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

Abstract

The present invention provides a control method, device, system, and electronic device for a molten iron transport system, relating to the technical field of molten iron car control technology. The method comprises: obtaining a movement distance and movement constraints between a starting position and a target position of a molten iron transport car; wherein the movement constraints include: a maximum speed, a glide speed, and a minimum glide distance; and the shortest glide distance is less than the movement distance; determining a first acceleration control strategy based on the maximum speed and a preset S-shaped speed curve, and determining a second acceleration control strategy based on the maximum speed, the glide speed, the shortest glide distance, and a preset S-shaped speed curve; wherein the preset S-shaped speed curve is constructed according to a sinx*sinx function; determining a target control strategy based on 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 car based on the target control strategy. The present invention can improve the stability of the molten iron transport car and prevent molten iron splashing.

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 to transfer hot metal from blast furnace ironmaking workshops to steelmaking workshops. During this process, most operations still rely on manual labor, resulting in insufficient positioning accuracy and increased time consumption, thus affecting transportation efficiency. Currently, speed curve control methods used for hot metal transport vehicles include T-type speed curve control, S-type speed curve control, and sinusoidal acceleration and deceleration control.

[0003] Traditional speed control methods typically use a T-shaped speed planning approach. However, this approach suffers from speed continuity but lacks smoothness, leading to speed jumps and uncontrollable acceleration, significantly impacting vehicle positioning accuracy. It also causes vibration, poor control effectiveness, and the potential for molten iron splashing. While the traditional S-shaped curve improves on jerkiness (acceleration), it remains discontinuous, limiting vehicle smoothness and similarly causing molten iron splashing. Therefore, a method for controlling the stable movement of molten iron transport vehicles is urgently needed. 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 the stable movement of a molten iron transportation vehicle.

[0005] In a first aspect, an embodiment of the present invention provides a method for controlling a molten iron transportation system, comprising:

[0006] Obtaining a movement distance and movement constraints between a starting position and a target position of the molten iron transport vehicle; wherein the movement constraints include: a maximum speed, a sliding speed, and a shortest sliding distance; and the shortest sliding distance is less than the movement distance;

[0007] determining a first acceleration control strategy based on the maximum speed and a preset S-shaped speed curve, and determining a second acceleration control strategy based on the maximum speed, the coasting speed, the shortest coasting distance, and the preset S-shaped speed curve; wherein the preset S-shaped speed curve is constructed according to a sinx*sinx function;

[0008] 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.

[0009] 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:

[0010] determining a predicted moving distance according to the first acceleration control strategy, the second acceleration control strategy, and the motion constraint;

[0011] 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;

[0012] When the movement distance is less than or equal to the predicted movement distance, the target control strategy includes an acceleration control phase and a deceleration control phase;

[0013] The acceleration control stage adopts the first acceleration control strategy; the deceleration control stage adopts the second acceleration control strategy.

[0014] In a possible implementation, when the movement distance is greater than the predicted movement distance, the method further includes:

[0015] performing an integral operation based on the first acceleration control strategy and the maximum speed to determine an acceleration end position, and performing an integral operation based on the second acceleration control strategy, the coasting speed, and the shortest coasting distance to determine a deceleration start position;

[0016] When the movement distance is less than or equal to the predicted movement distance, the method further includes:

[0017] An acceleration / deceleration switching position is determined by performing an integration operation according to the first acceleration control strategy, the second acceleration control strategy, the maximum speed, the coasting speed, and the shortest coasting distance.

[0018] 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:

[0019] 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;

[0020] A drive adjustment instruction is generated according to the speed compensation value.

[0021] In a possible implementation, the starting position is the iron receiving position in the ironmaking workshop, and the target position is the alum extraction position in the steelmaking workshop.

[0022] 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, the method further includes:

[0023] Obtaining the mass of the molten iron transport car, and determining an acceleration correction coefficient according to the mass of the molten iron car;

[0024] Accordingly, determining the target control strategy according to the movement distance, the first acceleration control strategy, and the second acceleration control strategy includes:

[0025] 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.

