set the lower limit value D lower of the roller diameter size of the cloth winding and unwinding roller. When the real-time value measured by the cloth winding and unwinding roller distance measuring sensor is less than D lower , it is judged that the cloth winding and unwinding roller is in the completed operation stage, and then the cloth feeding work of the sludge filter press is automatically executed to end;

[0031] In the cloth winding mode, set the upper limit value D upper of the roller diameter size of the cloth winding and unwinding roller. When the real-time value measured by the cloth winding and unwinding roller distance measuring sensor is greater than D upper , it is judged that the cloth winding and unwinding roller is in the completed operation stage, and then the cloth winding work of the sludge filter press is automatically executed to end.

[0032] A cloth winding and unwinding automatic control device for a sludge filter press includes a cloth winding and unwinding roller, a tension roller, a cloth pressing roller and an actuating roller that sequentially convey and transfer the filter cloth. A cloth winding and unwinding roller distance measuring sensor is arranged outside the cloth winding and unwinding roller. The cloth winding and unwinding roller distance measuring sensor is used to measure the real-time roller diameter size of the cloth winding and unwinding roller and the remaining amount of the filter cloth. A tension roller distance measuring sensor is arranged outside the tension roller. The tension roller distance measuring sensor is used to measure the position distance of the end of the tension roller in the kidney-shaped chute. The actuating roller drives the filter cloth to perform the cloth winding and unwinding work at a fixed running speed through pressing with the cloth pressing roller;

[0033] Among them, when the cloth winding and unwinding roller is in the cloth winding mode or the cloth feeding mode, the above automatic control method is realized.

[0034] An automatic control system for cloth winding and unwinding of a sludge filter press, comprising a cloth winding and unwinding roller ranging sensor for measuring the real-time roller diameter size of the cloth winding and unwinding roller and the remaining amount of the filter cloth, a tension roller ranging sensor for measuring the position distance of the end of the tension roller in the kidney-shaped sliding groove, an execution roller for controlling the filter cloth to wind and unwind at a fixed speed, and a processing and storage device for controlling the rotation speed of the cloth winding and unwinding roller to automatically adapt to the cloth winding and unwinding work along with the change of the roller diameter. When the processing and storage device executes, it realizes the automatic control method as described above.

[0035] An automatic control device for cloth winding and unwinding of a sludge filter press, comprising a processor, a memory, an I / O interface and a communication interface. The I / O interface is used to obtain data information, the communication interface is used to transmit data externally, and a computer program is stored on the memory. When the computer program is executed by the processor, it realizes the automatic control method as described above.

[0036] As a further scheme of the present invention:

[0037] The beneficial effects of the present invention:

[0038] (1) This application optimizes the cloth winding and unwinding control mechanism of the sludge filter press, realizes efficient and stable automatic operation, and can adopt different control strategies to automatically control the running speed of the cloth winding and unwinding roller in real time for different working modes, so as to ensure that the sludge filter press can maintain a stable and efficient working state during the cloth winding and unwinding operation;

[0039] (2) During the operation of the cloth winding and unwinding roller, the roller diameter of the cloth winding and unwinding roller will gradually increase during the cloth winding operation, and the roller diameter of the cloth winding and unwinding roller will gradually decrease during the cloth unwinding operation. According to the set running speed of the execution roller for cloth winding and unwinding during the cloth winding or unwinding operation, the rotation speed of the cloth winding and unwinding roller is automatically adapted and regulated along with the change of the roller diameter;

[0040] (3) This application uses a distance sensor to measure the position of the tension roller. According to the different running modes of cloth winding and unwinding, the PID control of the cloth winding and unwinding roller adopts two modes of positive action and negative action respectively to adjust the tension roller to keep the filter cloth in a tension state during the cloth winding and unwinding process. The kidney-shaped sliding groove is used to limit the stroke of the tension roller, and finally the stable operation of the cloth winding and unwinding process is realized;

[0041] (4) The cloth receiving and releasing operation of the sludge filter press is divided into three operating stages. The first stage is the start-up operation stage, which adopts a tracking control strategy. During this process, the running speed of the cloth receiving and releasing roller gradually reaches the speed matching that of the execution roller. The second stage is the automatic operation stage, which adopts a PID control strategy. Since the speed of the cloth receiving and releasing roller in the previous stage has basically matched the speed of the execution roller, during the process of switching to PID control, a stable control state can be quickly achieved, and there will be no obvious fluctuations in the cloth receiving and releasing speed, so that the cloth receiving and releasing work can be carried out more evenly and stably. The third stage is the completion operation stage. The data is monitored in real time through the cloth receiving and releasing roller distance measuring sensor, and compared with the limit value of the cloth receiving and releasing roller diameter size, and the cloth receiving and releasing work of the sludge filter press is automatically executed to end. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The present invention will be further described below with reference to the accompanying drawings.

