Control method, device and system of molten iron transportation system and electronic equipment

Abstract

The invention provides a control method, device and system of a molten iron transportation system and electronic equipment, and relates to the technical field of molten iron car control. The method comprises the following steps: acquiring a motion distance and a motion constraint condition between a starting position and a target position of the molten iron transport vehicle; wherein the motion constraint conditions comprise the maximum speed, the sliding speed and the shortest sliding distance; the shortest sliding distance is smaller than the movement distance; determining a first acceleration control strategy according to the maximum speed and a preset S-shaped speed curve, and determining a second acceleration control strategy according to the maximum speed, the sliding speed, the shortest sliding distance and the preset S-shaped speed curve; wherein the preset S-shaped speed curve is constructed according to a sinx * sinx function; and determining a target control strategy according to the movement distance, the first acceleration control strategy and the second acceleration control strategy, and generating a power drive control instruction of the molten iron transport vehicle according to the target control strategy. The stability of the molten iron transport vehicle can be improved, and molten iron splashing is avoided.

Description

Technical Field

[0001] The present invention relates to the field of metallurgical technology, in particular to the field of molten iron car control, and more particularly to a control method, device, system and electronic equipment for a molten iron transportation system. Background Art

[0002] Hot metal transport vehicles are widely used in the process of transferring hot metal from the blast furnace ironmaking workshop to the steelmaking workshop. In this process, most operations still rely on manual labor, which leads to insufficient positioning accuracy and increased time consumption, thus affecting transportation efficiency. At present, the speed curve control methods used by hot metal transport vehicles include T-type speed curve control method, S-type curve speed control method, sinusoidal acceleration and deceleration control method, etc.

[0003] Traditional speed control methods usually use T-shaped speed planning methods, but this method has the problem of speed continuity but not smoothness, resulting in uncontrollable speed jumps and acceleration, which has a great impact on the vehicle positioning accuracy. At the same time, it will also cause vibration, poor control effect, and easily cause molten iron splashing. Although the traditional S-curve has improved in jerk (acceleration), it is still discontinuous, which limits the smoothness of vehicle operation and is also prone to molten iron splashing. Therefore, there is an urgent need for a method that can control the stable movement of molten iron transport vehicles. Summary of the invention

[0004] The embodiments of the present invention provide a control method, device, system and electronic equipment for a molten iron transportation system to solve the problem of how to control a molten iron transportation vehicle to move stably.

[0005] In a first aspect, an embodiment of the present invention provides a control method for a molten iron transportation system, comprising: Obtaining the movement distance and movement constraints between the starting position and the target position of the molten iron transport vehicle; wherein the movement constraints include: maximum speed, sliding speed and shortest sliding distance; the shortest sliding distance is less than the movement distance; Determining a first acceleration control strategy according to the maximum speed and a preset S-shaped speed curve, and determining a second acceleration control strategy according to the maximum speed, the gliding speed, the shortest gliding distance and a preset S-shaped speed curve; wherein the preset S-shaped speed curve is constructed according to a sinx*sinx function; A target control strategy is determined according to the movement distance, the first acceleration control strategy and the second acceleration control strategy, and a power drive control instruction of the molten iron transport vehicle is generated according to the target control strategy.

[0006] In a possible implementation, determining the target control strategy according to the movement distance, the first acceleration control strategy, and the second acceleration control strategy includes: determining a predicted moving distance according to the first acceleration control strategy, the second acceleration control strategy and the motion constraint condition; When the movement distance is greater than the predicted movement distance, the target control strategy includes an acceleration control stage, a constant speed control stage and a deceleration control stage; When the movement distance is less than or equal to the predicted movement distance, the target control strategy includes an acceleration control stage and a deceleration control stage; The acceleration control stage adopts the first acceleration control strategy; the deceleration control stage adopts the second acceleration control strategy.

[0007] In a possible implementation manner, when the movement distance is greater than the predicted movement distance, the method further includes: performing an integral operation according to the first acceleration control strategy and the maximum speed to determine an acceleration end position, and performing an integral operation according to the second acceleration control strategy, the gliding speed and the shortest gliding distance to determine a deceleration start position; When the movement distance is less than or equal to the predicted movement distance, the method further includes: An acceleration / deceleration switching position is determined by performing an integral operation according to the first acceleration control strategy, the second acceleration control strategy, the maximum speed, the coasting speed, and the shortest coasting distance.

[0008] In a possible implementation, after generating the power drive control instruction of the molten iron transport vehicle according to the target control strategy, the method further includes: Determining a speed compensation value according to the real-time position of the molten iron transport vehicle, the sliding speed and the shortest sliding distance; A drive adjustment instruction is generated according to the speed compensation value.

[0009] In a possible implementation, the starting position is the iron receiving position in the ironmaking workshop, and the target position is the alum extracting position in the steelmaking workshop.

[0010] In a possible implementation manner, before determining the target control strategy according to the movement distance, the first acceleration control strategy and the second acceleration control strategy, the method further includes: Obtaining the mass of the molten iron transport vehicle, and determining an acceleration correction coefficient according to the mass of the molten iron vehicle; Accordingly, determining the target control strategy according to the movement distance, the first acceleration control strategy and the second acceleration control strategy includes: A target control strategy is determined according to the acceleration correction coefficient, the movement distance, the first acceleration control strategy and the second acceleration control strategy.

[0011] In a possible implementation manner, before determining the first acceleration control strategy according to the maximum speed and the preset S-shaped speed curve, the method further includes: Obtain the remaining power of the molten iron transport vehicle; When the remaining power is less than the set power, the reduction value of the maximum speed and the extension value of the gliding distance are determined according to the remaining power.

[0012] In a possible implementation, a formula for determining a reduction value of the maximum speed according to the remaining power is:

[0013] in, is the current power, is the total power, is the power attenuation coefficient.

[0014] In a possible implementation manner, before determining the first acceleration control strategy according to the maximum speed and the preset S-shaped speed curve, the method further includes: Obtain the remaining power of the molten iron transport vehicle; When the remaining power is less than the set power, the maximum acceleration is reduced according to the remaining power.

