Large-load swing table multi-device integrated control system

Abstract

The invention belongs to the technical field of equipment control, and particularly relates to a multi-equipment integrated control system for a heavy-load swing table. Comprising a centralized control console, a hydraulic control system, an audio and video monitor and a control cabinet. The centralized control console is used for receiving data collected by the hydraulic control system, the audio and video monitor and the control cabinet, analyzing the data, displaying the operation state of each device, issuing a control instruction including sampling frequency setting and / or time source switching control to the control cabinet, sending a control instruction for monitoring start or stop to the audio and video monitor, and sending the control instruction to the audio and video monitor. A movement position control instruction is sent to a hydraulic control system, so that control functions of electrical, mechanical and hydraulic equipment are integrated in one set of control system, the reliability of the control system is improved, and equipment data, command issuing and state display are received through a centralized control console, so that the equipment is coordinated and controlled; coordinated and unified work among equipment is achieved, the operation complexity is reduced, and the real-time performance of control over the swing table is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of equipment control, and in particular relates to a multi-equipment integrated control system for a large-load swing platform. Background Art

[0002] The swing table is a multi-lateral / longitudinal motion mechanism widely used to carry transport vehicles such as ships or vehicles. It is a large-scale, high-precision simulation device that integrates mechanical, electrical and hydraulic sensing detection technologies. It can simulate the motion posture of transport vehicles in real sea conditions or road conditions, record and analyze motion posture data, and save a lot of testing costs for the research and development of ships and vehicles. Due to its large size and weight, the large-load (load capacity exceeding 100 tons) swing table has many related equipment, including electrical equipment, mechanical equipment, hydraulic equipment, sensors, display equipment and monitoring equipment. In the existing technology, each device is individually controlled by its corresponding host computer. When the swing table is working, the operator needs to operate the host computers of different devices to control each device separately, resulting in poor real-time control of the swing table and high control costs when controlled by multiple host computers. Summary of the Invention

[0003] The object of the present invention is to provide a multi-device integrated control system for a large-load swing table, so as to solve the problem that the existing control system has poor real-time control performance for the swing table.

[0004] In order to solve the above technical problems, the present invention provides a large-load swing platform multi-device integrated control system, including a centralized control console, a hydraulic control system, audio and video monitoring and a control cabinet; the control cabinet includes a function of collecting swing platform data, and the swing platform data includes swing platform posture data, hydraulic system operation data and swing platform movement horizontal / longitudinal limit data; the audio and video monitoring is used to collect video data and audio data of the swing platform on site; the hydraulic control system is used to determine whether the hydraulic system is allowed to move based on the information monitored by the hydraulic system itself and the swing platform data sent by the control cabinet, and when movement is allowed, generates drive instructions based on the motion position control instructions issued by the centralized control console and sends them to the actuator to control the swing platform; the centralized control console is used to receive data collected by the hydraulic control system, audio and video monitoring and control cabinet, analyze the data and display the operating status of each device, and send control instructions including setting the sampling frequency and / or controlling the time source switching to the control cabinet, and send control instructions to the audio and video monitoring to start or shut down the monitoring.

[0005] Furthermore, the centralized control console includes a display and control computer, a status display device and a communication circuit; the communication circuit is used to communicate with the hydraulic control system, audio and video monitoring and control cabinet; the display and control computer is used to analyze the received data and generate control instructions, and the display and control computer integrates various control instruction hardware buttons; the status display transposition is used to display the operating status of each device, and the operating status includes fault, alarm and normal operation.

[0006] Furthermore, the control system also includes a power unit, which includes a hydraulic pump group starting circuit and a power supply circuit for powering various devices on the swing platform. The centralized control console also includes a centralized control circuit, and the display and control computer controls the power on or off of power supply circuits of different voltage types in the power unit through the centralized control circuit.

[0007] Furthermore, the hydraulic pump group starting circuit and the power supply circuit for each device of the swing platform are integrated in the power cabinet. The power cabinet is provided with a switch for unified management of each power unit, which is used to shut down the power supply of the power unit by manually turning off the switch in the event of an electrical failure or accident on the swing platform.

