Closed-loop regulating circuit, system and method for submerged chain conveyor

Abstract

The invention discloses a closed-loop regulating circuit, system and method for a submerged chain conveyor in the technical field of power plant automatic control. The closed-loop regulating circuit comprises a first setting module, a switching setting module, a fourth setting module, an addition module and a signal acquisition and detection module, the first setting module is used for receiving given adjusting parameters and setting reference parameters of the submerged chain conveyor in a normal state according to the adjusting parameters; and the switching setting module is used for switching the adjusting mode of the first setting module, so that the adjusting parameter can return to the normal interval again after deviating from the normal interval. By adopting the interval closed-loop automatic control system, the output quantity of the submerged chain conveyor can be accurately controlled no matter how the normal value of the adjusted parameter of the equipment changes in the interval range, so that the output of the submerged chain conveyor is automatically adjusted under the normal working condition of the hydraulic submerged chain conveyor, the adjusting process is not influenced by large-range fluctuation of oil pressure, and the service life of the hydraulic submerged chain conveyor is prolonged. And the output force of the submerged chain conveyor can be accurately adjusted.

Description

Technical Field

[0001] The invention relates to the technical field of automatic control of power plants, and in particular to a closed-loop regulating circuit, system and method for a slag remover. Background Art

[0002] The output adjustment mechanism of the slag picker used in the power plant is a hydraulic adjustment mechanism, and the DCS system is used to give a speed setting value to control the hydraulic adjustment mechanism. The output of the slag picker is controlled by transmitting the speed setting value current signal to the hydraulic proportional overflow valve to adjust the hydraulic overflow ratio. This control method is open-loop control, which has the characteristics of fast output response speed, and the response speed and system performance are independent of input and output changes. At the same time, because the control method is relatively direct, it is not easy to have oscillation and loss of control problems.

[0003] However, the existing open-loop control method has the following shortcomings: First, in actual use, due to the interference and error of the external environment, it is often difficult to accurately control the output of the oil pressure, resulting in poor output control accuracy of the slag picker; second, when the control process is subject to disturbances from inside or outside the system, such as load changes, oil pressure fluctuations, etc., the oil pressure output will be directly affected. Since the existing open-loop control system cannot automatically compensate, the accuracy of the output adjustment is difficult to meet the use requirements; on the other hand, the slag pickers of each unit in the existing control system have different operating parameters under standard conditions, resulting in a non-linear relationship between the given value on the DCS system screen and the actual speed, and between the speed and the oil pressure, so that when the slag pickers of each unit are running under standard conditions, the speed setting value and the oil pressure value are quite different; and due to changes in the machine itself and the amount of slag, the oil pressure fluctuates, that is, the oil pressure fluctuation range and the oil pressure fluctuation amplitude are different, which aggravates the difficulty of accurate adjustment of the existing oil pressure. Summary of the invention

[0004] The purpose of the present invention is to provide a closed-loop regulation circuit, system and method for a slag picker. By adopting an interval closed-loop automatic control system, the output of the slag picker can be accurately controlled regardless of how the normal value of the regulated parameter of the equipment changes within the interval. The problem that the oil pressure of the hydraulic slag picker cannot be accurately automatically adjusted due to large fluctuations under normal working conditions can be solved, and accurate regulation of the output of the slag picker can be achieved.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] In a first aspect, the present invention provides a closed-loop regulating circuit for a slag scoop machine, wherein the slag scoop machine is a hydraulic slag scoop machine, and the hydraulic slag scoop machine includes a slag scoop machine system, a machine body, and a slag scoop machine bearing, a slag scoop machine protruding shaft, and a slag scoop machine oil station control valve installed on the machine body. The regulating circuit includes a first setting module, and the first setting module is used to receive a given regulating parameter and set a reference parameter of the slag scoop machine in a normal state according to the regulating parameter;

[0007] A switching setting module, the switching setting module is used to switch the adjustment mode of the first setting module so that the adjustment parameter can return to the normal range after deviating from the normal range;

[0008] A fourth setting module, the fourth setting module being used as a protection module for the slag scooping machine in case of an emergency;

[0009] A signal acquisition and detection module, which is used to collect the pulse signal of the protruding shaft of the slag scoop machine and the real-time oil pressure data of the slag scoop machine, and to alarm for abnormal conditions. The signal acquisition and detection module can be called manually;

[0010] A signal acquisition detection module and an ADD addition module, wherein the signal acquisition detection module includes a first slag scooping machine automatic control module, a first setting module, and an adjustment selection module. When the slag scooping machine automatic control module is triggered, the signal conversion module will accept the control signal of the ADD addition module. When the first slag scooping machine automatic control module is not triggered, the signal conversion module will accept the control signal output by the first setting module.

[0011] The output end of the adding module is electrically connected to the input end of the signal acquisition and detection module, and the first setting module, the switching setting module and the fourth setting module are respectively connected to the input end of the ADD adding module.

[0012] As a further solution of the present invention: the first setting module includes a speed setting unit, the speed setting unit is used to receive a given initial speed value of the slag scoop machine, the initial speed value is an adjustment parameter;

[0013] The speed setting unit sets a speed setting value that enables the slag extractor to operate stably according to the initial speed value, and the initial speed value and the speed setting value constitute a speed adjustment range of the slag extractor.