[0015] In a second aspect, an embodiment of the present invention provides a control device for a molten iron transportation system, comprising: An acquisition module is used to acquire the movement distance and movement constraint conditions between the starting position and the target position of the molten iron transport vehicle; wherein the movement constraint conditions include: maximum speed, sliding speed and shortest sliding distance; the shortest sliding distance is less than the movement distance; a first determination module, configured to determine a first acceleration control strategy according to the maximum speed and a preset S-shaped speed curve, and to determine a second acceleration control strategy according to the maximum speed, the gliding speed, the shortest gliding distance and the preset S-shaped speed curve; wherein the preset S-shaped speed curve is constructed according to a sinx*sinx function; a second determination module, configured to determine a target control strategy according to the movement distance, the first acceleration control strategy, and the second acceleration control strategy; An instruction generation module is used to generate a power drive control instruction for the molten iron transport vehicle according to the target control strategy.

[0016] In a third aspect, an embodiment of the present invention provides a molten iron transportation system, comprising: a molten iron transportation vehicle, an energy storage device, a weighing device, a positioning device, a driving device, and a control device of the molten iron transportation system in the second aspect above; Wherein, the energy storage device, control device, weighing device and positioning device are all arranged on the molten iron transport vehicle; The energy storage device is configured to provide power to the driving device; the driving device is configured to drive the molten iron transport vehicle to operate; and the control device is configured to control the driving device.

[0017] In a fourth aspect, an embodiment of the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method in the first aspect or any possible implementation of the first aspect is implemented.

[0018] In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the method in the first aspect or any possible implementation of the first aspect.

[0019] In a sixth aspect, an embodiment of the present invention provides a computer program product, including a computer program, which, when executed by a processor, implements the method in the first aspect or any possible implementation manner of the first aspect.

[0020] In an embodiment of the present invention, the movement distance of the molten iron transport vehicle from the starting position to the target position and the movement constraints are determined. The movement constraints include the maximum speed, the sliding speed and the shortest sliding distance. Based on the maximum speed and the preset S-shaped speed curve, a first acceleration control strategy for the acceleration phase is formulated. Similarly, based on the maximum speed, the sliding speed, the shortest sliding distance and the preset S-shaped speed curve, a second acceleration control strategy for the deceleration phase is formulated. The preset S-shaped speed curve is constructed by a sinx*sinx function, which has the characteristics of smoothness and continuity, so that the acceleration control strategy based on this function can ensure the continuity of the acceleration change of the molten iron transport vehicle during acceleration and deceleration. In combination with the movement distance, the first acceleration control strategy and the second acceleration control strategy, a target control strategy for the movement of the molten iron transport vehicle between the starting position and the target position is formulated, and the transfer points of the molten iron transport vehicle in each stage such as deceleration, smooth transition and re-deceleration are clarified to improve the smoothness of the entire operation process. The power drive control instructions of the molten iron transport vehicle are generated according to the target control strategy to avoid sudden acceleration or deceleration during acceleration and deceleration, and to prevent violent shaking or even splashing due to the inertia of the molten iron. This ensures that the molten iron transport vehicle remains smooth and stable during acceleration and deceleration, effectively preventing molten iron from splashing. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is an application scenario diagram of the control method of the molten iron transportation system provided by an embodiment of the present invention; Figure 2is a flow chart of the implementation of the control method of the molten iron transportation system provided by the embodiment of the present invention; Figure 3 is a schematic structural diagram of a control device for a molten iron transportation system provided by an embodiment of the present invention; Figure 4 is a schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0022] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0023] Figure 1 This is an application scenario diagram of the control method of the molten iron transportation system provided by the embodiment of the present invention. Figure 1 As shown, the molten iron transportation control system includes: a distance measuring device 1, an on-board charging device 2, a capping device 3, a weighing device 4, an energy storage device 5, an on-board intelligent control system 6, a wireless transmission system 7, a ground charging device and a charging pile 8, a ground operating system 9, a ground detection device 10, an on-board detection device 11, a driving motor 12, and a driving cylinder 13.

[0024] In the embodiment of the present application, the molten iron transport vehicle is a new energy vehicle, and a new energy supercapacitor is used as an energy storage element to provide a power source for the operation of the molten iron transport vehicle. The ground charging device and the charging pile 8 charge the molten iron transport vehicle energy storage device 5 through the on-board charging device 2. The on-board intelligent control system 6 develops control software through the information of the detection system, the positioning system, etc., and realizes the functions of accurate positioning, environmental identification, safety protection, unmanned operation, and reverse transportation of molten iron by the molten iron transport vehicle based on the ranging device 1, the capping device 3, the on-board detection device 11, etc. The ground operating system 9, the wireless transmission system 7, etc. realize the auxiliary operation of the molten iron transport vehicle and transmit the data to the centralized control center through the wireless communication network, and provide the centralized control center with the real-time operation status of the molten iron transport vehicle. The control system realizes the intelligent operation and unmanned operation of the new energy molten iron transport vehicle, achieving the purpose of energy saving and environmental protection, improving efficiency, reducing labor intensity, and ensuring safety. The wireless transmission system 7 uses an industrial wireless communication module to build a signal transmission network to realize the remote control operation of the molten iron transport vehicle, remote data collection, and other functions, thereby realizing intelligent operation and unmanned operation.

[0025] In addition, the molten iron transport control system can automatically connect and pair according to information such as signal strength and IP address, so that the same molten iron transport vehicle can run, position, charge, and receive iron on different lines, ensuring that any molten iron transport vehicle can be used as an emergency replacement when it is damaged or under repair, thereby achieving the molten iron transport vehicle's flexible line changing function.

[0026] Among them, the on-board detection device 11 is mainly used to detect the status of the molten iron transport vehicle such as the system charging position, iron receiving position, alum extraction position, and standby position. The distance measuring device 1 mainly uses radio frequency identification sensors, distance measuring sensors, coded displacement sensors, etc.