[0043] Figure 1 is a schematic flow chart of the automatic control method for cloth receiving and releasing of the sludge filter press in Embodiment 1;

[0044] Figure 2 is a schematic flow chart of the application of the tracking control strategy and the PID control strategy with positive or negative action mechanisms in the automatic control method for cloth receiving and releasing of the sludge filter press in Embodiment 1;

[0045] Figure 3 is a schematic structural diagram of the automatic control device for cloth receiving and releasing of the sludge filter press in Embodiment 2;

[0046] Figure 4 is a block diagram of the automatic control system architecture for cloth receiving and releasing of the sludge filter press in Embodiment 3;

[0047] Figure 5 is a schematic structural diagram of the automatic control equipment for cloth receiving and releasing of the sludge filter press in Embodiment 4.

[0048] In the figure: 301, cloth receiving and releasing roller distance measuring sensor; 302, cloth receiving and releasing roller; 303, tension roller distance measuring sensor; 304, kidney-shaped chute; 305, tension roller; 306, cloth pressing roller; 307, filter cloth; 308, execution roller. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0049] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0050] In the description of the present invention, it should be understood that the terms indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are 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, and therefore should not be construed as a limitation to the present invention; in the description of the present invention, the meanings of "a plurality" and "several" are at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0051] Embodiment 1

[0052] In the starting and ending stages of the production of the filter cloth 307 in an industrial application scenario, applications related to winding and unwinding often occur. It can be imagined that as the winding and unwinding cloth roller 302 continues to operate, the layers of the filter cloth 307 wound around the corresponding winding and unwinding cloth roller 302 continuously decrease, resulting in a continuous decrease in the roller diameter of the winding and unwinding cloth roller 302; similarly, the layers of the filter cloth 307 wound around the corresponding winding and unwinding cloth roller 302 continuously increase, resulting in a continuous increase in the roller diameter of the roller. Since the change in the roller diameter will affect the running speed of the winding and unwinding cloth roller 302, it is difficult to maintain a stable running speed of the winding and unwinding operation of the filter cloth 307, affecting the efficiency of the winding and unwinding operation.

[0053] Therefore, please refer to Figure 1 and Figure 2 As shown, the present invention is an automatic control method for the winding and unwinding of a sludge filter press, including the following steps: obtaining the real-time operating state data of the execution roller 308, the winding and unwinding cloth roller 302, and the distance measuring sensors 301 and 303, and intelligently judging the working mode and operating stage of the sludge filter press for winding and unwinding; according to the current working mode and operating stage of the sludge filter press for winding and unwinding, flexibly selecting and adjusting the operation control strategy of the winding and unwinding cloth roller 302; according to the selected control strategy, adopting an advanced dynamic control algorithm to automatically control the running speed of the winding and unwinding cloth roller 302 in real time; according to the real-time roller diameter size of the winding and unwinding cloth roller 302 obtained by the distance measuring sensor 301 of the winding and unwinding cloth roller, automatically judging whether to end the winding and unwinding work of the sludge filter press.

[0054] During the use of the automatic control method of the present application, the working mode of the sludge filter press can be pre-judged and determined according to the real-time operating state data of the execution roller 308, the winding and unwinding cloth roller 302, and the distance measuring sensors 301 and 303. Its working mode includes a cloth winding working mode or a cloth unwinding working mode. In the cloth winding working mode, the layers of the filter cloth 307 wound around the corresponding winding and unwinding cloth roller 302 continuously increase, and in the cloth unwinding working mode, the layers of the filter cloth 307 wound around the corresponding winding and unwinding cloth roller 302 continuously decrease. Thus, for different working modes, different control strategies can be adopted to automatically control the running speed of the winding and unwinding cloth roller 302 in real time, so as to ensure that the sludge filter press can maintain a stable and efficient working state when performing the winding and unwinding operation.