[0014] As a further solution of the present invention: the switching setting module includes a second setting module and a third setting module. When the actual measured oil pressure of the slag machine oil pressure setting unit in the switching setting module is lower than the set low value of the oil pressure range of the second setting module, the third setting module switches to the second setting module;

[0015] The second setting module includes a greater than judgment module, a first PID control module and a first oil pressure shielding module, the input end of the greater than judgment module is connected to a hydraulic detection feedback unit and a first slag scoop machine oil pressure setting unit, the output end of the first PID control module and the input end of the first oil pressure shielding module are connected to a first O value unit, the second setting module is used for when the slag scoop machine oil pressure is lower than the pressure setting low value, the first PID control module sets the oil pressure low value and the actual measured oil pressure deviation through the first slag scoop machine oil pressure setting unit, and outputs the required adjustment command value through the first PID control module to adjust the oil pressure value of the slag scoop machine to within the interval above the oil pressure setting low value, at this time, the values ​​of the first setting module, the second setting module and the fourth setting module are added through the addition module;

[0016] When the oil pressure actually measured by the slag scoop machine is higher than the oil pressure setting low value of the second setting module, the first oil pressure shielding module is triggered, causing the given value output of the second setting module to be 0, and the first oil pressure shielding module starts the shielding function until the oil pressure actually measured by the slag scoop machine is lower than the oil pressure setting low value of the second setting module, at which time the first oil pressure shielding module cancels the shielding function.

[0017] As a further solution of the present invention: when the actual measured oil pressure of the slag machine oil pressure setting unit in the switching setting module is higher than the set high value of the oil pressure range of the third setting module, the second setting module is switched to the third setting module;

[0018] The third setting module includes a second PID control module and a second oil pressure shielding module, and a second O value unit is connected between the output end of the second PID control module and the input end of the second oil pressure shielding module. The third setting module is used for when the oil pressure of the slag scooping machine is higher than the set high pressure value, the second PID control module sets the high oil pressure of the slag scooping machine and the actual measured oil pressure deviation, and outputs the required adjustment command value through the second PID control module to adjust the oil pressure value of the slag scooping machine not to exceed the set high value of the oil pressure. At this time, the values ​​of the first setting module, the third setting module and the fourth setting module are added through the ADD addition module;

[0019] When the actual measured oil pressure of the slag scoop machine is lower than the high oil pressure setting value of the third setting module, the second oil pressure shielding module is triggered, causing the given value output of the third setting module to be 0, and the third setting module does not work until the actual measured oil pressure of the slag scoop machine is higher than the high oil pressure setting value of the third setting module, at which time the second oil pressure shielding module cancels the shielding function.

[0020] As a further solution of the present invention: the second setting module also includes a first P value setting and closed-loop feedback mechanism and a first I value setting and closed-loop feedback mechanism, the first P value setting and closed-loop feedback mechanism includes a P value setting shielding module, the input end of the P value setting shielding module is connected to a greater than module, a first P value setting unit and a second P value setting unit, the input end of the greater than module is connected to a subtraction module and a first deviation pressure setting unit, the input end of the subtraction module is connected to a second oil pressure setting unit and a slag scoop hydraulic pressure feedback unit, the oil pressure detection unit detects the oil pressure value of the slag scoop and calculates the deviation from the low value of the oil pressure setting interval, and compares the deviation result with the first deviation limit, when the deviation result is greater than the first deviation limit, the output of the P value oil pressure setting unit is the second P value setting unit; otherwise, the output of the P value oil pressure setting unit is the first P value setting unit;

[0021] The first I value setting and closed-loop feedback mechanism includes an I value setting shielding module, the input end of the I value setting shielding module is connected to a greater than module, a first I value setting unit and a second I value setting unit, the input end of the greater than module is connected to a subtraction module and a first deviation pressure setting unit, the input end of the subtraction module is connected to a second oil pressure setting unit and a slag scoop hydraulic pressure feedback unit, the first P value setting and closed-loop feedback mechanism and the second oil pressure setting unit of the first I value setting and closed-loop feedback mechanism are respectively set to low values;

[0022] The second setting module compares the deviation value of the first deviation pressure setting unit with the set first deviation interval, selects the target P value that can make the actual oil pressure of the slag scoop machine within the oil pressure interval, and the oil pressure detection unit detects the oil pressure value of the slag scoop machine and the high value of the oil pressure setting interval to perform deviation calculation, and compares the deviation result with the second deviation limit. When the deviation result is greater than the first deviation limit, the output of the I value oil pressure setting unit is the second I value setting unit; otherwise, the output of the I value oil pressure setting unit is the first I value setting unit;

