Automatic deviation rectifying system and method for traveling type suction dredger

Abstract

The invention discloses a travelling crane type suction dredger automatic deviation correction system, which comprises a data acquisition system, a signal transmission system, a data analysis control system and a display operation system, and is characterized in that the data acquisition system comprises four groups of displacement sensors, four groups of proximity switches and four groups of proximity sensors; the two sets of proximity switches are installed on the inner side wheel edges of four sets of driving wheels of the traveling type suction dredger respectively and used for monitoring the distances from the inner side wheel edges of the four sets of driving wheels to the side face of a rail, the two sets of proximity switches are installed on the inner side wheel edges of the two sets of driving wheels in the same advancing or retreating direction respectively, and the proximity sensors are arranged on the front side and the rear side of the traveling type suction dredger respectively. The signal transmission system comprises an amplifier, a data transmission cable and a data conversion module, and the data analysis control system is a PLC independent control module. The device has the advantages that accurate deviation correction of the traveling crane can be achieved, the traveling condition of the traveling crane can be monitored, and the phenomena of rail gnawing and deviation of the traveling crane are prevented and eliminated.

Description

Technical Field

[0001] The invention relates to the technical field of working of a traveling type sludge suction machine, and in particular to an automatic deviation correction system and method of a traveling type sludge suction machine. Background Art

[0002] The traveling sludge suction machine is a kind of equipment that is widely used in sewage treatment plants. The bridge span of this equipment is long, and most of them are driven by dual drive devices on both sides. Although this operation mode can make the operation stable due to the synchronous transmission of rollers on both sides. Under normal operation, the driving wheel of the traveling sludge suction machine must be on the center line of the track. However, in daily operation, the driving wheel often deviates due to the difference in the operating speed of the driving system on both sides or unilateral slippage on rainy days. The deviation of the driving wheel will cause the driving wheel to bite the track, and then there will be faults such as accelerated wear of the driving wheel, abnormal noise, derailment, and bearing damage. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic deviation correction system and method for a traveling sludge suction machine, which can not only realize accurate deviation correction of the traveling vehicle, but also monitor the traveling condition of the traveling vehicle, and prevent and eliminate the occurrence of the phenomenon of the traveling vehicle gnawing on the track and running off the track.

[0004] The above technical objectives of the present invention are achieved through the following technical solutions:

[0005] An automatic deviation correction system for a traveling sludge suction machine is characterized in that it includes a data acquisition system, a signal transmission system, a data analysis control system and a display operation system. The data acquisition system includes a displacement sensor, a proximity switch and a proximity sensor. A total of four groups of displacement sensors are provided, which are respectively installed on the inner wheel edges of four groups of driving wheels of the traveling sludge suction machine to monitor the distance between the four groups of inner wheel edges of the driving wheels and the side of the track. Two groups of proximity switches are provided, which are respectively installed on the inner wheel edges of two groups of driving wheels in the same forward or backward direction. Blocks are welded on the inner sides of the two groups of driving wheels as trigger signals for corresponding proximity switch data recording. The proximity sensors are respectively arranged on the front and rear sides of the traveling sludge suction machine. The proximity sensors calibrate basic data and initial values. The signal transmission system includes an amplifier, a data transmission cable and a data conversion module. The data analysis control system is a PLC independent control module.

[0006] Preferably, the proximity switch calculates the instantaneous speed of the corresponding driving wheel, the travel distance and the flatness of the track through a dedicated counting module in the PLC independent control module through the trigger data signal of the block.

[0007] Preferably, the data acquisition system transmits the acquisition signal to the PLC independent control module through an amplifier, a data transmission cable and a data conversion module.

[0008] Preferably, the PLC independent control module controls the motor frequency converter of the traveling sludge suction machine.

[0009] Preferably, the displacement sensor and the proximity switch are both installed on the inner wheel side frame of the driving wheel by welding angle steel and channel steel.

[0010] An automatic deviation correction method for a traveling type suction dredger is characterized by: adopting a non-master-slave mode to control the speed through distance deviation correction and speed deviation correction respectively;

[0011] Distance deviation correction is as follows:

[0012] When the displacement sensor detects that the driving wheel on the same side is close to the track and deviates to the left or right by 1‰ to 3‰ of the span of the traveling sludge suction machine, the driving wheel on the non-offset side will slow down actively. When the displacement sensor detects that the driving wheel on the same side is close to the track and deviates to the left or right by less than 1‰ of the span of the traveling sludge suction machine, no correction will be made. When the displacement sensor detects that the driving wheel on the same side is close to the track and deviates to the left or right by more than 3‰ of the span of the traveling sludge suction machine, the four sets of driving wheels of the traveling sludge suction machine will automatically stop and alarm, requiring manual correction. The PLC independent control module will simultaneously transmit data to the display operating system for display reminders.