[0027] Data processing and storage, on-board intelligent control system 6 are mainly used to calculate and store information such as on-site location data, weighing data, remote data of ironmaking and steelmaking, and environmental data, automatically plan the path according to the built-in control algorithm, and output the operation control signal of the molten iron transport vehicle to drive the molten iron transport vehicle to the predetermined position. The wireless transmission system 7 is mainly used for network construction and data transmission of on-board intelligent control system 6, ground operating system 9, remote scheduling, automatic charging system, weighing system, etc. The actuator is mainly composed of a drive motor 12, a drive cylinder 13, a speed controller, a drive valve, etc., which are used to drive the molten iron transport vehicle to travel, open and close the cover device, etc.

[0028] The present application aims to ensure that the actuator drives the molten iron transport vehicle to operate stably in the process of reaching a predetermined position, and to prevent sudden acceleration or deceleration from causing fluctuations in the molten iron level.

[0029] See also Figure 2 , which shows a flow chart of the implementation of the control method of the molten iron transportation system provided by the embodiment of the present invention. Figure 2 As shown, the following steps are included: S201, obtaining the movement distance and movement constraints between the starting position and the target position of the molten iron transport vehicle; wherein the movement constraints include: maximum speed, sliding speed and shortest sliding distance; the shortest sliding distance is less than the movement distance.

[0030] In this embodiment, the execution subject of the control method of the molten iron transportation system is a controller (for example, Figure 1 The vehicle intelligent control system 6 shown in the figure) or a remote controller (e.g. Figure 1 The ground operating system 9 is shown, and the remote controller is communicatively connected with the controller on the molten iron transport vehicle.

[0031] In a possible implementation, the starting position is the iron receiving position in the ironmaking workshop, and the target position is the alum extracting position in the steelmaking workshop.

[0032] In the actual implementation process, based on Figure 1 The control process of the molten iron transportation control system shown is as follows: According to the process system, the molten iron in the blast furnace calls the molten iron transport vehicle carrying the molten iron tank and the capping device. After receiving the command, the molten iron transport vehicle automatically detects whether the molten iron tank is empty and whether the capping device 3 is in the closed state. Through the detection information of the distance measuring device 1 and the ground detection device 10, it automatically runs to the bottom of the blast furnace molten iron outlet and opens the capping device 3. After it is ready, it sends a signal to the ironmaking control center. After the ironmaking control center receives the signal, the blast furnace iron outlet begins to drain and receive iron. When the tank is full of molten iron, the ironmaking control center sends a signal to notify the molten iron transport vehicle of the end signal of the molten iron. After receiving the signal, the molten iron transport vehicle automatically performs the capping operation and moves to the waiting position, waiting for the call from the steelmaking control center. After receiving the call signal from the steelmaking system, it runs to the alum extraction position in the steelmaking workshop to perform the next operation.

[0033] After the molten iron transport vehicle is filled with molten iron at the ironmaking workshop, if the molten iron transport vehicle experiences rapid acceleration or deceleration, it may cause liquid level fluctuations, and in severe cases, molten iron may even splash. Therefore, it is particularly important to improve the operating stability of the molten iron transport vehicle.

[0034] In other possible implementations, the molten iron transport vehicle may stop in the middle of the journey due to power exhaustion or other reasons during transportation, and continue to move after maintenance or be replaced by other molten iron transport vehicles for emergency use. In this case, the starting position is the current position of the molten iron transport vehicle or the position of the emergency molten iron transport vehicle; the target position is the alum extraction position in the steelmaking workshop.

[0035] Molten iron transportation is usually carried out in complex industrial environments, such as the workshops of steel plants, where there are various equipment, obstacles, and areas where people move around. Obtaining the movement distance between the starting position and the target position can help the system plan the driving path of the molten iron transport vehicle more accurately. Avoid obstacles and busy areas to ensure that the molten iron can be transported to the destination safely and efficiently. The movement distance is an important basis for determining the acceleration, gliding, and deceleration stages of the molten iron transport vehicle. During transportation, the molten iron transport vehicle needs to accelerate from a standstill to a suitable speed within a certain distance, and then start to decelerate at the appropriate time to ensure safe arrival at the target location.

[0036] In addition, key motion constraints including maximum speed, gliding speed and shortest gliding distance are obtained. Among them, the maximum speed sets the upper limit of the speed of the molten iron transport vehicle during driving. This upper speed limit can be set based on comprehensive consideration of factors such as the performance parameters of the molten iron transport vehicle and the safety regulations of the workshop to prevent the molten iron transport vehicle from traveling too fast. The gliding speed refers to the speed of the molten iron transport vehicle when it glides only by inertia without applying power. In the specific implementation process, through multiple experiments, the gliding speed of the molten iron transport vehicle under different working conditions is measured, and the average value is taken as a reference for the gliding speed.

[0037] The shortest sliding distance can be determined by measuring the shortest distance required from the sliding speed to a complete stop through a braking test of the molten iron transport vehicle. Then, the shortest sliding distance can be obtained by combining the actual situation of the workshop and appropriately adding a certain safety margin. Ensuring accurate sliding speed and shortest sliding distance is crucial for the molten iron transport vehicle to accurately stop at the target location.

[0038] S202, determining a first acceleration control strategy according to the maximum speed and a preset S-shaped speed curve, and determining a second acceleration control strategy according to the maximum speed, the gliding speed, the shortest gliding distance and the preset S-shaped speed curve; wherein the preset S-shaped speed curve is constructed according to a sinx*sinx function.

[0039] The S-shaped speed curve constructed by the sinx*sinx function is a wave curve above the X-axis with a maximum value of 1 and a minimum value of 0. The acceleration and jerk (acceleration) determined by the preset S-shaped speed curve both conform to the sine / cosine characteristics, so the acceleration of the curve increases first and then decreases.