[0055] In this embodiment, obtaining the real-time operating status data of the execution roller 308, the fabric winding and unwinding roller 302, and the distance measuring sensors 301 and 303 includes: obtaining the operating speed and the forward and reverse states of the execution roller 308; obtaining the operating speed and the forward and reverse states of the fabric winding and unwinding roller 302; obtaining the real-time roller diameter size of the fabric winding and unwinding roller 302 and the remaining amount of the filter cloth 307 through the distance measuring sensor 301 of the fabric winding and unwinding roller; obtaining the position distance of the end of the tension roller 305 in the kidney-shaped chute 304 through the distance measuring sensor 303 of the tension roller; when obtaining the operating speed of the execution roller 308 in this step, the pressing roller 306 is used to press the filter cloth 307, and drives the filter cloth 307 to run at a fixed speed together with the execution roller 308, achieving the effect of stable and uniform fabric winding and unwinding. The roller diameter of the execution roller 308 remains constant, and the rotational angular velocity can be obtained through a rotary encoder, so that the operating speed of the execution roller 308 can be obtained; in this step, obtaining the forward and reverse state data of the execution roller 308 to judge whether it is in the fabric unwinding working mode or the fabric winding working mode; in this step, the real-time monitoring data of the distance measuring sensor 301 of the fabric winding and unwinding roller can be used to judge whether the fabric winding and unwinding of the sludge filter press has ended the operation.

[0056] The method for intelligently judging the working mode and the operating stage of the fabric winding and unwinding of the sludge filter press according to the above-obtained real-time operating status data includes: judging whether the fabric winding and unwinding working mode is in the fabric winding mode or the fabric unwinding mode, and in the fabric winding mode or the fabric unwinding mode, the corresponding fabric winding and unwinding roller 302 is in the starting operation stage, the automatic operation stage, and the completion operation stage.

[0057] The method for flexibly selecting and adjusting the operation control strategy of the fabric winding and unwinding roller 302 when judging that the fabric winding and unwinding working mode is in the fabric winding mode includes: when the fabric winding and unwinding roller 302 is in the starting operation stage, selecting the tracking control strategy, and calculating and reducing n according to the feedback operating speed n z of the execution roller 308, and finally generating the calculated set operating speed N b of the fabric winding and unwinding roller 302. b The calculation formula is: In the formula, R b is the real-time radius of the fabric winding and unwinding roller 302, and r z is the radius of the execution roller 308; when the feedback operating speed of the execution roller 308 reaches the preset transfer speed, and the operating speed of the fabric winding and unwinding roller 302 tracks the operating speed of the execution roller 308 and changes stably, the total duration is preset as X, and it is judged whether the operating duration of the fabric winding and unwinding roller 302 is greater than the preset total duration X. If it is greater, the fabric winding and unwinding roller 302 enters the automatic operation stage. Otherwise, the fabric winding and unwinding roller 302 is in the starting operation stage; when the fabric winding and unwinding roller 302 is in the automatic operation stage, select the PID control strategy and adopt an advanced dynamic control algorithm to automatically control the operating speed of the fabric winding and unwinding roller 302 in real time.

[0058] It should be understood that the value of n is determined according to the response time of the fabric take-up and pay-off roller 302 and the stroke adjustment range of the tension roller 305, and is generally the feedback running speed n of the actuating roller 308 z which is 0-3% of that of z . Thus, during the startup operation phase, the running speed of the fabric take-up and pay-off roller 302 can be calculated and set in real time according to the running speed of the actuating roller 308. During the process from the startup operation phase to the stable entry into the automatic operation phase, the total duration is preset as X, generally 3-6 seconds, to determine that the fabric take-up and pay-off roller 302 is stably in the automatic operation phase, so that the running speed of the fabric take-up and pay-off roller 302 can be automatically controlled in real time by using the PID control strategy to meet the regulation requirements

[0059] In the fabric take-up mode and when the fabric take-up and pay-off roller 302 is in the automatic operation phase, the method for automatically controlling the running speed of the fabric take-up and pay-off roller 302 in real time by using the PID control strategy includes: obtaining the position distance of the end of the tension roller 305 in the kidney-shaped chute 304 according to the tension roller distance measuring sensor 303, and applying the positive action mechanism to adjust the running speed of the fabric take-up and pay-off roller 302 in real time. Among them, the advanced dynamic control algorithm formula is In the formula, ut is the output for adjusting the running speed of the fabric take-up and pay-off roller 302; e(t) is the position distance error of the tension roller 305; K p is the proportionality coefficient, which adjusts the output intensity of the running speed of the fabric take-up and pay-off roller 302 according to the position distance error of the end of the tension roller 305 in the kidney-shaped chute 304, so that the actual position of the tension roller 305 quickly approaches the desired position; K i is the integral coefficient, which adjusts the output offset of the running speed of the fabric take-up and pay-off roller 302 according to the position distance error of the end of the tension roller 305 in the kidney-shaped chute 304, so that the actual position of the tension roller 305 can finally reach the desired position; K d is the differential coefficient, which adjusts the output change of the running speed of the fabric take-up and pay-off roller 302 according to the position distance error of the end of the tension roller 305 in the kidney-shaped chute 304, so that the actual position of the tension roller 305 approaches the desired position in the long term