[0023] As a further solution of the present invention: the third setting module includes a second P value setting and closed-loop feedback mechanism and a second I value setting and closed-loop feedback mechanism, the second P value setting and closed-loop feedback mechanism includes a P value setting shielding module, the input end of the P value setting shielding module is connected to a greater than module, a third P value setting unit and a fourth P value setting unit, the input end of the greater than module is connected to a subtraction module and a second deviation pressure setting unit, the input end of the subtraction module is connected to a second oil pressure setting unit and a slag scoop hydraulic pressure feedback unit, the oil pressure detection unit detects the oil pressure value of the slag scoop and calculates the deviation from the high value of the oil pressure setting interval, and compares the deviation result with the first deviation limit. When the deviation result is greater than the second deviation limit, the output of the P value oil pressure setting unit is the fourth P value setting unit; otherwise, the output of the P value oil pressure setting unit is the third P value setting unit;

[0024] The first I value setting and closed-loop feedback mechanism includes an I value setting shielding module, the input end of the I value setting shielding module is connected to a greater than module, the I value oil pressure setting unit includes a first I value setting unit and a second I value setting unit, the oil pressure high value and low value are used to calculate the deviation from the actual measured oil pressure, and then the deviation value is compared with the second deviation limit, and a suitable I value is selected, the input end of the greater than module is connected to a subtraction module and a first deviation pressure setting unit, the input end of the subtraction module is connected to a second oil pressure setting unit and a slag scoop hydraulic pressure feedback unit, the first P value setting and closed-loop feedback mechanism and the second oil pressure setting unit of the first I value setting and closed-loop feedback mechanism are respectively set to a low value;

[0025] In the third setting module, the oil pressure detection unit detects the oil pressure value of the slag remover and calculates the deviation from the high value of the oil pressure setting range, and compares the deviation result with the second deviation limit. When the deviation result is greater than the second deviation limit, the output of the I value oil pressure setting unit is the fourth I value setting unit; otherwise, the output of the I value oil pressure setting unit is the third I value setting unit.

[0026] As a further solution of the present invention: the fourth setting module includes a slag machine hydraulic pressure feedback unit, a second oil pressure high value setting unit, a second 0 value unit and an instruction upper limit value unit, and a third oil pressure shielding module. The input end of the third oil pressure shielding module is connected to the second 0 value unit, the instruction upper limit value unit and the greater than module, and the input end of the greater than module is connected to the third oil pressure deviation setting unit. The fourth setting module calculates the deviation between the actually measured oil pressure and the second oil pressure high value, and compares the deviation result with the third oil pressure deviation setting value. When the deviation result is greater than the third oil pressure deviation setting value, the output of the third oil pressure shielding module is the instruction upper limit value unit, otherwise, the output result is the second 0 value unit.

[0027] As a further solution of the present invention: the signal acquisition detection module also includes a pulse signal collector module, which includes a pulse collector, a function module, a greater than judgment module, a slag picker hydraulic pressure feedback unit, a fourth deviation pressure setting unit, and an alarm module. The pulse collector calculates the speed signal by collecting the pulse signal of the protrusion on the slag picker bearing. The output ends of the pulse collector and the alarm module are connected to the host computer. The actual speed of the slag picker is displayed by the host computer as a basis for operator monitoring and judgment. The corresponding theoretical oil pressure value is converted through the functional relationship between the speed and the oil pressure. The theoretical oil pressure value is subtracted from the hydraulic pressure feedback value of the slag picker to obtain the deviation pressure value. The deviation pressure value is judged to be greater than by the set fourth deviation pressure setting unit. When the calculated deviation pressure is greater than the set deviation pressure, the alarm module will be triggered, and the alarm information will be uploaded to the host computer system for an alarm prompt.

[0028] In the second aspect, a closed-loop regulation system for a slag recovery machine is provided, which adopts the closed-loop regulation circuit of the slag recovery machine as described in the above scheme, and the regulation system includes: a host computer terminal system and a data exchanger connected to the host computer terminal system through a bus, the host computer terminal system includes at least one host computer terminal, the data exchanger is connected to a PLC module through a bus, the input end of the PLC module is connected to a PLC programmer, the output end of the PLC module is connected to a signal conversion module, the output end of the signal conversion module is connected to the slag recovery machine, and the closed-loop regulation circuit of the slag recovery machine is integrated in the PLC module.

[0029] In a third aspect, a closed-loop regulation method for a slag scoop machine is provided, using the closed-loop regulation system for a slag scoop machine as described in the above scheme, and the regulation method comprises:

[0030] The host computer terminal system is used to send a given parameter signal to the PLC module;

[0031] The second setting module issues a low value adjustment instruction through the PID control module to adjust the oil pressure parameter below the low value of the normal range;

[0032] The third setting module sends a high value adjustment instruction through the PID control module to adjust the oil pressure parameter below the high value of the normal range.

[0033] As a further solution of the present invention: the adjustment method further includes: using a fourth setting module to increase the adjustment instruction of the slag scoop system to a maximum, so as to protect the slag scoop in an emergency shutdown situation.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. The present invention adopts an interval closed-loop automatic control system. No matter how the normal value of the adjusted parameter of the equipment changes within the interval, the output of the slag picker can be accurately controlled, so that the hydraulic slag picker can automatically adjust the output of the slag picker under normal working conditions. The adjustment process is not affected by the large-scale fluctuation of the oil pressure, and the output of the slag picker can be accurately adjusted.