[0040] The first acceleration control strategy is determined according to the maximum speed and the preset S-shaped speed curve, so that the speed of the molten iron transport vehicle increases according to the S-shaped speed curve at the start stage until the maximum speed is reached. When the vehicle reaches the maximum speed, the deceleration strategy (i.e., the second acceleration control strategy) needs to be determined according to the sliding speed, the shortest sliding distance, and the preset S-shaped speed curve to ensure that the molten iron transport vehicle can stably stop at the target position.

[0041] S203, determining a target control strategy according to the movement distance, the first acceleration control strategy and the second acceleration control strategy, and generating a power drive control instruction for the molten iron transport vehicle according to the target control strategy.

[0042] According to the characteristics of the moving distance, acceleration phase and deceleration phase, in workshops of different sizes, the molten iron transport vehicle divides the entire moving process into the acceleration phase, the uniform speed running phase and the deceleration phase, or divides it into the acceleration phase and the deceleration phase. For example, when the moving distance is short, there may be no uniform speed running phase; when the moving distance is long, the time and distance of acceleration, uniform speed and deceleration need to be reasonably planned.

[0043] The first acceleration control strategy is applied to the acceleration phase, while the second acceleration control strategy is used in the deceleration phase, so that the vehicle speed drops to the coasting speed, and then coasts for a certain distance before smoothly decelerating to a stop. By integrating the first and second acceleration control strategies in this way, a comprehensive target control strategy can be obtained.

[0044] based on Figure 1As can be seen from the scene diagram shown, the actuators that control the running speed of the molten iron transport vehicle include a drive motor, a starting cylinder, etc. After determining the target control strategy, the controller needs to generate drive control instructions that can be recognized by the actuator, so as to achieve precise control of the speed and acceleration of the molten iron transport vehicle.

[0045] In the specific implementation process, the S-curve based on the sinx*sinx function adopts the interpolation method. In the [0,π / 2] period, a small trapezoidal speed straight line segment is used to approximate the sinx*sinx speed curve. The approximate outline of the sinx*sinx curve is calculated based on the current position and target position information, and the outline is densely interpolated using interpolation to ensure the smoothness of the curve. At the same time, based on the maximum speed in the motion constraint conditions, the average acceleration under the trapezoidal speed curve is calculated, and then equivalent to the average acceleration under the sinx*sinx speed curve, and the shortest deceleration distance + sliding distance is calculated. The acceleration stop position and deceleration start position are calculated based on the shortest deceleration distance and the target position and the current position. This method tracks the displacement interval in real time, determines the target distance based on the vehicle position information, and smoothly accelerates and decelerates in real time according to the set distance and the generated speed curve.

[0046] In an embodiment of the present invention, the movement distance of the molten iron transport vehicle from the starting position to the target position and the movement constraints are determined. The movement constraints include the maximum speed, the sliding speed and the shortest sliding distance. Based on the maximum speed and the preset S-shaped speed curve, a first acceleration control strategy for the acceleration phase is formulated. Similarly, based on the maximum speed, the sliding speed, the shortest sliding distance and the preset S-shaped speed curve, a second acceleration control strategy for the deceleration phase is formulated. The preset S-shaped speed curve is constructed by a sinx*sinx function, which has the characteristics of smoothness and continuity, so that the acceleration control strategy based on this function can ensure the continuity of the acceleration change of the molten iron transport vehicle during acceleration and deceleration. In combination with the movement distance, the first acceleration control strategy and the second acceleration control strategy, a target control strategy for the movement of the molten iron transport vehicle between the starting position and the target position is formulated, and the transfer points of the molten iron transport vehicle in each stage such as deceleration, smooth transition and re-deceleration are clarified to improve the smoothness of the entire operation process. The power drive control instructions of the molten iron transport vehicle are generated according to the target control strategy to avoid sudden acceleration or deceleration during acceleration and deceleration, and to prevent violent shaking or even splashing due to the inertia of the molten iron. This ensures that the molten iron transport vehicle remains smooth and stable during acceleration and deceleration, effectively preventing molten iron from splashing.

[0047] The above embodiments mentioned that in workshops of the same size, the entire movement process of the molten iron transport vehicle is subdivided in different ways, and accordingly, the target control strategies are different.

[0048] In a possible implementation, in step S203, determining a target control strategy according to the movement distance, the first acceleration control strategy, and the second acceleration control strategy includes: Determining a predicted moving distance according to a first acceleration control strategy, a second acceleration control strategy, and a motion constraint condition; When the moving distance is greater than the predicted moving distance, the target control strategy includes an acceleration control stage, a uniform speed control stage, and a deceleration control stage; When the moving distance is less than or equal to the predicted moving distance, the target control strategy includes an acceleration control stage and a deceleration control stage; Among them, the first acceleration control strategy is adopted in the acceleration control stage; and the second acceleration control strategy is adopted in the deceleration control stage.

[0049] In the acceleration control stage, the vehicle gradually accelerates from a standstill, and the acceleration changes over time according to the law of the S-curve to ensure the smoothness of the acceleration process. In the deceleration control stage, the vehicle can smoothly reduce from a higher speed to a gliding speed and finally stop. The predicted moving distance refers to the total distance that the vehicle travels when it accelerates to the maximum speed according to the first acceleration control strategy, decelerates to the gliding speed according to the second acceleration control strategy, and glides the shortest gliding distance.

[0050] When the moving distance is greater than the predicted moving distance, it means that the vehicle has enough space to accelerate, travel at a constant speed, and decelerate. At this time, the target control strategy includes the acceleration control stage, the constant speed control stage, and the deceleration control stage. In the acceleration control stage, the acceleration gradually increases and then decreases, so that the vehicle accelerates smoothly, avoiding the impact of sudden acceleration on the molten iron. During the constant speed driving process, the speed of the vehicle remains stable, and the molten iron shakes less, which is conducive to safe transportation. In the deceleration control stage, the acceleration gradually decreases and then increases, so that the vehicle decelerates smoothly, preventing the molten iron from splashing due to sudden braking.