[0060] It should be understood that in the fabric take-up mode, the principle of the positive action mechanism of the PID control strategy is as follows: set the desired position of the tension roller 305, and calculate the position error between the real-time position and the desired position of the tension roller 305; when the position error of the tension roller 305 shifts to a positive value, the PID control adjusts the running speed of the fabric take-up and pay-off roller 302 to increase; when the position error of the tension roller 305 shifts to a negative value, the PID control adjusts the running speed of the fabric take-up and pay-off roller 302 to decrease; finally, the tension roller 305 is in the desired position, so as to ensure that the fabric take-up working mode is executed uniformly and stably until the execution ends and the work stops

[0061] When it is determined that the fabric winding and unwinding working mode is in the fabric unwinding mode, the method of flexibly selecting and adjusting the operation control strategy of the fabric winding and unwinding roller 302 includes: when the fabric winding and unwinding roller 302 is in the starting operation stage, the tracking control strategy is selected, and based on the feedback operation speed n of the execution roller 308 z , after calculating and adjusting m, the calculated set operation speed N of the fabric winding and unwinding roller 302 is finally generated b , the operation speed N of the fabric winding and unwinding roller 302 b The calculation formula is: In the formula, R b is the real-time radius of the fabric winding and unwinding roller 302, and r z is the radius of the execution roller 308; when the feedback operation speed of the execution roller 308 reaches the preset operation speed, and when the operation speed of the fabric winding and unwinding roller 302 tracks the stable change of the operation speed of the execution roller 308, the total duration is preset as X, and it is judged whether the operation duration of the fabric winding and unwinding roller 302 is greater than the preset total duration X. If it is greater, the fabric winding and unwinding roller 302 enters the automatic operation stage. Otherwise, the fabric winding and unwinding roller 302 is in the starting operation stage; when the fabric winding and unwinding roller 302 is in the automatic operation stage, the PID control strategy is adopted, and an advanced dynamic control algorithm is used to automatically control the operation speed of the fabric winding and unwinding roller 302 in real time.

[0062] It should be understood that the value of m is determined according to the response time of the fabric winding and unwinding roller 302 and the stroke adjustment range of the tension roller 305, generally 0-3% of the feedback operation speed of the execution roller 308. Thus, in the starting operation stage, the operation speed of the fabric winding and unwinding roller 302 can be calculated and set in real time according to the operation speed of the execution roller 308; during the process from the starting operation stage to the stable entry into the automatic operation stage, the total duration is preset as X, generally 3-6 seconds, to judge that the fabric winding and unwinding roller 302 is stably in the automatic operation stage, so that the operation speed of the fabric winding and unwinding roller 302 can be automatically controlled in real time by adopting the PID control strategy to meet the regulation requirements.

[0063] In the fabric unwinding mode, and when the fabric winding and unwinding roller 302 is in the automatic operation stage, the method of using the PID control strategy to automatically control the operation speed of the fabric winding and unwinding roller 302 in real time includes: based on the position distance of the end of the tension roller 305 in the kidney-shaped chute 304 obtained by the tension roller distance measuring sensor 303, applying the reaction mechanism to adjust the operation speed of the fabric winding and unwinding roller 302 in real time. Among them, the advanced dynamic control algorithm formula is: In the formula, ut is the output for adjusting the operation speed of the fabric winding and unwinding roller 302; e(t) is the position distance error of the tension roller 305; K p is the proportional coefficient, which adjusts the output intensity of the operation speed of the fabric winding and unwinding roller 302 according to the position distance error of the end of the tension roller 305 in the kidney-shaped chute 304, so that the actual position of the tension roller 305 quickly approaches the desired position; K iK is the integral coefficient. According to the position distance error of the end of the tension roller 305 in the kidney-shaped chute 304, the output offset of the running speed of the cloth winding and unwinding roller 302 is adjusted, so that the actual position of the tension roller 305 can finally reach the desired position. d K is the differential coefficient. According to the position distance error of the end of the tension roller 305 in the kidney-shaped chute 304, the output change of the running speed of the cloth winding and unwinding roller 302 is adjusted, so that the actual position of the tension roller 305 approaches the desired position in the long term.