[0036] 2. The present invention adds a protection fast-add instruction function in the interval closed-loop control system. When the deviation between the oil pressure of the slag picker system and the set high value of the slag picker is greater than the set deviation pressure value, the slag picker control instruction upper limit value will be directly output. By adding the control instruction upper limit value to the other three parts, the slag picker instruction can quickly reach the maximum value, preventing the slag picker from accidents, thereby effectively improving the safety of the slag picker. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 The closed-loop regulation circuit diagram of the slag scooping machine of the present invention;

[0038] Figure 2 It is a first setting module diagram of the present invention;

[0039] Figure 3 It is a second setting module diagram of the present invention;

[0040] Figure 4 It is the third setting module diagram of the present invention;

[0041] Figure 5 This is a diagram of the first P value setting and closed-loop feedback mechanism of the present invention;

[0042] Figure 6 This is a diagram of the first I value setting and closed-loop feedback mechanism of the present invention;

[0043] Figure 7 The second P value setting and closed-loop feedback mechanism diagram of the present invention;

[0044] Figure 8 This is a diagram of the second I value setting and closed-loop feedback mechanism of the present invention;

[0045] Fig. 9 This is a module diagram of the fourth setting unit of the present invention;

[0046] Fig.10 It is a module diagram of the pulse signal collector of the present invention;

[0047] Fig.11 It is a diagram of the host terminal system of the present invention;

[0048] Fig.12 The figure is a flow chart of the method steps of the present invention.

[0049] In the figure: 1. First setting module; 2. Switching setting module; 201. Second setting module; 202. Third setting module; 3. Fourth setting module; 4. ADD addition module; 5. Signal acquisition and detection module; 501. Adjustment and selection module; 502. First setting module; 503. First slag scooping machine automatic control module. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] Example:

[0052] like Figure 1As shown, the present invention provides a closed-loop regulating circuit for a slag scoop machine, the slag scoop machine is a hydraulic slag scoop machine, the hydraulic slag scoop machine includes a slag scoop machine system, a machine body, and a slag scoop machine bearing installed on the machine body, a slag scoop machine protruding shaft, and a slag scoop machine oil station control valve, the regulating circuit includes a first setting module 5021, the first setting module 5021 is used to receive a given regulating parameter, and set a reference parameter of the slag scoop machine in a normal state according to the regulating parameter;

[0053] Switching setting module 2, the switching setting module 2 is used to switch the adjustment mode of the first setting module 5021, so that the adjustment parameter can return to the normal range after deviating from the normal range;

[0054] The fourth setting module 3 is used as a protection module for the slag scoop machine in case of an emergency;

[0055] The signal acquisition and detection module 5 is used to collect the pulse signal of the protruding shaft of the slag scoop machine and the real-time oil pressure data of the slag scoop machine, and to alarm for abnormal conditions. The signal acquisition and detection module 5 can be called manually;

[0056] The signal acquisition detection module 5 and the ADD addition module 4, the signal acquisition detection module 5 includes the first slag scoop automatic control module 503, the first setting module 5021, and the adjustment selection module 501. When the slag scoop automatic control module is triggered, the signal conversion module will accept the control signal of the ADD addition module 4. When the first slag scoop automatic control module 503 is not triggered, the signal conversion module will accept the control signal output by the first setting module 5021.

[0057] The output end of the adding module is electrically connected to the input end of the signal acquisition and detection module 5 , and the first setting module 5021 , the switching setting module 2 and the fourth setting module 3 are respectively connected to the input end of the ADD adding module 4 .

[0058] like Figure 2 As shown, preferably, the first setting module 5021 includes a speed setting unit, and the speed setting unit is used to receive a given initial speed value of the slag scoop machine, and the initial speed value is an adjustment parameter;

[0059] The speed setting unit sets a speed setting value that enables the slag picker to operate stably according to the initial speed value, and the initial speed value and the speed setting value constitute a speed adjustment range of the slag picker.

[0060] Preferably, the switching setting module 2 includes a second setting module 201 and a third setting module 202. When the actual measured oil pressure of the slag machine oil pressure setting unit in the switching setting module 2 is lower than the set low value of the oil pressure range of the second setting module 201, the third setting module 202 is switched to the second setting module 201;

[0061] The second setting module 201 includes a greater than judgment module, a first PID control module and a first oil pressure shielding module. The input end of the greater than judgment module is connected to a hydraulic detection feedback unit and a first slag scooping machine oil pressure setting unit. The output end of the first PID control module and the input end of the first oil pressure shielding module are connected to a first O value unit. The second setting module 201 is used for when the slag scooping machine oil pressure is lower than the pressure setting low value, the first PID control module sets the oil pressure low value and the actual measured oil pressure deviation through the first slag scooping machine oil pressure setting unit, and outputs the required adjustment command value through the first PID control module to adjust the slag scooping machine oil pressure value to within the interval above the oil pressure setting low value. At this time, the values ​​of the first setting module 5021, the second setting module 201 and the fourth setting module 3 are added through the addition module;

[0062] When the oil pressure actually measured by the slag scoop machine is higher than the oil pressure setting low value of the second setting module 201, the first oil pressure shielding module is triggered, causing the given value output of the second setting module 201 to be 0, and the first oil pressure shielding module starts the shielding function until the oil pressure actually measured by the slag scoop machine is lower than the oil pressure setting low value of the second setting module 201, at which time the first oil pressure shielding module cancels the shielding function.