[0051] When the moving distance is less than or equal to the predicted moving distance, the vehicle does not have enough space to travel at a constant speed, so the target control strategy only includes the acceleration control stage and the deceleration control stage. In the acceleration control stage, the first acceleration control strategy is also used. The vehicle accelerates from a standstill until it reaches the maximum speed or needs to start decelerating before reaching the maximum speed. In the deceleration control stage, the second acceleration control strategy is used. The vehicle starts to decelerate from the current speed, first reduces to the gliding speed, and then continues to glide to the target position.

[0052] In this embodiment, by applying the acceleration control strategy based on the S-shaped speed curve, the vehicle achieves a smooth transition of acceleration in the acceleration and deceleration stages, effectively avoiding sudden acceleration and sudden braking, ensuring the stability of the vehicle during acceleration and deceleration, and effectively preventing molten iron splashing. The acceleration, uniform speed and deceleration stages are reasonably planned according to the driving distance. If the driving distance is long, a uniform speed control stage is introduced to enable the vehicle to travel stably at an appropriate speed, reduce frequent acceleration and deceleration operations, reduce energy consumption, and improve transportation efficiency. At the same time, the predicted moving distance is determined in combination with the motion constraints, and the target control strategy is flexibly adjusted according to the actual driving distance to ensure that the vehicle can accurately reach the target position, meeting the precise positioning requirements of molten iron transportation.

[0053] Corresponding to different target control strategies, the acceleration and deceleration control positions of the molten iron transport vehicle are different.

[0054] In a possible implementation, when the movement distance is greater than the predicted movement distance, the method further includes: An integral operation is performed according to the first acceleration control strategy and the maximum speed to determine the acceleration end position, and an integral operation is performed according to the second acceleration control strategy, the gliding speed and the shortest gliding distance to determine the deceleration start position.

[0055] Among them, the first acceleration control strategy stipulates the law of the acceleration of the vehicle during the acceleration phase over time. Combined with the maximum speed, the velocity-time relationship and displacement-time relationship of the vehicle during the acceleration phase can be obtained through integral operation, and then the position of the vehicle at the end of acceleration can be determined. Assume that the acceleration function corresponding to the first acceleration control strategy is , which is based on a preset S-shaped speed curve (constructed by the sinx*sinx function) and a maximum speed Sure.

[0056] First, according to the relationship between acceleration and speed (in is the initial speed), when When , the acceleration time can be calculated .

[0057] Then, according to the relationship between velocity and displacement (in is the initial position), Substituting in, we can get the acceleration end position .

[0058] Similarly, the second acceleration control strategy stipulates the change law of the vehicle's acceleration over time during the deceleration stage. Combined with the gliding speed and the shortest gliding distance, the speed-time relationship and displacement-time relationship of the vehicle during the deceleration stage can be obtained through integral calculation, and then the position of the vehicle at the beginning of deceleration can be determined.

[0059] When the moving distance is less than or equal to the predicted moving distance, it also includes: An integration operation is performed according to the first acceleration control strategy, the second acceleration control strategy, the maximum speed, the coasting speed and the shortest coasting distance to determine the acceleration / deceleration switching position.

[0060] When the moving distance is less than or equal to the predicted moving distance, the vehicle does not have a uniform speed driving stage and needs to switch from the acceleration stage to the deceleration stage at an appropriate position. By comprehensively considering the first acceleration control strategy, the second acceleration control strategy, the maximum speed, the sliding speed and the shortest sliding distance, the displacement-time relationship of the acceleration and deceleration stages is obtained by integral operation, thereby determining the position of the acceleration and deceleration conversion.

[0061] In this embodiment, by accurately determining the acceleration end position, deceleration start position and acceleration / deceleration conversion position, the driving process of the molten iron transport vehicle can be more accurately controlled, so that the vehicle can travel according to a predetermined speed curve and path, and the accuracy and stability of transportation can be improved. Accurate position control can avoid excessive acceleration or deceleration of the vehicle during acceleration and deceleration, reduce the impact on the molten iron, effectively prevent the molten iron from splashing, and ensure the safety of the transportation process. Reasonable acceleration and deceleration position arrangement can make the vehicle fully utilize power and glide within a limited movement distance, reduce unnecessary energy consumption, and improve transportation efficiency.

[0062] In a possible implementation, in step S203, after generating the power drive control instruction of the molten iron transport vehicle according to the target control strategy, the method further includes: Determine the speed compensation value according to the real-time position, sliding speed and shortest sliding distance of the molten iron transport vehicle; Generate drive adjustment instructions based on the speed compensation value.

[0063] In the specific implementation process, since ∫sinx*sinxdx=∫(2 / π)xdx in [0,π / 2], the trapezoidal acceleration and the S-shaped acceleration can be equivalently converted to Sa=Ta*2 / π; Real-time speed V(t)=sinx*sinx=sin(a*π / 2T)*sin(a*π / 2T)*V max Real-time acceleration a(t)=sin2x=sin(x*π / T) The shortest deceleration distance L2 = 1000* (1 / 2S a t2 )+L3 Real-time position L(t)=∫v(t)dx=1 / 4(2x-sin2x) The acceleration / deceleration time and position are determined by real-time comparison of the real-time position, target position and the shortest deceleration distance, and a control signal is output to control the vehicle's running speed and finally stop accurately at the target position.

[0064] In this embodiment, by determining the speed compensation value in real time and generating the driving adjustment command, the position deviation of the vehicle during driving can be corrected in time, so that the vehicle can drive more accurately according to the predetermined path and speed, and the transportation accuracy can be improved. At the same time, it can adapt to various complex working conditions and external interferences, such as changes in road conditions and load changes, so that the driving performance of the vehicle is more stable, and the adaptability and reliability of the entire transportation system are improved.

[0065] During the specific implementation process, the mass of the molten iron transport vehicle and the remaining power of the new energy molten iron transport vehicle will affect the acceleration. Accordingly, the first acceleration control strategy and the second acceleration control strategy need to be adjusted according to the mass and remaining power of the molten iron transport vehicle.