[0026] In a possible implementation, before determining the first acceleration control strategy according to the maximum speed and the preset S-shaped speed curve, the method further includes:

[0027] Obtain the remaining power of the molten iron transport vehicle;

[0028] When the remaining power is less than a set power, a reduction value of the maximum speed and an extension value of the gliding distance are determined according to the remaining power.

[0029] In a possible implementation, a formula for determining a reduction value of the maximum speed according to the remaining power is:

[0030]

[0031] in, is the current power, is the total power, is the power attenuation coefficient.

[0032] In a possible implementation, before determining the first acceleration control strategy according to the maximum speed and the preset S-shaped speed curve, the method further includes:

[0033] Obtain the remaining power of the molten iron transport vehicle;

[0034] When the remaining power is less than the set power, the maximum acceleration is reduced according to the remaining power.

[0035] In a second aspect, an embodiment of the present invention provides a control device for a molten iron transportation system, comprising:

[0036] An acquisition module is used to acquire a movement distance and movement constraints between a starting position and a target position of the molten iron transport vehicle; wherein the movement constraints include: a maximum speed, a sliding speed, and a shortest sliding distance; and the shortest sliding distance is less than the movement distance;

[0037] a first determination module, configured to determine a first acceleration control strategy based on the maximum speed and a preset S-shaped speed curve, and to determine a second acceleration control strategy based on the maximum speed, the coasting speed, the shortest coasting distance, and the preset S-shaped speed curve; wherein the preset S-shaped speed curve is constructed according to a sinx*sinx function;

[0038] a second determining module, configured to determine a target control strategy according to the movement distance, the first acceleration control strategy, and the second acceleration control strategy;

[0039] 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.

[0040] 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 for the molten iron transportation system in the second aspect above;

[0041] Wherein, the energy storage device, control device, weighing device and positioning device are all arranged on the molten iron transport vehicle;

[0042] 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.

[0043] In a fourth aspect, an embodiment of the present invention provides an electronic device comprising 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.

[0044] 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.

[0045] In a sixth aspect, an embodiment of the present invention provides a computer program product, comprising a computer program, which, when executed by a processor, implements the method in the first aspect or any possible implementation of the first aspect.

[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 the 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 the acceleration and deceleration process. 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 target control strategy generates power drive control commands for the molten iron transport vehicle to avoid sudden acceleration or deceleration during acceleration and deceleration, preventing violent shaking and even splashing caused by the molten iron's inertia. This ensures that the molten iron transport vehicle remains smooth and stable during acceleration and deceleration, effectively preventing molten iron splashing. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is an application scenario diagram of the control method for a molten iron transportation system provided by an embodiment of the present invention;

[0048] Figure 2 This is a flow chart of an implementation method of a molten iron transportation system control method provided by an embodiment of the present invention;

[0049] Figure 3 Schematic diagram of the structure of a control device for a molten iron transportation system provided by an embodiment of the present invention;

[0050] Figure 4 is a schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0051] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0052] Figure 1 This is an application scenario diagram of the control method for 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 drive motor 12, and a drive cylinder 13.

[0053] In the embodiment of the present application, the molten iron transport vehicle is a new energy vehicle that uses a new energy supercapacitor 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 based on information from the detection system, positioning system, etc., and realizes functions such as precise positioning of the molten iron transport vehicle, environmental identification, safety protection, unmanned operation, and reversing of molten iron based on the ranging device 1, the covering device 3, the on-board detection device 11, etc. The ground operating system 9, the wireless transmission system 7, etc. realize auxiliary operation of the molten iron transport vehicle and transmit data to the centralized control center through the wireless communication network, providing the centralized control center with the real-time operating status of the molten iron transport vehicle. This 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 remote control operation of the molten iron transport vehicle, remote data collection, and other functions, thereby realizing intelligent operation and unmanned operation.

[0054] 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, locate, charge, and receive iron on different lines, ensuring that any vehicle can be used as an emergency replacement when the molten iron transport vehicle is damaged or under repair, thereby achieving the flexible line changing function of the molten iron transport vehicle.

[0055] 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 adopts radio frequency identification sensor, distance measuring sensor, coding displacement sensor, etc.