[0063] Preferably, when the actual measured oil pressure of the slag machine oil pressure setting unit in the switching setting module 2 is higher than the set high value of the oil pressure range of the third setting module 202, the second setting module 201 is switched to the third setting module 202;

[0064] The third setting module 202 includes a second PID control module and a second oil pressure shielding module. A second O value unit is connected between the output end of the second PID control module and the input end of the second oil pressure shielding module. The third setting module 202 is used for adjusting the oil pressure value of the slag scooping machine not to exceed the set high value of the oil pressure by the second PID control module through the deviation between the set high oil pressure of the slag scooping machine and the actual measured oil pressure. At this time, the values ​​of the first setting module 5021, the third setting module 202 and the fourth setting module 3 are added through the ADD addition module 4;

[0065] When the actual measured oil pressure of the slag scoop machine is lower than the high oil pressure setting value of the third setting module 202, the second oil pressure shielding module is triggered, causing the given value output of the third setting module 202 to be 0, and the third setting module 202 does not work until the actual measured oil pressure of the slag scoop machine is higher than the high oil pressure setting value of the third setting module 202, at which time the second oil pressure shielding module cancels the shielding function.

[0066] Preferably, the second setting module 201 also includes a first P value setting and closed-loop feedback mechanism and a first I value setting and closed-loop feedback mechanism, the first P value setting and closed-loop feedback mechanism includes a P value setting shielding module, the input end of the P value setting shielding module is connected to a greater than module, a first P value setting unit and a second P value setting unit, the input end of the greater than module is connected to a subtraction module and a first deviation pressure setting unit, the input end of the subtraction module is connected to a second oil pressure setting unit and a slag scoop hydraulic pressure feedback unit, the oil pressure detection unit detects the oil pressure value of the slag scoop and calculates the deviation from the low value of the oil pressure setting interval, and compares the deviation result with the first deviation limit. When the deviation result is greater than the first deviation limit, the output of the P value oil pressure setting unit is the second P value setting unit; otherwise, the output of the P value oil pressure setting unit is the first P value setting unit;

[0067] The first I value setting and closed-loop feedback mechanism includes an I value setting shielding module, the input end of the I value setting shielding module is connected to a greater than module, a first I value setting unit and a second I value setting unit, the input end of the greater than module is connected to a subtraction module and a first deviation pressure setting unit, the input end of the subtraction module is connected to a second oil pressure setting unit and a slag scoop hydraulic pressure feedback unit, the first P value setting and closed-loop feedback mechanism and the second oil pressure setting unit of the first I value setting and closed-loop feedback mechanism are respectively set to low values;

[0068] The second setting module 201 compares the deviation value of the first deviation pressure setting unit with the set first deviation interval, selects the target P value that can make the actual oil pressure of the slag scoop machine within the oil pressure interval, and the oil pressure detection unit detects the oil pressure value of the slag scoop machine and the high value of the oil pressure setting interval to perform deviation calculation, and compares the deviation result with the second deviation limit. When the deviation result is greater than the first deviation limit, the output of the I value oil pressure setting unit is the second I value setting unit; otherwise, the output of the I value oil pressure setting unit is the first I value setting unit;

[0069] Preferably, the third setting module 202 includes a second P value setting and closed-loop feedback mechanism and a second I value setting and closed-loop feedback mechanism, the second P value setting and closed-loop feedback mechanism includes a P value setting shielding module, the input end of the P value setting shielding module is connected to a greater than module, a third P value setting unit and a fourth P value setting unit, the input end of the greater than module is connected to a subtraction module and a second deviation pressure setting unit, the input end of the subtraction module is connected to a second oil pressure setting unit and a slag scoop hydraulic pressure feedback unit, the oil pressure detection unit detects the oil pressure value of the slag scoop and calculates the deviation from the high value of the oil pressure setting interval, and compares the deviation result with the first deviation limit. When the deviation result is greater than the second deviation limit, the output of the P value oil pressure setting unit is the fourth P value setting unit; otherwise, the output of the P value oil pressure setting unit is the third P value setting unit;

[0070] The first I value setting and closed-loop feedback mechanism includes an I value setting shielding module, the input end of the I value setting shielding module is connected to a greater than module, the I value oil pressure setting unit includes a first I value setting unit and a second I value setting unit, the oil pressure high value and low value are used to calculate the deviation from the actual measured oil pressure, and then the deviation value is compared with the second deviation limit, and a suitable I value is selected, the input end of the greater than module is connected to a subtraction module and a first deviation pressure setting unit, the input end of the subtraction module is connected to a second oil pressure setting unit and a slag scoop hydraulic pressure feedback unit, the first P value setting and closed-loop feedback mechanism and the second oil pressure setting unit of the first I value setting and closed-loop feedback mechanism are respectively set to a low value;

[0071] In the third setting module 202, the oil pressure detection unit detects the oil pressure value of the slag remover and calculates the deviation from the high value of the oil pressure setting range, and compares the deviation result with the second deviation limit. When the deviation result is greater than the second deviation limit, the output of the I value oil pressure setting unit is the fourth I value setting unit; otherwise, the output of the I value oil pressure setting unit is the third I value setting unit.