[0066] In a possible implementation, before determining the target control strategy according to the movement distance, the first acceleration control strategy and the second acceleration control strategy in step S203, the method further includes: Obtain the mass of the molten iron transport vehicle, and determine the acceleration correction coefficient according to the mass of the molten iron vehicle; Accordingly, determining a target control strategy according to the movement distance, the first acceleration control strategy and the second acceleration control strategy includes: A target control strategy is determined according to the acceleration correction coefficient, the movement distance, the first acceleration control strategy and the second acceleration control strategy.

[0067] Combined with the modified acceleration control strategy and movement distance, the vehicle's driving process is divided into stages. If the movement distance is greater than the predicted movement distance, the target control strategy still includes the acceleration control stage, the constant speed control stage, and the deceleration control stage; if the movement distance is less than or equal to the predicted movement distance, the target control strategy includes the acceleration control stage and the deceleration control stage.

[0068] In each stage, the corresponding time, speed, displacement and other parameters are calculated according to the modified acceleration control strategy. For example, in the acceleration stage, the time and distance required to accelerate to the maximum speed and travel distance are calculated according to the modified first acceleration control strategy; in the deceleration stage, the time and distance required to decelerate from the maximum speed to the gliding speed are calculated according to the modified second acceleration control strategy.

[0069] In this embodiment, considering the vehicle mass factor and introducing the acceleration correction coefficient can make the target control strategy more consistent with the actual acceleration and deceleration performance of the vehicle, improve the control accuracy of the vehicle driving process, and make the vehicle operation more stable and accurate. Avoid excessive or insufficient acceleration and deceleration caused by changes in vehicle mass, reduce the impact of rapid acceleration and deceleration on molten iron, effectively prevent molten iron splashing, and ensure the safety of the transportation process. Adjust the acceleration according to the actual mass of the vehicle, so that the vehicle can use energy more reasonably during driving, avoid unnecessary energy consumption, and improve energy efficiency.

[0070] In a possible implementation, before step S202, the method further includes: Obtain the remaining power of the molten iron transport vehicle; When the remaining power is less than the set power, the reduction value of the maximum speed and the extension value of the gliding distance are determined according to the remaining power.

[0071] During the molten iron transportation process, the battery status of the molten iron transport vehicle will directly affect its operating performance and transportation efficiency. Before determining the acceleration control strategy, obtaining the remaining power of the vehicle and adjusting the maximum speed and gliding distance according to the power status can optimize the vehicle's operating strategy when the power is insufficient, ensuring that the vehicle can successfully complete the transportation task while avoiding problems such as transportation interruption due to power exhaustion.

[0072] Reducing the maximum speed of the vehicle can reduce the power consumption of the vehicle, thereby extending the battery life. The reduction value of the maximum speed is related to the remaining power. The lower the remaining power, the greater the reduction value of the maximum speed.

[0073] In a possible implementation, the formula for determining the reduction value of the maximum speed according to the remaining power is:

[0074] in, The maximum speed reduction is the current power, is the total power, is the power attenuation coefficient.

[0075] Extending the coasting distance allows the vehicle to continue driving without consuming additional power, thereby saving power. The extended coasting distance is also related to the remaining power. The lower the remaining power, the greater the extended coasting distance.

[0076] It can be determined by establishing a mapping relationship or function between the remaining power and the extended glide distance. For example, a table of extended glide distance values ​​corresponding to different remaining power levels can be obtained through experiments. Assuming that the power level is set to 30%, when the remaining power is 20%, the glide distance needs to be extended by 10%; when the remaining power is 10%, the glide distance needs to be extended by 20%. You can also use the function (in is the extension value of the sliding distance, is the remaining power percentage, is the proportionality factor).

[0077] In this embodiment, by reducing the maximum speed and extending the gliding distance, the vehicle's power consumption is reduced, and the vehicle's cruising range can be effectively extended in the case of insufficient power, thereby increasing the possibility of the vehicle completing the transportation task. The vehicle is prevented from breaking down due to power exhaustion, ensuring the continuity and stability of molten iron transportation and reducing the impact on the production process. The vehicle's operating parameters are dynamically adjusted according to the remaining power, so that the vehicle can use energy more reasonably under different power states, thereby improving energy efficiency.

[0078] In a possible implementation, before step S202, the method further includes: Obtain the remaining power of the molten iron transport vehicle; When the remaining power is less than the set power, the maximum acceleration is reduced according to the remaining power.

[0079] When the battery is low, the maximum acceleration is reduced to avoid excessive power consumption, ensuring that the vehicle has enough power to complete the transportation task, while also improving the safety and stability of vehicle operation. When the remaining power is less than the set power, the system will trigger the corresponding control strategy, that is, reduce the maximum acceleration according to the remaining power.

[0080] Based on the collected data, a mapping relationship between the remaining power and the maximum acceleration is established. This relationship can be linear, nonlinear, or table-based. For example, a linear relationship can be expressed as ,in is the maximum acceleration after reduction, is the original maximum acceleration, is the proportionality coefficient, It is to set the power. is the remaining power.

[0081] In this embodiment, reducing the maximum acceleration can reduce the electric energy consumption of the vehicle during acceleration, especially when the battery is insufficient, which can effectively extend the vehicle's cruising range, improve the battery efficiency, and reduce energy costs. By reasonably adjusting the maximum acceleration, it is ensured that the vehicle still has enough power to complete the transportation task when the power is limited, avoiding transportation interruption due to power exhaustion, and improving the reliability and continuity of transportation.

[0082] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0083] The following is an embodiment of the device of the present invention. For details not described in detail therein, reference may be made to the corresponding method embodiment described above.