[0064] It should be understood that in the cloth unwinding mode, the principle of the reaction mechanism of the PID control strategy is as follows: the desired position of the tension roller 305 is set, and the position error between the real-time position and the desired position of the tension roller 305 is calculated; when the position error of the tension roller 305 shifts to a positive value, the PID control adjusts the running speed of the cloth winding and unwinding roller 302 to become smaller; when the position error of the tension roller 305 shifts to a negative value, the PID control adjusts the running speed of the cloth winding and unwinding roller 302 to become larger; finally, the tension roller 305 is in the desired position, so as to ensure that the cloth winding work mode is executed uniformly and stably until the execution ends and the work stops.

[0065] During the use of the automatic control method of the present application, whether the cloth winding and unwinding roller 302 is in the cloth winding work mode or the cloth unwinding work mode, it needs to go through three operation stages. The first stage is the start-up operation stage, and the tracking control strategy is adopted. The running speed of the cloth winding and unwinding roller 302 gradually reaches a speed matching the running speed of the execution roller 308. The second stage is the automatic operation stage, and the PID control strategy is adopted. At this time, the speed of the cloth winding and unwinding roller 302 has basically matched the speed of the execution roller 308. During the process of switching the PID control method, it can quickly reach a stable control state, and there will be no obvious speed fluctuation of the filter cloth 307 for winding and unwinding, so that the work of the filter cloth 307 for winding and unwinding is executed more uniformly and stably; the third stage is the completion operation stage. The cloth winding and unwinding roller distance measuring sensor 301 monitors the data in real time, and compares it with the limit value of the roller diameter of the cloth winding and unwinding roller, and automatically executes the end of the cloth winding and unwinding work of the sludge filter press.

[0066] Embodiment 2

[0067] As Figure 3As shown in the figure, the present invention also provides an automatic control device for cloth winding and unwinding of a sludge filter press, which includes a cloth winding and unwinding roller 302, a tension roller 305, a cloth pressing roller 306, and an actuating roller 308 that sequentially convey and transfer the filter cloth 307. An ultrasonic distance measuring sensor 301 is provided outside the cloth winding and unwinding roller 302, and the ultrasonic distance measuring sensor 301 is used to measure the real-time roller diameter size of the cloth winding and unwinding roller 302 and the remaining amount of the filter cloth 307. A tension roller distance measuring sensor 303 is provided outside the tension roller 305, and the tension roller distance measuring sensor 303 is used to measure the position distance of the end of the tension roller 305 in the kidney-shaped chute 304. The actuating roller 308 and the cloth pressing roller 306 drive the filter cloth 307 to perform cloth winding and unwinding work at a fixed running speed through pressing; among them, when the cloth winding and unwinding roller 302 is in the cloth winding mode or the cloth unwinding mode, the automatic control method in Embodiment 1 is implemented.

[0068] During the use of this automatic control device, the working mode of the sludge filter press can be pre-judged and determined according to the real-time operating state data of the actuating roller 308, the cloth winding and unwinding roller 302, and the distance measuring sensors 301 and 303. Its working mode includes a cloth winding working mode or a cloth unwinding working mode. In the cloth winding working mode, the number of layers of the filter cloth 307 wound on the corresponding cloth winding and unwinding roller 302 continuously increases. In the cloth unwinding working mode, the number of layers of the filter cloth 307 wound on the corresponding cloth winding and unwinding roller 302 continuously decreases. Therefore, for different working modes, different control strategies can be adopted to automatically control the running speed of the cloth winding and unwinding roller 302 in real time, so as to ensure that the sludge filter press can maintain a stable and efficient working state when performing cloth winding and unwinding operations.

[0069] Embodiment 3

[0070] As Figure 4 shown in the figure, the present invention also provides an automatic control system for cloth winding and unwinding of a sludge filter press, which includes an ultrasonic distance measuring sensor 301 for measuring the real-time roller diameter size of the cloth winding and unwinding roller 302 and the remaining amount of the filter cloth 307, a tension roller distance measuring sensor 303 for measuring the position distance of the end of the tension roller 305 in the kidney-shaped chute 304, an actuating roller 308 for controlling the cloth winding and unwinding of the filter cloth 307 to run at a fixed speed, and a processing and storage device for controlling the rotation speed of the cloth winding and unwinding roller 302 to automatically adapt to the cloth winding and unwinding work along with the change of the roller diameter. When the processing and storage device executes, the automatic control method in Embodiment 1 is implemented.