[0013] The speed deviation correction control is as follows:

[0014] Using the incremental PID algorithm, the speed deviation of the parallel track vehicle is caused by the inconsistent power provided by the motors on both sides during the movement. The speed offset increases with time. The correction link is regarded as an integral link, and the motor and other transmission systems can be approximately regarded as inertia links. The specific calculation formula of the PID algorithm is:

[0015]

[0016] Where K p is the proportional gain, K D is the differential coefficient, K I is the integration coefficient.

[0017] Preferably, the PID algorithm control output in the automatic deviation correction system is the speed additional value ΔI, and the input is the position deviation value ΔS, so formula (1) is also expressed as:

[0018]

[0019] Preferably, the PLC control is implemented by numerical approximation, using differential equations to replace differential equations, and the PID algorithm control law is as follows:

[0020]

[0021] By determining the appropriate parameters and calculating ΔS(i) (i=1,...k), we can get ΔI*(k).

[0022] Preferably, the two groups of control, namely, distance deviation correction and speed deviation correction, are implemented on a first-come-first-served basis.

[0023] To sum up, the beneficial effects of the present invention are as follows: by adopting the non-master-slave mode, the driving accuracy can be corrected by controlling the speed through distance deviation correction and speed deviation correction respectively, and the driving conditions can be monitored to prevent and eliminate the occurrence of track biting and deviation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the system composition of the present invention. DETAILED DESCRIPTION

[0025] The following is a further description of the specific implementation of the present invention in conjunction with the accompanying drawings, which does not constitute a limitation to the present invention.

[0026] like Figure 1 An automatic deviation correction system for a traveling sludge suction machine shown in the figure includes a data acquisition system, a signal transmission system, a data analysis control system and a display operation system. The data acquisition system includes a displacement sensor, a proximity switch and a proximity sensor. There are four groups of displacement sensors, which are respectively installed on the inner wheel sides of four groups of driving wheels of the traveling sludge suction machine to monitor the distance between the four groups of inner wheel sides of the driving wheels and the side of the track. There are two groups of proximity switches, which are respectively installed on the inner wheel sides of two groups of driving wheels in the same forward or backward direction. Blocks are welded on the inner sides of the two groups of driving wheels as trigger signals for corresponding proximity switch data recording. The proximity sensors are respectively arranged on the front and rear sides of the traveling sludge suction machine. The proximity sensors calibrate basic data and initial values. The signal transmission system includes an amplifier, a data transmission cable and a data conversion module. The data analysis control system is a PLC independent control module.

[0027] The trigger data signal of the proximity switch through the block calculates the instantaneous speed of the corresponding driving wheel, the travel distance and the flatness of the track through the dedicated counting module in the PLC independent control module.

[0028] The data acquisition system transmits the collected signals to the PLC independent control module through the amplifier, data transmission cable and data conversion module.

[0029] The PLC independent control module controls the motor inverter of the traveling sludge suction machine.

[0030] The displacement sensor and the proximity switch are both installed on the inner wheel side frame of the driving wheel by welding angle steel and channel steel.

[0031] An automatic deviation correction method for a traveling sludge suction machine adopts a non-master-slave mode to control the speed through distance deviation correction and speed deviation correction respectively. The two groups of control, distance deviation correction and speed deviation correction, implement the first-come-first-served principle. When any control reaches the deviation correction condition or parking or power failure condition, the PLC independent control module executes the action to play a double insurance role.

[0032] Distance deviation correction is as follows:

[0033] When the displacement sensor detects that the driving wheel on the same side is close to the track and deviates to the left or right by 1‰ to 3‰ of the span of the traveling sludge suction machine, the driving wheel on the non-offset side will slow down actively. When the displacement sensor detects that the driving wheel on the same side is close to the track and deviates to the left or right by less than 1‰ of the span of the traveling sludge suction machine, no correction will be made. When the displacement sensor detects that the driving wheel on the same side is close to the track and deviates to the left or right by more than 3‰ of the span of the traveling sludge suction machine, the four sets of driving wheels of the traveling sludge suction machine will automatically stop and alarm, requiring manual correction. The PLC independent control module will simultaneously transmit data to the display operating system for display reminders.

[0034] The speed deviation correction control is as follows:

[0035] Using the incremental PID algorithm, the speed deviation of the parallel track vehicle is caused by the inconsistent power provided by the motors on both sides during the movement. The speed offset increases with time. The correction link is regarded as an integral link, and the motor and other transmission systems can be approximately regarded as inertia links. The specific calculation formula of the PID algorithm is:

[0036]

[0037] Where K p is the proportional gain, K D is the differential coefficient, K I is the integration coefficient.