[0072] Preferably, the fourth setting module 3 includes a slag machine hydraulic pressure feedback unit, a second oil pressure high value setting unit, a second 0 value unit and an instruction upper limit value unit, and a third oil pressure shielding module. The input end of the third oil pressure shielding module is connected to the second 0 value unit, the instruction upper limit value unit and the greater than module, and the input end of the greater than module is connected to the third oil pressure deviation setting unit. The fourth setting module 3 calculates the deviation between the actually measured oil pressure and the second oil pressure high value, and compares the deviation result with the third oil pressure deviation setting value. When the deviation result is greater than the third oil pressure deviation setting value, the output of the third oil pressure shielding module is the instruction upper limit value unit, otherwise, the output result is the second 0 value unit.

[0073] Preferably, the signal acquisition detection module 5 also includes a pulse signal collector module, which includes a pulse collector, a function module, a greater than judgment module, a slag picker hydraulic pressure feedback unit, a fourth deviation pressure setting unit, and an alarm module. The pulse collector calculates the speed signal by collecting the pulse signal of the protrusion on the slag picker bearing. The output ends of the pulse collector and the alarm module are connected to the host computer, and the actual speed of the slag picker is displayed by the host computer as a basis for operator monitoring and judgment. The corresponding theoretical oil pressure value is converted through the functional relationship between the speed and the oil pressure. The theoretical oil pressure value is subtracted from the hydraulic pressure feedback value of the slag picker to obtain the deviation pressure value. The deviation pressure value is compared with the set fourth deviation pressure setting unit for a greater than judgment. When the calculated deviation pressure is greater than the set deviation pressure, the alarm module will be triggered, and the alarm information will be uploaded to the host computer system for an alarm prompt.

[0074] In the second aspect, a closed-loop regulation system for a slag collector is provided, which adopts a closed-loop regulation circuit for the slag collector as in the above-mentioned scheme, and the regulation system includes: a host computer terminal system and a data exchanger connected to the host computer terminal system via a bus, the host computer terminal system includes at least one host computer terminal, the data exchanger is connected to a PLC module via a bus, the input end of the PLC module is connected to a PLC programmer, the output end of the PLC module is connected to a signal conversion module, the output end of the signal conversion module is connected to the slag collector, and the PLC module is integrated with a closed-loop regulation circuit for the slag collector.

[0075] In a third aspect, a closed-loop regulation method for a slag scoop machine is provided. The closed-loop regulation system for a slag scoop machine according to the above scheme is adopted. The regulation method comprises:

[0076] S1: Use the host computer terminal system to send a given parameter signal to the PLC module;

[0077] S2: The second setting module 201 issues a low value adjustment instruction through the PID control module to adjust the oil pressure parameter below the low value of the normal range;

[0078] S3: The third setting module 202 issues a high value adjustment instruction through the PID control module to adjust the oil pressure parameter below the high value of the normal range.

[0079] Preferably, the closed-loop regulation method for the slag scoop machine further comprises: using the fourth setting module 3 to increase the regulation instruction of the slag scoop machine system to the maximum, so as to protect the slag scoop machine in an emergency shutdown situation.

[0080] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A closed-loop regulating circuit for a slag scoop machine, wherein the slag scoop machine is a hydraulic slag scoop machine, and the hydraulic slag scoop machine comprises a slag scoop machine system, a machine body, and a slag scoop machine bearing, a slag scoop machine protruding shaft, and a slag scoop machine oil station control valve installed on the machine body, characterized in that: The regulating circuit comprises: A first setting module, the first setting module is used to receive a given adjustment parameter and set a reference parameter of the slag scoop machine in a normal state according to the adjustment parameter; A switching setting module, the switching setting module is used to switch the adjustment mode of the first setting module so that the adjustment parameter can return to the normal range after deviating from the normal range; A fourth setting module, the fourth setting module being used as a protection module for the slag scooping machine in case of an emergency; A signal acquisition and detection module, which is used to collect the pulse signal of the protruding shaft of the slag scoop machine and the real-time oil pressure data of the slag scoop machine, and to alarm for abnormal conditions. The signal acquisition and detection module can be called manually; A signal acquisition detection module and an ADD addition module, wherein the signal acquisition detection module includes a first slag scooping machine automatic control module, a first setting module, and an adjustment selection module. When the slag scooping machine automatic control module is triggered, the signal conversion module will accept the control signal of the ADD addition module. When the first slag scooping machine automatic control module is not triggered, the signal conversion module will accept the control signal output by the first setting module. The output end of the adding module is electrically connected to the input end of the signal acquisition and detection module, and the first setting module, the switching setting module and the fourth setting module are respectively connected to the input end of the ADD adding module.