[0056] The data processing and storage system, along with the onboard intelligent control system 6, is primarily responsible for calculating and storing information such as on-site location data, weighing data, remote data from ironmaking and steelmaking, and environmental data. It automatically plans a route based on built-in control algorithms and outputs operational control signals for the molten iron transport vehicle, driving it to the desired location. The wireless transmission system 7 is primarily responsible for establishing a network and transmitting data between the onboard intelligent control system 6, the ground operating system 9, remote dispatch, the automatic charging system, and the weighing system. The actuators, primarily composed of a drive motor 12, a drive cylinder 13, a speed controller, and drive valves, are used to drive the molten iron transport vehicle and open and close the capping mechanism.

[0057] This application aims to ensure that the actuator drives the molten iron transport vehicle to operate stably in the process of reaching the predetermined position, and to prevent sudden acceleration or deceleration from causing fluctuations in the molten iron level.

[0058] 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:

[0059] 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.

[0060] In this embodiment, the execution subject of the control method of the molten iron transportation system is a controller (for example, Figure 1 As shown in the vehicle intelligent control system 6), or, configured in a remote controller (for example Figure 1 The ground operating system 9 is shown, and the remote controller is in communication with the controller on the molten iron transport vehicle.

[0061] In a possible implementation, the starting position is the iron receiving position in the ironmaking workshop, and the target position is the alum extraction position in the steelmaking workshop.

[0062] In the actual implementation process, based on Figure 1 The control process of the molten iron transportation control system shown is as follows:

[0063] According to the process system, the blast furnace molten iron calls the molten iron transport vehicle carrying the molten iron ladle and the capping device. After receiving the command, the molten iron transport vehicle automatically detects whether the molten iron ladle is empty and whether the capping device 3 is closed. Based on the detection information of the distance measuring device 1 and the ground detection device 10, it automatically moves to the bottom of the blast furnace molten iron outlet and opens the capping device 3. When it is ready, it sends a signal to the ironmaking control center. After receiving the signal, the ironmaking control center starts to drain the blast furnace iron outlet to receive the iron. When the ladle is full of molten iron, the ironmaking control center sends a signal to the molten iron transport vehicle to notify the molten iron end signal. After receiving the signal, the molten iron transport vehicle automatically performs the capping operation and moves to the waiting position to wait 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 proceed to the next step.

[0064] After the molten iron transport car is filled with molten iron at the ironmaking workshop, if the molten iron transport car experiences sudden acceleration or deceleration, it may cause liquid level fluctuations, and in severe cases, even molten iron splashing. Therefore, improving the operating stability of the molten iron transport car is particularly important.

[0065] In other possible implementations, the molten iron transport vehicle may stop in the middle of the journey due to reasons such as exhaustion of power, and continue to move after maintenance or be replaced by other molten iron transport vehicles for emergency use. 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.

[0066] Molten iron transportation often takes place in complex industrial environments, such as steel mill workshops, where various equipment, obstacles, and areas of human activity are present. Obtaining the distance traveled between the starting and target locations helps the system more accurately plan the molten iron transport vehicle's route, avoiding obstacles and busy areas to ensure the safe and efficient transportation of the molten iron to its destination. Travel distance is a crucial factor in determining the acceleration, coasting, and deceleration phases of the molten iron transport vehicle. During transportation, the molten iron transport vehicle must accelerate from a standstill to an appropriate speed within a certain distance and then decelerate at the appropriate time to ensure safe arrival at the target location.

[0067] 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 its travel. This speed limit can be set based on a 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, the gliding speed of the molten iron transport vehicle under different working conditions is measured through multiple experiments, and the average value is taken as a reference for the gliding speed.

[0068] The shortest glide distance can be determined by braking the molten iron transport vehicle to measure the shortest distance required to come to a complete stop from the glide speed. This is then combined with the actual workshop conditions and an appropriate safety margin to arrive at the shortest glide distance. Ensuring accurate glide speed and shortest glide distance is crucial for the molten iron transport vehicle to accurately stop at its target location.

[0069] S202, determining a first acceleration control strategy based on the maximum speed and a preset S-shaped speed curve, and determining a second acceleration control strategy based on 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 the sinx*sinx function.

[0070] The S-shaped velocity curve constructed using the sinx*sinx function is a wavy 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 velocity curve both conform to the sine / cosine characteristics, resulting in the curve's acceleration increasing first and then decreasing.