[0071] During the use of this automatic control system, the working mode of the sludge filter press can be determined in advance according to the real-time operation status data of the execution roller 308, the cloth winding and unwinding roller 302, and the distance measuring sensors 301 and 303. The working mode includes the cloth winding working mode or the cloth unwinding working mode. In the cloth winding working mode, the number of layers of the filter cloth 307 wound on the corresponding cloth winding and unwinding roller 302 continuously increases. In the cloth unwinding working mode, the number of layers of the filter cloth 307 wound on the corresponding cloth winding and unwinding roller 302 continuously decreases. Therefore, for different working modes, different control strategies can be adopted to automatically control the running speed of the cloth winding and unwinding roller 302 in real time, so as to ensure that the sludge filter press can maintain a stable and efficient working state when performing the cloth winding and unwinding operation.

[0072] Embodiment 4

[0073] As Figure 5 shown, the present invention also provides an automatic control device for cloth winding and unwinding of a sludge filter press, which includes a processor, a memory, an I / O interface, and a communication interface. The I / O interface is used to obtain data information, and the communication interface is used to transmit data externally. A computer program is stored on the memory, and when the computer program is executed by the processor, it realizes the automatic control method as in Embodiment 1.

[0074] During the use of this automatic control device, the working mode of the sludge filter press can be determined in advance according to the real-time operation status data of the execution roller 308, the cloth winding and unwinding roller 302, and the distance measuring sensors 301 and 302. The working mode includes the cloth winding working mode or the cloth unwinding working mode. In the cloth winding working mode, the number of layers of the filter cloth 307 wound on the corresponding cloth winding and unwinding roller 302 continuously increases. In the cloth unwinding working mode, the number of layers of the filter cloth 307 wound on the corresponding cloth winding and unwinding roller 302 continuously decreases. Therefore, for different working modes, different control strategies can be adopted to automatically control the running speed of the cloth winding and unwinding roller 302 in real time, so as to ensure that the sludge filter press can maintain a stable and efficient working state when performing the cloth winding and unwinding operation.

[0075] The above has described a detailed description of an embodiment of the present invention, but the content described is only a preferred embodiment of the present invention and cannot be considered as limiting the scope of implementation of the present invention. All equivalent changes and improvements made according to the scope of the present invention application should still fall within the scope covered by the patent of the present invention.

Claims

1. A method for automatically controlling the release and retraction of a sludge filter press, characterized in that: The following steps are involved: Acquire real-time operating status data of the execution roller (308), the cloth-receiving and -releasing roller (302) and the distance measuring sensor, and intelligently determine the working mode and operating stage of the cloth-receiving and -releasing machine of the sludge filter press; wherein the intelligent determination of the working mode of the cloth-receiving and -releasing machine of the sludge filter press includes a cloth-receiving mode or a cloth-releasing mode, and the corresponding cloth-receiving and -releasing roller (302) in the cloth-receiving mode or the cloth-releasing mode is in the starting operation stage, the automatic operation stage and the completed operation stage; According to the current working mode and operation stage of the cloth retracting and releasing of the sludge filter press, the operation control strategy of the cloth retracting and releasing roller (302) is flexibly selected and adjusted; The operation control strategy includes the first stage as the start-up operation stage, which adopts the tracking control strategy. During this process, the operation speed of the cloth retracting and releasing rollers gradually reaches the speed matching the execution roller; The second stage is the automatic operation stage, which uses the positive and negative action mechanism of the PID control strategy to automatically control the running speed of the cloth-retracting and -releasing roller (302) in real time; The third stage is the operation completion stage, in which the real-time roller diameter size of the retracting and releasing roller (302) is obtained according to the retracting and releasing roller distance measuring sensor (301), and it is automatically determined whether to terminate the retracting and releasing work of the sludge filter press.

2. The automatic control method for releasing and collecting cloth of a sludge filter press according to claim 1 is characterized in that: Acquiring real-time operating status data of the execution roller (308), the cloth-retracting and -releasing roller (302) and the distance-measuring sensor includes: Obtaining the running speed and forward and reverse rotation status of the execution roller (308); Obtaining the running speed and forward and reverse rotation status of the cloth-retracting and -releasing roller (302); Acquiring the real-time roller diameter of the retractable cloth roller (302) and the remaining amount of the filter cloth (307) through a retractable cloth roller distance measuring sensor (301); The position distance of the end of the tension roller (305) in the waist-shaped slide groove (304) is obtained through the tension roller distance measuring sensor (303).