2. The closed-loop regulation circuit of the slag scooping machine according to claim 1 is characterized in that: The first setting module includes a speed setting unit, which is used to receive a given initial speed value of the slag scoop machine, where the initial speed value is an adjustment parameter; The speed setting unit sets a speed setting value that enables the slag extractor to operate stably according to the initial speed value, and the initial speed value and the speed setting value constitute a speed adjustment range of the slag extractor.

3. The closed-loop regulating circuit of the slag scooping machine according to claim 2 is characterized in that: The switching setting module includes a second setting module and a third setting module. When the actual measured oil pressure of the slag machine oil pressure setting unit in the switching setting module is lower than the set low value of the oil pressure range of the second setting module, the third setting module switches to the second setting module; The second setting module includes a greater than judgment module, a first PID control module and a first oil pressure shielding module, the input end of the greater than judgment module is connected to a hydraulic detection feedback unit and a first slag scoop machine oil pressure setting unit, the output end of the first PID control module and the input end of the first oil pressure shielding module are connected to a first O value unit, the second setting module is used for when the slag scoop machine oil pressure is lower than the pressure setting low value, the first PID control module sets the oil pressure low value and the actual measured oil pressure deviation through the first slag scoop machine oil pressure setting unit, and outputs the required adjustment command value through the control module to adjust the oil pressure value of the slag scoop machine to within the interval above the oil pressure setting low value, at this time, the values ​​of the first setting module, the second setting module and the fourth setting module are added through the addition module; When the oil pressure actually measured by the slag scoop machine is higher than the oil pressure setting low value of the second setting module, the first oil pressure shielding module is triggered, causing the given value output of the second setting module to be 0, and the first oil pressure shielding module starts the shielding function until the oil pressure actually measured by the slag scoop machine is lower than the oil pressure setting low value of the second setting module, at which time the first oil pressure shielding module cancels the shielding function.

4. The closed-loop regulating circuit of the slag scooping machine according to claim 3 is characterized in that: When the actual measured oil pressure of the slag machine oil pressure setting unit in the switching setting module is higher than the set high value of the oil pressure range of the third setting module, the second setting module is switched to the third setting module; The third setting module includes a second PID control module and a second oil pressure shielding module, and a second O value unit is connected between the output end of the second PID control module and the input end of the second oil pressure shielding module. The third setting module is used for when the oil pressure of the slag scooping machine is higher than the set high pressure value, the second PID control module sets the high oil pressure of the slag scooping machine and the deviation of the actual measured oil pressure, and outputs the required adjustment command value through the second PID control module to adjust the oil pressure value of the slag scooping machine not to exceed the set high value of the oil pressure. At this time, the values ​​of the first setting module, the third setting module and the fourth setting module are added through the ADD addition module; When the actual measured oil pressure of the slag scoop machine is lower than the high oil pressure setting value of the third setting module, the second oil pressure shielding module is triggered, causing the given value output of the third setting module to be 0, and the third setting module does not work until the actual measured oil pressure of the slag scoop machine is higher than the high oil pressure setting value of the third setting module, at which time the second oil pressure shielding module cancels the shielding function.

5. The closed-loop regulating circuit of the slag scooping machine according to claim 4 is characterized in that: The second setting module also includes a first P value setting and closed-loop feedback mechanism and a first I value setting and closed-loop feedback mechanism, the first P value setting and closed-loop feedback mechanism includes a P value setting shielding module, the input end of the P value setting shielding module is connected to a greater than module, a first P value setting unit and a second P value setting unit, the input end of the greater than module is connected to a subtraction module and a first deviation pressure setting unit, the input end of the subtraction module is connected to a second oil pressure setting unit and a slag scoop hydraulic pressure feedback unit, the oil pressure detection unit detects the oil pressure value of the slag scoop and calculates the deviation from the low value of the oil pressure setting interval, and compares the deviation result with the first deviation limit. When the deviation result is greater than the first deviation limit, the output of the P value oil pressure setting unit is the second P value setting unit; On the contrary, the output of the P value oil pressure setting unit is the first P value setting unit; The first I value setting and closed-loop feedback mechanism includes an I value setting shielding module, the input end of the I value setting shielding module is connected to a greater than module, a first I value setting unit and a second I value setting unit, the input end of the greater than module is connected to a subtraction module and a first deviation pressure setting unit, the input end of the subtraction module is connected to a second oil pressure setting unit and a slag scoop hydraulic pressure feedback unit, the first P value setting and closed-loop feedback mechanism and the second oil pressure setting unit of the first I value setting and closed-loop feedback mechanism are respectively set to low values; The second setting module compares the deviation value of the first deviation pressure setting unit with the set first deviation interval, selects the target P value that can make the actual oil pressure of the slag picker within the oil pressure interval, and the oil pressure detection unit detects the oil pressure value of the slag picker and the high value of the oil pressure setting interval to perform deviation calculation, and compares the deviation result with the second deviation limit. When the deviation result is greater than the first deviation limit, the output of the I value oil pressure setting unit is the second I value setting unit; On the contrary, the output of the I value oil pressure setting unit is the first I value setting unit.