[0071] The first acceleration control strategy is determined based on the maximum speed and a preset S-shaped speed curve. During the initial phase, the speed of the molten iron transport vehicle increases according to the S-shaped speed curve until it reaches the maximum speed. Once the vehicle reaches the maximum speed, a deceleration strategy (i.e., the second acceleration control strategy) is determined based on the coasting speed, the shortest coasting distance, and the preset S-shaped speed curve to ensure the molten iron transport vehicle can stably stop at the target location.

[0072] 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.

[0073] Based on the characteristics of the movement distance, acceleration phase, and deceleration phase, the entire movement process of the molten iron transport vehicle in workshops of different sizes is divided into acceleration phase, constant speed phase, and deceleration phase, or even into acceleration phase and deceleration phase. For example, when the movement distance is short, the constant speed phase may not exist; however, when the movement distance is long, the time and distance of acceleration, constant speed, and deceleration must be reasonably planned.

[0074] The first acceleration control strategy is applied during the acceleration phase, while the second acceleration control strategy is used during the deceleration phase. This allows the vehicle to slow down to a coasting speed, coast for a certain distance, and then decelerate smoothly to a stop. By integrating the first and second acceleration control strategies, a comprehensive target control strategy can be obtained.

[0075] based on Figure 1 As 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.

[0076] During implementation, an S-shaped curve based on the sinx*sinx function uses interpolation. Within the [0,π / 2] period, tiny trapezoidal velocity straight line segments are used to approximate the sinx*sinx velocity curve. Based on the current and target position information, the approximate outline of the sinx*sinx curve is calculated, and this outline is densely interpolated using interpolation to ensure the smoothness of the curve. Simultaneously, based on the maximum velocity in the motion constraints, the average acceleration under the trapezoidal velocity curve is calculated, which is then equivalent to the average acceleration under the sinx*sinx velocity curve. The shortest deceleration distance plus the coasting distance are calculated, and the acceleration stop position and deceleration start position are calculated based on the shortest deceleration distance, the target position, and the current position. This method tracks the displacement interval in real time, determines the target distance based on the vehicle's position information, and smoothly accelerates and decelerates in real time based on the set distance and the generated velocity curve.

[0077] 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 the 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 the acceleration and deceleration process. 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 target control strategy generates power drive control commands for the molten iron transport vehicle to avoid sudden acceleration or deceleration during acceleration and deceleration, preventing violent shaking and even splashing caused by the molten iron's inertia. This ensures that the molten iron transport vehicle remains smooth and stable during acceleration and deceleration, effectively preventing molten iron splashing.

[0078] The above embodiment 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.

[0079] 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:

[0080] Determining a predicted moving distance according to the first acceleration control strategy, the second acceleration control strategy, and motion constraints;

[0081] When the moving distance is greater than the predicted moving distance, the target control strategy includes an acceleration control stage, a constant speed control stage, and a deceleration control stage;

[0082] When the moving distance is less than or equal to the predicted moving distance, the target control strategy includes an acceleration control phase and a deceleration control phase;

[0083] 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.

[0084] During the acceleration control phase, the vehicle gradually accelerates from a standstill, with the acceleration varying over time according to an S-shaped curve to ensure smooth acceleration. During the deceleration control phase, the vehicle smoothly decelerates from a high speed to a coasting speed and eventually stops. The predicted travel distance is the total distance the vehicle would travel if it were accelerated to maximum speed using the first acceleration control strategy, decelerated to coasting speed using the second acceleration control strategy, and then coasted for the shortest distance.

[0085] When the travel distance exceeds the predicted distance, the vehicle has sufficient space for acceleration, constant speed, and deceleration. The target control strategy consists of an acceleration control phase, a constant speed control phase, and a deceleration control phase. During the acceleration control phase, the acceleration gradually increases and then decreases, ensuring smooth acceleration and avoiding the impact of sudden acceleration on the molten iron. During constant speed travel, the vehicle's speed remains stable, minimizing sloshing of the molten iron and facilitating safe transportation. During the deceleration control phase, the acceleration gradually decreases and then increases, ensuring smooth deceleration and preventing splashing of the molten iron caused by sudden braking.