[0038] The PID algorithm control output in the automatic deviation correction system is the speed additional value ΔI, and the input is the position deviation value ΔS, so formula (1) can also be expressed as:

[0039]

[0040] Because of the PLC control adopted, it is realized through the method of numerical approximation, using the difference equation to replace the differential equation. The PID algorithm control law is as follows:

[0041]

[0042] By determining the appropriate parameters and calculating ΔS(i) (i=1,...k), we can get ΔI*(k).

[0043] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the essence and protection scope of the present invention, and such modifications or equivalent substitutions should also be deemed to fall within the protection scope of the technical solution of the present invention.

Claims

1. An automatic deviation correction system for a traveling sludge suction machine, characterized in that: It includes a data acquisition system, a signal transmission system, a data analysis control system and a display operation system. The data acquisition system includes a displacement sensor, a proximity switch and a proximity sensor. There are four groups of displacement sensors, which are respectively installed on the inner wheel sides of four groups of driving wheels of the traveling sludge suction machine to monitor the distance between the four groups of inner wheel sides of the driving wheels and the side of the track. There are two groups of proximity switches, which are respectively installed on the inner wheel sides of two groups of driving wheels in the same forward or backward direction. Blocks are welded on the inner sides of the two groups of driving wheels as trigger signals for corresponding proximity switch data recording. The proximity sensors are respectively arranged on the front and rear sides of the traveling sludge suction machine. The proximity sensors calibrate basic data and initial values. The signal transmission system includes an amplifier, a data transmission cable and a data conversion module. The data analysis control system is a PLC independent control module.

2. The automatic deviation correction system of a traveling sludge suction machine according to claim 1 is characterized in that: The proximity switch uses the trigger data signal of the block to calculate the instantaneous speed of the corresponding driving wheel, the travel distance and the flatness of the track through a dedicated counting module in the PLC independent control module.

3. The automatic deviation correction system of a traveling sludge suction machine according to claim 1 is characterized in that: The data acquisition system transmits the data to the PLC independent control module through the amplifier, the data transmission cable and the data conversion module.

4. The automatic deviation correction system of a traveling sludge suction machine according to claim 1 is characterized in that: The PLC independent control module controls the motor frequency converter of the traveling sludge suction machine.

5. The automatic deviation correction system of a traveling sludge suction machine according to claim 1 is characterized in that: The displacement sensor and the proximity switch are both installed on the inner wheel side frame of the driving wheel by welding angle steel and channel steel.

6. A method for automatically correcting the deviation of a traveling sludge suction machine, characterized in that: The non-master-slave mode is adopted to control the speed through distance deviation correction and speed deviation correction respectively; Distance deviation correction is as follows: When the displacement sensor detects that the driving wheel on the same side is close to the track and deviates to the left or right by 1‰ to 3‰ of the span of the traveling sludge suction machine, the driving wheel on the non-offset side will slow down actively. When the displacement sensor detects that the driving wheel on the same side is close to the track and deviates to the left or right by less than 1‰ of the span of the traveling sludge suction machine, no correction will be made. When the displacement sensor detects that the driving wheel on the same side is close to the track and deviates to the left or right by more than 3‰ of the span of the traveling sludge suction machine, the four sets of driving wheels of the traveling sludge suction machine will automatically stop and alarm, requiring manual correction. The PLC independent control module will simultaneously transmit data to the display operating system for display reminders. The speed deviation correction control is as follows: Using the incremental PID algorithm, the speed deviation of the parallel track vehicle is caused by the inconsistent power provided by the motors on both sides during the movement. The speed offset increases with time. The correction link is regarded as an integral link, and the motor and other transmission systems can be approximately regarded as inertia links. The specific calculation formula of the PID algorithm is: Where K p is the proportional gain, K D is the differential coefficient, K I is the integration coefficient.

7. The automatic deviation correction method of a traveling sludge suction machine according to claim 6 is characterized in that: The PID algorithm control output in the automatic deviation correction system is the speed additional value ΔI, and the input is the position deviation value ΔS, so formula (1) is also expressed as:

8. The automatic deviation correction method of a traveling sludge suction machine according to claim 7 is characterized in that: The PLC control is implemented by numerical approximation, using differential equations to replace differential equations. The PID algorithm control law is as follows: By determining the appropriate parameters and calculating ΔS(i) (i=1,...k), we can get ΔI*(k).

9. The automatic deviation correction method of a traveling sludge suction machine according to claim 6 is characterized in that: The two groups of control of distance deviation correction and speed deviation correction are implemented on a first-come-first-served basis.

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