[0008] Furthermore, the control cabinet includes a source data acquisition controller, a motion posture controller and a weak current control circuit, which are integrated in the control cabinet to prevent interference from external electromagnetic fields or strong AC current.

[0009] Furthermore, the hydraulic control system includes a logic control circuit, a hydraulic motion controller and a hydraulic data processing computer; the logic control circuit is used to receive information monitored by the hydraulic system itself, and determine whether the hydraulic system is allowed to move based on the information monitored by the hydraulic system itself and the swing platform data sent by the control cabinet, and send the movement permission to the motion posture controller when the hydraulic system is allowed to move. The motion posture controller generates speed instructions and position instructions based on the motion position control instructions issued by the centralized control console. The hydraulic data processing computer is used to receive speed instructions and position instructions and send them to the hydraulic motion controller to generate instructions that can be recognized by the logic control circuit. After the logic control circuit receives the instructions sent by the hydraulic motion controller, it generates a driving instruction of the circuit signal through its logical operation function to control the opening and closing of the hydraulic actuator, thereby controlling the movement of the entire swing platform.

[0010] Furthermore, the control system also includes a field control box, which includes a field processor, a status display device and a communication circuit. The field processor is used to send control instructions to the hydraulic system based on the communication circuit when field control is required to control the opening and closing of each hydraulic valve in the hydraulic system, the start and stop of the hydraulic pump and the switch of the hydraulic electromagnet, receive the hydraulic system operation data sent by the control cabinet source data acquisition controller and process it to obtain the status of each component of the hydraulic system. The status display device is used to display the status of each component of the hydraulic system; the field control box is arranged in the control room below the swing table mechanical body.

[0011] Furthermore, the control system also includes a measurement and control console, which includes a measurement computer and a communication circuit. The measurement computer communicates with the control cabinet based on the communication circuit, obtains and stores the swing table data collected by the source data acquisition controller, and sends control instructions including setting the sampling frequency and / or controlling the time source switching to the control cabinet source data acquisition controller.

[0012] Furthermore, the display and control computer also includes a display module, which is used to display the operating status of each device together with the status display device.

[0013] The beneficial effects of the above technical solution are: the present invention is a pioneering invention, which integrates the control functions of electrical, mechanical, hydraulic and other equipment in a control system, increases the functional reliability of the control system, receives data from each device through a centralized control console, issues commands and displays status, thereby coordinating and controlling each device, achieving coordinated and unified work between devices, reducing operational complexity, and improving the real-time control of the swing table. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the composition of the centralized control console of the system implementation method of the present invention;

[0015] Figure 2 This is a schematic diagram of the control cabinet composition of the system implementation method of the present invention;

[0016] Figure 3 It is a schematic diagram of the composition of the hydraulic control system of the system embodiment of the present invention;

[0017] Figure 4 It is a schematic diagram of the composition of the audio and video monitoring station of the system implementation mode of the present invention;

[0018] Figure 5 This is a schematic diagram of the composition of a large-load swing platform multi-device integrated control system according to the system implementation method of the present invention;

[0019] Figure 6 This is a schematic diagram of the power cabinet composition of the system implementation method of the present invention;

[0020] Figure 7It is a schematic diagram of the composition of the measurement and control console of the system implementation method of the present invention;

[0021] Figure 8 It is a schematic diagram of the composition of the on-site control box of the system implementation method of the present invention;

[0022] Figure 9 It is a schematic diagram of the cooperative control principle of the system implementation method of the present invention. DETAILED DESCRIPTION

[0023] In order to make the objectives, technical solutions and advantages of the present invention more clear, the specific embodiments of the present invention are further described below with reference to the accompanying drawings.

[0024] The present invention constructs various devices of the swing platform into a set of control systems, realizes unified control through a centralized control console, and solves the problem of poor real-time control of the control system of the large-load swing platform.

[0025] System Implementation

[0026] Due to its large size and weight, the large-load swing platform requires related equipment such as electrical, mechanical, hydraulic, sensor, display equipment and monitoring equipment. In order to ensure the coordinated and unified operation of various devices, the present invention comprehensively considers the electrical system, the communication transmission capability and distance between various devices, the electromagnetic interference between various devices, the personal safety of the operator, the accurate collection and analysis of sensor source data, the difficulty of operation and the complexity of maintenance, and other aspects to comprehensively design a large-load swing platform multi-device integrated control system, which is described in detail below.