[0086] When the travel distance is less than or equal to the predicted travel distance, the vehicle lacks sufficient space to maintain a constant speed. Therefore, the target control strategy consists of only two phases: acceleration and deceleration. During the acceleration phase, the first acceleration control strategy is used, accelerating the vehicle from a standstill until it reaches its maximum speed, or decelerating before reaching its maximum speed. During the deceleration phase, the second acceleration control strategy is used, decelerating the vehicle from its current speed to a coasting speed before continuing to coast to the target location.

[0087] In this embodiment, by applying an acceleration control strategy based on an S-shaped velocity curve, the vehicle achieves a smooth transition in acceleration during acceleration and deceleration, effectively avoiding sudden acceleration and braking, ensuring vehicle stability during acceleration and deceleration, and thus effectively preventing molten iron splashing. The acceleration, constant speed, and deceleration phases are rationally planned based on the driving distance. For longer distances, a constant speed control phase is introduced to ensure the vehicle maintains a stable speed, reducing frequent acceleration and deceleration operations, lowering energy consumption, and improving transportation efficiency. Furthermore, the predicted travel distance is determined by incorporating motion constraints, and the target control strategy is flexibly adjusted based on the actual driving distance, ensuring that the vehicle can accurately reach the target location, meeting the precise positioning requirements for molten iron transportation.

[0088] Corresponding to different target control strategies, the acceleration and deceleration control positions of the molten iron transport vehicle are different.

[0089] In a possible implementation, when the movement distance is greater than the predicted movement distance, the method further includes:

[0090] An integral operation is performed based on the first acceleration control strategy and the maximum speed to determine the acceleration end position, and an integral operation is performed based on the second acceleration control strategy, the coasting speed and the shortest coasting distance to determine the deceleration start position.

[0091] Among them, the first acceleration control strategy stipulates the change law of the vehicle's acceleration over time during the acceleration phase. Combined with the maximum speed, the velocity-time relationship and displacement-time relationship of the vehicle during the acceleration phase can be obtained through integration operation, thereby determining the position of the vehicle at the end of acceleration. 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.

[0092] First, according to the relationship between acceleration and velocity (in is the initial velocity), when When , the acceleration time can be calculated .

[0093] Then, according to the relationship between velocity and displacement (in is the initial position), Substitute it and you can get the acceleration end position .

[0094] Similarly, the second acceleration control strategy specifies how the vehicle's acceleration changes over time during the deceleration phase. Combining the coasting speed and the shortest coasting distance, the velocity-time and displacement-time relationships of the vehicle during the deceleration phase can be obtained through integral calculations, thereby determining the vehicle's position at the start of deceleration.

[0095] When the movement distance is less than or equal to the predicted movement distance, it also includes:

[0096] An acceleration / deceleration switching position is determined by performing an integral operation based on the first acceleration control strategy, the second acceleration control strategy, the maximum speed, the coasting speed, and the shortest coasting distance.

[0097] When the travel distance is less than or equal to the predicted travel distance, the vehicle has no constant speed phase and must transition from acceleration to deceleration at an appropriate location. By comprehensively considering the first and second acceleration control strategies, maximum speed, coasting speed, and minimum coasting distance, and using integration to calculate the displacement-time relationship between the acceleration and deceleration phases, the transition point between acceleration and deceleration is determined.

[0098] In this embodiment, by precisely determining the acceleration end position, deceleration start position, and acceleration / deceleration transition position, the molten iron transport vehicle's travel can be more accurately controlled, allowing the vehicle to follow a predetermined speed curve and path, thereby improving transport accuracy and stability. Accurate position control can prevent excessive acceleration or deceleration during acceleration and deceleration, reduce impact on the molten iron, effectively prevent splashing, and ensure transport safety. Reasonable acceleration and deceleration position arrangement allows the vehicle to fully utilize power and coast within a limited travel distance, reducing unnecessary energy consumption and improving transport efficiency.

[0099] 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:

[0100] Determine the speed compensation value according to the real-time position, sliding speed and shortest sliding distance of the molten iron transport vehicle;

[0101] Generate drive adjustment instructions based on the speed compensation value.