3. The automatic control method for releasing and collecting cloth of a sludge filter press according to claim 1 is characterized in that: Methods for determining the working mode of retracting and releasing cloth include: The cloth-releasing and retracting working mode is automatically determined based on the forward and reverse rotation state data of the execution roller (308); when the execution roller (308) is in the forward rotation state, it is determined to be the cloth-releasing working mode, and the cloth-releasing and retracting roller (302) is set to the forward rotation state; when the execution roller (308) is in the reverse rotation state, it is determined to be the cloth-retracting working mode, and the cloth-releasing and retracting roller (302) is set to the reverse rotation state.

4. The automatic control method for releasing and collecting cloth of a sludge filter press according to claim 3 is characterized in that: The method for judging that the cloth collecting and releasing working mode is in the cloth collecting mode and flexibly selecting and adjusting the operation control strategy of the cloth collecting and releasing roller (302) comprises: The cloth-retracting and unreeling roller (302) is in the start-up operation stage, and the tracking control strategy is selected to feedback the running speed based on the real-time acquired execution roller (308) After calculating and adjusting n downward, the running speed of the cloth-retracting and -releasing roller (302) is finally generated and calculated and set. , the cloth retracting and releasing roller (302) running speed The calculation formula is: , in the formula, is the real-time radius of the cloth retracting and releasing roller (302), for the radius of the execution roller (308); When the feedback running speed of the execution roller (308) reaches the preset transfer speed, and the running speed of the cloth-retracting and -releasing roller (302) tracks the running speed of the execution roller (308) and changes stably, the total time is preset to X, and it is judged whether the running time of the cloth-retracting and -releasing roller (302) is greater than the preset total time X. If it is greater, the cloth-retracting and -releasing roller (302) enters the automatic operation stage, otherwise, the cloth-retracting and -releasing roller (302) is in the start-up operation stage; The cloth-retracting and -releasing roller (302) is in the automatic operation stage, and a PID control strategy is selected, and an advanced dynamic control algorithm is adopted to automatically control the running speed of the cloth-retracting and -releasing roller (302) in real time.

5. The automatic control method for releasing and collecting cloth of a sludge filter press according to claim 4 is characterized in that: In the cloth collecting mode, and the cloth collecting and releasing roller (302) is in the automatic operation stage, the method of using the PID control strategy to automatically control the running speed of the cloth collecting and releasing roller (302) in real time includes: obtaining the position distance of the end of the tension roller (305) in the waist-shaped slide groove (304) according to the tension roller distance sensor (303), applying the positive action mechanism, and adjusting the running speed of the cloth collecting and releasing roller (302) in real time, wherein the advanced dynamic control algorithm formula is: , in the formula, Output for adjusting the running speed of the cloth-retracting and -releasing roller (302); is the position distance error of the tension roller (305); is a proportionality coefficient, and according to the position distance error of the end of the tension roller (305) in the waist-shaped slide groove (304), the output intensity of the running speed of the cloth-retracting and releasing roller (302) is adjusted, so that the actual position of the tension roller (305) quickly approaches the desired position; is an integral coefficient, and according to the position distance error of the end of the tension roller (305) in the waist-shaped slide groove (304), the output deviation of the running speed of the cloth-retracting and releasing roller (302) is adjusted, so that the actual position of the tension roller (305) can eventually reach the desired position; is a differential coefficient, and according to the position distance error of the end of the tension roller (305) in the waist-shaped slide groove (304), the output change of the running speed of the cloth-retracting and releasing roller (302) is adjusted, so that the actual position of the tension roller (305) is close to the expected position for a long time.

6. The automatic control method for releasing and collecting cloth of a sludge filter press according to claim 3 is characterized in that: The method for judging that the cloth-retracting and -releasing working mode is in the cloth-releasing mode and flexibly selecting and adjusting the operation control strategy of the cloth-retracting and -releasing roller (302) comprises: The cloth-retracting and unreeling roller (302) is in the start-up operation stage, and the tracking control strategy is selected to feedback the running speed based on the real-time acquired execution roller (308) After calculating and adjusting m, the running speed of the cloth-retracting and -releasing roller (302) is finally generated and calculated and set. , the cloth retracting and releasing roller (302) running speed The calculation formula is: , in the formula, is the real-time radius of the cloth retracting and releasing roller (302), for the radius of the execution roller (308); When the feedback running speed of the execution roller (308) reaches the preset transfer speed, and the running speed of the cloth-retracting and -releasing roller (302) tracks the running speed of the execution roller (308) and changes stably, the total time is preset to X, and it is judged whether the running time of the cloth-retracting and -releasing roller (302) is greater than the preset total time X. If it is greater, the cloth-retracting and -releasing roller (302) enters the automatic operation stage, otherwise, the cloth-retracting and -releasing roller (302) is in the start-up operation stage; The cloth-retracting and -releasing roller (302) is in the automatic operation stage, and a PID control strategy is selected, and an advanced dynamic control algorithm is adopted to automatically control the running speed of the cloth-retracting and -releasing roller (302) in real time.