[0084] Figure 3 The structure diagram of the control device of the molten iron transportation system provided by the embodiment of the present invention is shown. For the convenience of description, only the part related to the embodiment of the present invention is shown, which is described in detail as follows: like Figure 3 As shown, the control device of the molten iron transportation system includes: The acquisition module 301 is used to acquire the movement distance and movement constraint conditions between the starting position and the target position of the molten iron transport vehicle; wherein the movement constraint conditions include: maximum speed, sliding speed and shortest sliding distance; the shortest sliding distance is less than the movement distance; A first determination module 302 is used to determine a first acceleration control strategy according to a maximum speed and a preset S-shaped speed curve, and to determine a second acceleration control strategy according to a maximum speed, a sliding speed, a shortest sliding distance, and a preset S-shaped speed curve; wherein the preset S-shaped speed curve is constructed according to a sinx*sinx function; A second determination module 303, configured to determine a target control strategy according to the movement distance, the first acceleration control strategy and the second acceleration control strategy; The instruction generation module 304 is used to generate a power drive control instruction for the molten iron transport vehicle according to the target control strategy.

[0085] In a possible implementation manner, the second determining module 303 is specifically configured to: Determining a predicted moving distance according to a first acceleration control strategy, a second acceleration control strategy, and a motion constraint condition; When the moving distance is greater than the predicted moving distance, the target control strategy includes an acceleration control stage, a uniform speed control stage, and a deceleration control stage; When the moving distance is less than or equal to the predicted moving distance, the target control strategy includes an acceleration control stage and a deceleration control stage; Among them, the first acceleration control strategy is adopted in the acceleration control stage; and the second acceleration control strategy is adopted in the deceleration control stage.

[0086] In a possible implementation, the second determination module 303 is further configured to, when the moving distance is greater than the predicted moving distance, perform an integral operation according to the first acceleration control strategy and the maximum speed to determine the acceleration end position, and perform an integral operation according to the second acceleration control strategy, the sliding speed, and the shortest sliding distance to determine the deceleration start position; When the moving distance is less than or equal to the predicted moving distance, an integral operation is performed according to the first acceleration control strategy, the second acceleration control strategy, the maximum speed, the sliding speed and the shortest sliding distance to determine the acceleration / deceleration switching position.

[0087] In a possible implementation, the second determination module 303 is further used to determine the speed compensation value according to the real-time position, sliding speed and shortest sliding distance of the molten iron transport vehicle after generating the power drive control instruction of the molten iron transport vehicle according to the target control strategy; The instruction generation module 304 is further used to generate a drive adjustment instruction according to the speed compensation value.

[0088] In a possible implementation, the acquisition module 301 is further used to acquire the mass of the molten iron transport vehicle before determining the target control strategy according to the movement distance, the first acceleration control strategy and the second acceleration control strategy, and determine the acceleration correction coefficient according to the mass of the molten iron vehicle; Correspondingly, the second determination module 303 is specifically configured to determine the target control strategy according to the acceleration correction coefficient, the movement distance, the first acceleration control strategy and the second acceleration control strategy.

[0089] In a possible implementation, the acquisition module 301 is also used to obtain the remaining power of the molten iron transport vehicle before determining the first acceleration control strategy based on the maximum speed and the preset S-shaped speed curve; when the remaining power is less than the set power, the reduction value of the maximum speed and the extension value of the gliding distance are determined according to the remaining power.

[0090] In a possible implementation, the acquisition module 301 is also used to obtain the remaining power of the molten iron transport vehicle before determining the first acceleration control strategy according to the maximum speed and the preset S-shaped speed curve; when the remaining power is less than the set power, the maximum acceleration is reduced according to the remaining power.

[0091] In an embodiment of the present invention, the movement distance of the molten iron transport vehicle from the starting position to the target position and the movement constraints are determined. The movement constraints include the maximum speed, the sliding speed and the shortest sliding distance. Based on the maximum speed and the preset S-shaped speed curve, a first acceleration control strategy for the acceleration phase is formulated. Similarly, based on the maximum speed, the sliding speed, the shortest sliding distance and the preset S-shaped speed curve, a second acceleration control strategy for the deceleration phase is formulated. The preset S-shaped speed curve is constructed by a sinx*sinx function, which has the characteristics of smoothness and continuity, so that the acceleration control strategy based on this function can ensure the continuity of the acceleration change of the molten iron transport vehicle during acceleration and deceleration. In combination with the movement distance, the first acceleration control strategy and the second acceleration control strategy, a target control strategy for the movement of the molten iron transport vehicle between the starting position and the target position is formulated, and the transfer points of the molten iron transport vehicle in each stage such as deceleration, smooth transition and re-deceleration are clarified to improve the smoothness of the entire operation process. The power drive control instructions of the molten iron transport vehicle are generated according to the target control strategy to avoid sudden acceleration or deceleration during acceleration and deceleration, and to prevent violent shaking or even splashing due to the inertia of the molten iron. This ensures that the molten iron transport vehicle remains smooth and stable during acceleration and deceleration, effectively preventing molten iron from splashing.

[0092] The embodiment of the present invention further provides a molten iron transportation system, comprising: a molten iron transportation vehicle, an energy storage device, a weighing device, a positioning device, a driving device, and the control device in the above-mentioned embodiment; Wherein, the energy storage device, control device, weighing device and positioning device are all arranged on the molten iron transport vehicle; The energy storage device is configured to provide power to the driving device; the driving device is configured to drive the molten iron transport vehicle to operate; and the control device is configured to control the driving device.

[0093] Figure 4 Schematic diagram of an electronic device provided by an embodiment of the present invention. Figure 4 As shown, the electronic device 400 of this embodiment includes: a processor 41 and a memory 42. The memory 42 stores a computer program 43. When the processor 41 executes the computer program 43, the steps in the above-mentioned method embodiments are implemented. Alternatively, when the processor 41 executes the computer program 43, the functions of each module / unit in the above-mentioned device embodiments are implemented.

[0094] Exemplarily, the computer program 43 may be divided into one or more modules / units, which are stored in the memory 42 and executed by the processor 41 to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program 43 in the electronic device 400.

[0095] The electronic device 400 may include, but is not limited to, a processor 41 and a memory 42. Those skilled in the art will appreciate that Figure 4 It is only an example of the electronic device 400 and does not constitute a limitation of the electronic device 400. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device 400 may also include input and output devices, network access devices, buses, etc.