[0102] 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;

[0103] Real-time speed V(t)=sinx*sinx=sin(a*π / 2T)*sin(a*π / 2T)*V max

[0104] Real-time acceleration a(t)=sin2x=sin(x*π / T)

[0105] The shortest deceleration distance L2=1000*(1 / 2S a t 2 )+L3

[0106] Real-time position L(t)=∫v(t)dx=1 / 4(2x-sin2x)

[0107] The acceleration and deceleration time and position are determined based on the real-time comparison of the real-time position, target position and the shortest deceleration distance, and the control signal is output to control the vehicle's running speed and finally stop accurately at the target position.

[0108] In this embodiment, by determining the speed compensation value in real time and generating drive adjustment commands, position deviations during vehicle travel can be promptly corrected, allowing the vehicle to more accurately follow the predetermined path and speed, thereby improving transportation accuracy. Furthermore, the system can adapt to various complex operating conditions and external interferences, such as changes in road conditions and load, making vehicle driving performance more stable and enhancing the adaptability and reliability of the entire transportation system.

[0109] 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 magnitude of 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 different molten iron transport vehicles.

[0110] 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:

[0111] Obtain the mass of the molten iron transport car and determine the acceleration correction coefficient based on the mass of the molten iron car;

[0112] Accordingly, determining the target control strategy according to the movement distance, the first acceleration control strategy, and the second acceleration control strategy includes:

[0113] 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.

[0114] The modified acceleration control strategy and travel distance are combined to divide the vehicle's driving process into stages. If the travel distance is greater than the predicted travel distance, the target control strategy still includes the acceleration control stage, the constant speed control stage, and the deceleration control stage. If the travel distance is less than or equal to the predicted travel distance, the target control strategy includes the acceleration control stage and the deceleration control stage.

[0115] In each phase, the modified acceleration control strategy calculates the corresponding parameters such as time, speed, and displacement. For example, during the acceleration phase, the modified first acceleration control strategy calculates the time required to accelerate to maximum speed and the distance traveled; during the deceleration phase, the modified second acceleration control strategy calculates the time and distance required to decelerate from maximum speed to coasting speed.

[0116] In this embodiment, by considering vehicle mass and introducing an acceleration correction factor, the target control strategy is more accurately aligned with the vehicle's actual acceleration and deceleration performance, improving control precision during vehicle operation and making vehicle operation more stable and accurate. This prevents excessive or insufficient acceleration and deceleration due to changes in vehicle mass, reduces the impact of sudden acceleration and deceleration on molten iron, effectively prevents molten iron splashing, and ensures transportation safety. Adjusting the acceleration based on the vehicle's actual mass allows for more efficient energy utilization during operation, avoiding unnecessary energy consumption and improving energy efficiency.

[0117] In a possible implementation, before step S202, the process further includes:

[0118] Obtain the remaining power of the molten iron transport vehicle;

[0119] 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.

[0120] During the transport of molten iron, the vehicle's battery level directly impacts its operational performance and transport efficiency. Before determining the acceleration control strategy, obtaining the vehicle's remaining battery level and adjusting the maximum speed and coasting distance accordingly optimizes the vehicle's operational strategy when the battery is low, ensuring smooth transport completion while avoiding disruptions caused by battery depletion.

[0121] Reducing the vehicle's maximum speed can reduce the vehicle's power consumption, thereby extending the battery's range. The maximum speed reduction is related to the remaining battery power. The lower the remaining battery power, the greater the maximum speed reduction.

[0122] In one possible implementation, the formula for determining the reduction value of the maximum speed according to the remaining power is:

[0123]

[0124] in, The maximum speed reduction value is the current power, is the total power, is the power attenuation coefficient.

[0125] Extending the coasting distance allows the vehicle to continue driving without consuming additional power, thus saving power. The extended coasting distance is also related to the remaining power. The lower the remaining power, the greater the extended coasting distance.

[0126] This 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 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 percentage of remaining power, is the proportionality factor).