7. The automatic control method for releasing and collecting cloth of a sludge filter press according to claim 6 is characterized in that: In the cloth placing mode, and the cloth taking-up and taking-up roller (302) is in the automatic operation stage, the method of selecting the PID control strategy to automatically control the running speed of the cloth taking-up and taking-up roller (302) in real time includes: obtaining the position distance of the end of the tension roller (305) in the waist-shaped slide groove (304) according to the tension roller distance sensor (303), applying the reaction mechanism, and adjusting the running speed of the cloth taking-up and taking-up roller (302) in real time, wherein the advanced dynamic control algorithm formula is: , in the formula, Output for adjusting the running speed of the cloth-retracting and -releasing roller (302); is the position distance error of the tension roller (305); is a proportionality coefficient, and according to the position distance error of the end of the tension roller (305) in the waist-shaped slide groove (304), the output intensity of the running speed of the cloth-retracting and releasing roller (302) is adjusted, so that the actual position of the tension roller (305) quickly approaches the desired position; is an integral coefficient, and according to the position distance error of the end of the tension roller (305) in the waist-shaped slide groove (304), the output deviation of the running speed of the cloth-retracting and releasing roller (302) is adjusted, so that the actual position of the tension roller (305) can eventually reach the desired position; is a differential coefficient, and according to the position distance error of the end of the tension roller (305) in the waist-shaped slide groove (304), the output change of the running speed of the cloth-retracting and releasing roller (302) is adjusted, so that the actual position of the tension roller (305) is close to the expected position for a long time.

8. The automatic control method for releasing and collecting cloth of a sludge filter press according to claim 1 is characterized in that: The method for automatically judging whether to terminate the cloth collection and release work of the sludge filter press includes: In cloth placing mode, set the lower limit of the roller diameter of the cloth placing and retracting roller (302). , when the real-time value of the cloth roller distance sensor (301) is less than , it is determined that the cloth-releasing roller (302) has completed the operation stage, and the cloth-releasing work of the sludge filter press is automatically terminated; In cloth collecting mode, set the upper limit of the roller diameter of the cloth collecting and releasing roller (302). , when the real-time value of the cloth roller distance sensor (301) is greater than , it is determined that the cloth-retracting and -releasing roller (302) has completed the operation stage, and the cloth-retracting work of the sludge filter press is automatically terminated.

9. An automatic control device for releasing and collecting cloth of a sludge filter press, characterized in that: The invention comprises a cloth-retracting roller (302), a tension roller (305), a cloth-pressing roller (306) and an execution roller (308) for sequentially conveying and transferring a filter cloth (307); a cloth-retracting roller distance sensor (301) is arranged outside the cloth-retracting roller (302); the cloth-retracting roller distance sensor (301) is used to measure the real-time roller diameter of the cloth-retracting roller (302) and the remaining amount of the filter cloth (307); a tension roller distance sensor (303) is arranged outside the tension roller (305); the tension roller distance sensor (303) is used to measure the position distance of the end of the tension roller (305) in a waist-shaped chute (304); the execution roller (308) and the cloth-pressing roller (306) drive the filter cloth (307) by pressing to perform cloth-retracting work at a fixed running speed; When the cloth-retracting and -releasing roller (302) is in the cloth-retracting mode or the cloth-releasing mode, the automatic control method according to any one of claims 1 to 8 is implemented.

10. An automatic control system for releasing and collecting cloth of a sludge filter press, characterized in that: The invention comprises a cloth retracting and releasing cloth roller distance measuring sensor (301) for measuring the real-time roller diameter size of the cloth retracting and releasing cloth roller (302) and the remaining amount of the filter cloth (307), a tension roller distance measuring sensor (303) for measuring the position distance of the end of the tension roller (305) in the waist-shaped slide groove (304), an execution roller (308) for controlling the retracting and releasing of the filter cloth (307) to run at a fixed speed, and a processing and storage device, wherein when the processing and storage device is executed, the automatic control method according to any one of claims 1 to 8 is realized.

11. An automatic control device for collecting and releasing cloth of a sludge filter press, characterized in that: It includes a processor, a memory, an I / O interface and a communication interface, the I / O interface is used to obtain data information, the communication interface is used to transmit data to the outside, the memory stores a computer program, and when the computer program is executed by the processor, it implements the automatic control method as described in any one of claims 1 to 8.

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