[0096] The processor 41 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0097] The memory 42 may be an internal storage unit of the electronic device 400, such as a hard disk or memory of the electronic device 400. The memory 42 may also be an external storage device of the electronic device 400, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card (FlashCard), etc. equipped on the electronic device 400. Further, the memory 42 may also include both an internal storage unit of the electronic device 400 and an external storage device. The memory 42 is used to store the computer program 43 and other programs and data required by the electronic device 400. The memory 42 may also be used to temporarily store data that has been output or is to be output.

[0098] For the convenience and simplicity of description, only the division of the above functional modules / units is used as an example for illustration. In actual applications, the above functions can be assigned to different functional modules / units as needed. The above modules / units can be implemented in the form of hardware, software, or a combination of hardware and software.

[0099] The embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the methods in the above method embodiments are implemented.

[0100] The embodiment of the present invention further provides a computer program product, including a computer program. When the computer program is executed by a processor, the methods in the above method embodiments are implemented.

[0101] The computer program includes computer program code, which may be in source code form, object code form, executable file or some intermediate form, etc. Computer readable media may include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0102] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments. If there is no special explanation and logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other. The technical features in different embodiments can be combined to form a new embodiment according to their internal logical relationship.

[0103] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A control method for a molten iron transportation system, characterized in that: include: Obtaining the movement distance and movement constraints between the starting position and the target position of the molten iron transport vehicle; wherein the movement constraints include: maximum speed, sliding speed and shortest sliding distance; the shortest sliding distance is less than the movement distance; Determining a first acceleration control strategy according to the maximum speed and a preset S-shaped speed curve, and determining a second acceleration control strategy according to the maximum speed, the gliding speed, the shortest gliding distance and a preset S-shaped speed curve; wherein the preset S-shaped speed curve is constructed according to a sinx*sinx function; A target control strategy is determined according to the movement distance, the first acceleration control strategy and the second acceleration control strategy, and a power drive control instruction of the molten iron transport vehicle is generated according to the target control strategy.

2. The control method of the molten iron transportation system according to claim 1, characterized in that: The determining of the target control strategy according to the movement distance, the first acceleration control strategy and the second acceleration control strategy comprises: determining a predicted moving distance according to the first acceleration control strategy, the second acceleration control strategy and the motion constraint condition; When the movement distance is greater than the predicted movement distance, the target control strategy includes an acceleration control stage, a constant speed control stage and a deceleration control stage; When the movement distance is less than or equal to the predicted movement distance, the target control strategy includes an acceleration control stage and a deceleration control stage; The acceleration control stage adopts the first acceleration control strategy; the deceleration control stage adopts the second acceleration control strategy.

3. The control method of the molten iron transportation system according to claim 2, characterized in that: When the movement distance is greater than the predicted movement distance, the method further includes: performing an integral operation according to the first acceleration control strategy and the maximum speed to determine an acceleration end position, and performing an integral operation according to the second acceleration control strategy, the gliding speed and the shortest gliding distance to determine a deceleration start position; When the movement distance is less than or equal to the predicted movement distance, the method further includes: An acceleration / deceleration switching position is determined by performing an integral operation according to the first acceleration control strategy, the second acceleration control strategy, the maximum speed, the coasting speed, and the shortest coasting distance.

4. The control method of the molten iron transportation system according to claim 1, characterized in that: After generating the power drive control instruction of the molten iron transport vehicle according to the target control strategy, the method further includes: Determining a speed compensation value according to the real-time position of the molten iron transport vehicle, the sliding speed and the shortest sliding distance; A drive adjustment instruction is generated according to the speed compensation value.

5. The control method of the molten iron transportation system according to claim 1, characterized in that: The starting position is the iron receiving position in the ironmaking workshop, and the target position is the alum extracting position in the steelmaking workshop.

6. The control method of the molten iron transportation system according to claim 1, characterized in that: Before determining the target control strategy according to the movement distance, the first acceleration control strategy and the second acceleration control strategy, the method further includes: Obtaining the mass of the molten iron transport vehicle, and determining an acceleration correction coefficient according to the mass of the molten iron vehicle; Accordingly, determining the target control strategy according to the movement distance, the first acceleration control strategy and the second acceleration control strategy includes: A target control strategy is determined according to the acceleration correction coefficient, the movement distance, the first acceleration control strategy and the second acceleration control strategy.

7. The control method of the molten iron transportation system according to claim 1, characterized in that: Before determining the first acceleration control strategy according to the maximum speed and the preset S-shaped speed curve, the method further includes: Obtain the remaining power of the molten iron transport vehicle; When the remaining power is less than the set power, the reduction value of the maximum speed and the extension value of the gliding distance are determined according to the remaining power.

8. A control device for a molten iron transportation system, characterized in that: include: An acquisition module is used to acquire the movement distance and movement constraint conditions between the starting position and the target position of the molten iron transport vehicle; wherein the movement constraint conditions include: maximum speed, sliding speed and shortest sliding distance; the shortest sliding distance is less than the movement distance; a first determination module, configured to determine a first acceleration control strategy according to the maximum speed and a preset S-shaped speed curve, and to determine a second acceleration control strategy according to the maximum speed, the gliding speed, the shortest gliding distance and the preset S-shaped speed curve; wherein the preset S-shaped speed curve is constructed according to a sinx*sinx function; a second determination module, configured to determine a target control strategy according to the movement distance, the first acceleration control strategy, and the second acceleration control strategy; An instruction generation module is used to generate a power drive control instruction for the molten iron transport vehicle according to the target control strategy.

9. A molten iron transportation system, characterized in that: include: A molten iron transport vehicle, an energy storage device, a weighing device, a positioning device, a driving device, and a control device for the molten iron transport system according to claim 8; Wherein, the energy storage device, control device, weighing device and positioning device are all arranged on the molten iron transport vehicle; The energy storage device is configured to provide power to the driving device; the driving device is configured to drive the molten iron transport vehicle to operate; and the control device is configured to control the driving device.

10. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the method according to any one of claims 1 to 7 when executing the computer program.

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