[0127] In this embodiment, by reducing the maximum speed and extending the coasting distance, the vehicle's energy consumption is reduced. This effectively extends the vehicle's range in low-battery conditions and increases the likelihood that the vehicle will complete its transport mission. This prevents vehicle breakdowns due to battery exhaustion, ensuring the continuity and stability of molten iron transportation and minimizing the impact on the production process. Dynamically adjusting the vehicle's operating parameters based on the remaining battery charge allows for more efficient energy utilization at varying battery levels, improving energy efficiency.

[0128] In a possible implementation, before step S202, the process further includes:

[0129] Obtain the remaining power of the molten iron transport vehicle;

[0130] When the remaining power is less than the set power, the maximum acceleration is reduced according to the remaining power.

[0131] Reducing maximum acceleration when the battery is low can prevent excessive power consumption, ensuring the vehicle has sufficient power to complete the transport mission, while also improving vehicle safety and stability. When the remaining battery power falls below the set power level, the system triggers a corresponding control strategy, reducing maximum acceleration based on the remaining power.

[0132] 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 based on a table. 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, Is to set the power, is the remaining power.

[0133] In this embodiment, lowering the maximum acceleration reduces the vehicle's energy consumption during acceleration, particularly when the battery is low. This effectively extends the vehicle's range, improves battery efficiency, and reduces energy costs. By properly adjusting the maximum acceleration, the vehicle ensures sufficient power to complete transport missions even when the battery is limited, avoiding transport interruptions due to battery depletion and improving transport reliability and continuity.

[0134] It should be understood that the size of the serial numbers of the steps in the above embodiments does not 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 embodiments of the present invention.

[0135] The following are device embodiments of the present invention. For details not fully described therein, reference may be made to the corresponding method embodiments described above.

[0136] Figure 3 A schematic diagram of the structure of a control device for a molten iron transportation system according to an embodiment of the present invention is shown. For ease of explanation, only the parts related to the embodiment of the present invention are shown, which are described in detail as follows:

[0137] like Figure 3 As shown, the control device of the molten iron transportation system includes:

[0138] The acquisition module 301 is used to obtain 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;

[0139] a first determination module 302 for determining a first acceleration control strategy based on the maximum speed and a preset S-shaped speed curve, and determining a second acceleration control strategy based on the maximum speed, the coasting speed, the shortest coasting distance, and the preset S-shaped speed curve; wherein the preset S-shaped speed curve is constructed according to a sinx*sinx function;

[0140] A second determining module 303 is configured to determine a target control strategy based on the movement distance, the first acceleration control strategy, and the second acceleration control strategy;

[0141] 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.

[0142] In a possible implementation, the second determining module 303 is specifically configured to:

[0143] Determining a predicted moving distance according to the first acceleration control strategy, the second acceleration control strategy, and motion constraints;

[0144] When the moving distance is greater than the predicted moving distance, the target control strategy includes an acceleration control stage, a constant speed control stage, and a deceleration control stage;

[0145] When the moving distance is less than or equal to the predicted moving distance, the target control strategy includes an acceleration control phase and a deceleration control phase;

[0146] 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.

[0147] In one possible implementation, the second determining module 303 is further configured to, when the movement distance is greater than the predicted movement distance, perform an integral operation based on the first acceleration control strategy and the maximum speed to determine the acceleration end position, and perform an integral operation based on the second acceleration control strategy, the gliding speed, and the shortest gliding distance to determine the deceleration start position;

[0148] When the moving distance is less than or equal to the predicted moving distance, an integration 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.

[0149] In one possible implementation, the second determining module 303 is further configured to determine a speed compensation value according to the real-time position, sliding speed, and shortest sliding distance of the molten iron transport vehicle after generating a power drive control instruction for the molten iron transport vehicle according to the target control strategy;

[0150] The instruction generation module 304 is further configured to generate a drive adjustment instruction according to the speed compensation value.

[0151] In one possible implementation, the acquisition module 301 is further configured to acquire the mass of the molten iron transport vehicle before determining the target control strategy based on the movement distance, the first acceleration control strategy, and the second acceleration control strategy, and determine the acceleration correction coefficient based on the mass of the molten iron vehicle;

[0152] Accordingly, the second determining 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.

[0153] In one 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.

[0154] In one 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 maximum acceleration is reduced according to the remaining power.