6. The closed-loop regulating circuit of the slag scooping machine according to claim 5 is characterized in that: The third setting module includes a second P value setting and closed-loop feedback mechanism and a second I value setting and closed-loop feedback mechanism, the second P value setting and closed-loop feedback mechanism includes a P value setting shielding module, the input end of the P value setting shielding module is connected to a greater than module, a third P value setting unit and a fourth P value setting unit, the input end of the greater than module is connected to a subtraction module and a second deviation pressure setting unit, the input end of the subtraction module is connected to a second oil pressure setting unit and a slag scoop hydraulic pressure feedback unit, the oil pressure detection unit detects the oil pressure value of the slag scoop and calculates the deviation from the high value of the oil pressure setting interval, and compares the deviation result with the first deviation limit. When the deviation result is greater than the second deviation limit, the output of the P value oil pressure setting unit is the fourth P value setting unit; On the contrary, the output of the P value oil pressure setting unit is the third P value setting unit; The first I value setting and closed-loop feedback mechanism includes an I value setting shielding module, the input end of the I value setting shielding module is connected to a greater than module, the I value oil pressure setting unit includes a first I value setting unit and a second I value setting unit, the oil pressure high value and low value are used to calculate the deviation from the actual measured oil pressure, and then the deviation value is compared with the second deviation limit, and a suitable I value is selected, the input end of the greater than module is connected to a subtraction module and a first deviation pressure setting unit, the input end of the subtraction module is connected to a second oil pressure setting unit and a slag scoop hydraulic pressure feedback unit, the first P value setting and closed-loop feedback mechanism and the second oil pressure setting unit of the first I value setting and closed-loop feedback mechanism are respectively set to a low value; In the third setting module, the oil pressure detection unit detects the oil pressure value of the slag scoop machine and calculates the deviation from the high value of the oil pressure setting interval, and compares the deviation result with the second deviation limit. When the deviation result is greater than the second deviation limit, the output of the I value oil pressure setting unit is the fourth I value setting unit; On the contrary, the output of the I value oil pressure setting unit is the third I value setting unit.

7. The closed-loop regulating circuit of the slag scooping machine according to claim 6 is characterized in that: The fourth setting module includes a slag machine hydraulic pressure feedback unit, a second oil pressure high value setting unit, a second 0 value unit and an instruction upper limit value unit, and a third oil pressure shielding module. The input end of the third oil pressure shielding module is connected to the second 0 value unit and the instruction upper limit value unit and the greater than module. The input end of the greater than module is connected to the third oil pressure deviation setting unit. The fourth setting module calculates the deviation between the actually measured oil pressure and the second oil pressure high value, and compares the deviation result with the third oil pressure deviation setting value. When the deviation result is greater than the third oil pressure deviation setting value, the output of the third oil pressure shielding module is the instruction upper limit value unit, otherwise, the output result is the second 0 value unit; The signal acquisition detection module also includes a pulse signal collector module, which includes a pulse collector, a function module, a greater than judgment module, a slag picker hydraulic pressure feedback unit, a fourth deviation pressure setting unit, and an alarm module. The pulse collector calculates the speed signal by collecting the pulse signal of the protrusion on the slag picker bearing. The output ends of the pulse collector and the alarm module are connected to the host computer. The actual speed of the slag picker is displayed by the host computer as a basis for operator monitoring and judgment. The corresponding theoretical oil pressure value is converted through the functional relationship between the speed and the oil pressure. The theoretical oil pressure value is subtracted from the hydraulic pressure feedback value of the slag picker to obtain the deviation pressure value. The deviation pressure value is judged to be greater than the set fourth deviation pressure setting unit. When the calculated deviation pressure is greater than the set deviation pressure, the alarm module will be triggered, and the alarm information will be uploaded to the host computer system for an alarm prompt.

8. A closed-loop regulation system for a slag remover, characterized in that: A slag recovery machine closed-loop regulation circuit is adopted as described in any one of claims 1 to 7, wherein the regulation system comprises: a host computer terminal system and a data exchanger connected to the host computer terminal system via a bus, wherein the host computer terminal system comprises at least one host computer terminal, wherein the data exchanger is connected to a PLC module via a bus, wherein the input end of the PLC module is connected to a PLC programmer, wherein the output end of the PLC module is connected to a signal conversion module, wherein the output end of the signal conversion module is connected to a slag recovery machine, wherein the PLC module integrates the slag recovery machine closed-loop regulation circuit.

9. A closed-loop adjustment method for a slag remover, characterized in that: Using the closed-loop regulation system of the slag dredger as claimed in claim 8, the regulation method comprises: The host computer terminal system is used to send a given parameter signal to the PLC module; The second setting module issues a low value adjustment instruction through the PID control module to adjust the oil pressure parameter below the low value of the normal range; The third setting module sends a high value adjustment instruction through the PID control module to adjust the oil pressure parameter below the high value of the normal range.

10. The closed-loop adjustment method for a slag remover according to claim 9, characterized in that: The adjustment method further includes: using a fourth setting module to increase the adjustment instruction of the slag scoop system to a maximum, so as to protect the slag scoop in an emergency shutdown situation.

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