[0155] 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 the 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 the acceleration and deceleration process. 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 target control strategy generates power drive control commands for the molten iron transport vehicle to avoid sudden acceleration or deceleration during acceleration and deceleration, preventing violent shaking and even splashing caused by the molten iron's inertia. This ensures that the molten iron transport vehicle remains smooth and stable during acceleration and deceleration, effectively preventing molten iron splashing.

[0156] 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 of the aforementioned embodiment;

[0157] Wherein, the energy storage device, control device, weighing device and positioning device are all arranged on the molten iron transport vehicle;

[0158] 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.

[0159] Figure 4 Schematic diagram of an electronic device provided by an embodiment of the present invention. Figure 4 As shown, electronic device 400 of this embodiment includes a processor 41 and a memory 42. Memory 42 stores a computer program 43. When processor 41 executes computer program 43, it implements the steps of the aforementioned method embodiments. Alternatively, when processor 41 executes computer program 43, it implements the functions of the modules / units in the aforementioned device embodiments.

[0160] For example, 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, and the instruction segments are used to describe the execution process of the computer program 43 in the electronic device 400.

[0161] 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.

[0162] 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. The general-purpose processor may be a microprocessor or any conventional processor.

[0163] The memory 42 may be an internal storage unit of the electronic device 400, such as a hard drive 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 drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on the electronic device 400. Furthermore, the memory 42 may 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 about to be output.

[0164] For the sake of convenience and brevity, the division of the above functional modules / units is only used as an example. 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.

[0165] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods in the above-mentioned method embodiments.

[0166] An embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements the methods in the above-mentioned method embodiments.

[0167] The term "computer program" includes computer program code, which may be in source code form, object code form, executable file, or some intermediate form. Computer-readable media may include any entity or device capable of carrying computer program code, recording media, USB flash drives, removable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunications signals, and software distribution media.

[0168] In the above embodiments, the descriptions of each embodiment have their own focus. For parts not described or recorded in detail in one embodiment, please refer to the relevant descriptions of other embodiments. Unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other. The technical features of different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0169] 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 they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A method for controlling a molten iron transportation system, characterized in that: include: Obtaining a movement distance and movement constraints between a starting position and a target position of the molten iron transport vehicle; wherein the movement constraints include: a maximum speed, a sliding speed, and a shortest sliding distance; and the shortest sliding distance is less than the movement distance; determining a first acceleration control strategy based on the maximum speed and a preset S-shaped speed curve, and determining a second acceleration control strategy based on the maximum speed, the coasting speed, the shortest coasting distance, and the preset S-shaped speed curve; wherein the preset S-shaped speed curve is constructed according to a sinx*sinx function; 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; The step of 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; 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 phase and a deceleration control phase; The acceleration control stage adopts the first acceleration control strategy; the deceleration control stage adopts the second acceleration control strategy.

2. The control method of the molten iron transportation system according to claim 1, characterized in that: When the movement distance is greater than the predicted movement distance, the method further includes: performing an integral operation based on the first acceleration control strategy and the maximum speed to determine an acceleration end position, and performing an integral operation based on the second acceleration control strategy, the coasting speed, and the shortest coasting 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 integration operation according to the first acceleration control strategy, the second acceleration control strategy, the maximum speed, the coasting speed, and the shortest coasting distance.

3. 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.

4. 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 extraction position in the steelmaking workshop.

5. 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 transport 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.

6. 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 a set power, a reduction value of the maximum speed and an extension value of the gliding distance are determined according to the remaining power.

7. A control device for a molten iron transportation system for executing the control method for a molten iron transportation system according to any one of claims 1 to 6, characterized in that: include: An acquisition module is used to acquire a movement distance and movement constraints between a starting position and a target position of the molten iron transport vehicle; wherein the movement constraints include: a maximum speed, a sliding speed, and a shortest sliding distance; and the shortest sliding distance is less than the movement distance; a first determination module, configured to determine a first acceleration control strategy based on the maximum speed and a preset S-shaped speed curve, and to determine a second acceleration control strategy based on the maximum speed, the coasting speed, the shortest coasting 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 determining 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.

8. 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 7; 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.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method according to any one of claims 1 to 6 is implemented.

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