[0027] The invention discloses a multi-device integrated control system for a large-load swing platform, comprising a centralized control console, a hydraulic control system, audio and video monitoring, a control cabinet, an on-site control box and other equipment.

[0028] The centralized control console receives data from all devices, analyzes it, displays the operating status of each device, and issues control instructions for the corresponding devices. Specifically, the centralized control console includes a display and control computer, centralized control circuitry, a status display device, and communication circuitry. The communication circuitry communicates with the hydraulic control system, audio and video monitoring, and control cabinet. The display and control computer analyzes data and generates control instructions, and integrates hardware buttons for each control instruction. The status display device displays the operating status of each device, including fault, alarm, and normal operation. The display and control computer also includes a display module that, together with the status display device, displays the operating status of each device. After receiving data collected by the hydraulic control system, audio and video monitoring, and control cabinet, the centralized control console analyzes the data and displays the operating status of each device. It also issues control instructions to the control cabinet, including setting the sampling frequency and / or switching the control time source, and sends control instructions to the audio and video monitoring system to activate or deactivate monitoring. The centralized control circuitry consists of multiple relays, each consisting of a contact circuit and a power supply circuit. The contact circuit is connected to port O of the motion controller in the control cabinet, while the power supply circuit communicates with the different voltage types of circuits in the power cabinet. The centralized control circuit sends a circuit switch command to the motion controller. After receiving it, the motion controller controls the opening and closing of the relay contact circuit through the O port to control the power on or off of the different voltage type circuits in the power cabinet. Figure 1 shown.

[0029] like Figure 2As shown, the control cabinet is used to collect swing stage data, including swing stage posture data, hydraulic system operation data, and lateral / longitudinal limit data. The control cabinet includes a source data acquisition controller, a motion attitude controller, and a weak current control circuit. The source data acquisition controller receives time data from the satellite navigation system, lateral / longitudinal limit data from the lateral / longitudinal limit sensors, and swing stage posture data from the lateral / longitudinal resolver sensors. After parsing and processing this data, it transmits it to the central control center and measurement and control center at a specified frequency. The motion attitude controller uses a control algorithm to generate computer control instructions (including speed and position instructions) for the hydraulic control system based on the swing stage data from the source data acquisition controller and the motion position control instructions from the central control center. The weak current control circuit controls the power supply of each controller in the control cabinet, preventing interference from other power sources and ensuring the stability of the controller power supply. The source data acquisition controller, motion attitude controller, and weak current control circuit are integrated into the control cabinet to prevent interference from external electromagnetic fields or strong AC current. For example, the control cabinet utilizes a metal enclosure to prevent interference from external electromagnetic fields and strong AC currents. The control system's weak-current components are integrated into a single cabinet, enhancing the system's anti-interference capabilities. The control cabinet also features a serial debugging port, such as an RS422 port, which facilitates debugging of controller functions within the control cabinet and the transmission of repair information following a fault.

[0030] like Figure 3As shown, the hydraulic control system includes a logic control circuit, a hydraulic motion controller, and a hydraulic data processing computer. The logic control circuit can be a PLC logic control circuit. The PLC logic control circuit receives monitoring information from the hydraulic system itself and determines whether to allow hydraulic system movement based on this information and the swing platform data transmitted by the control cabinet. If the hydraulic system movement is permitted, it sends the movement permission to the motion posture controller. The PLC logic control circuit also transmits this monitoring information to the hydraulic motion controller, which analyzes the data before sending it to the hydraulic data processing computer for display. After receiving data from the hydraulic operation controller, the hydraulic data processing computer transmits this data to the display computer at the centralized control station via network communication. The hydraulic data processing computer also transmits speed and position commands from the motion posture controller to the hydraulic motion controller. The hydraulic motion controller uses its own algorithm to generate commands that the PLC logic control circuit can recognize. Upon receiving the commands from the hydraulic data processing computer, the logic control circuit uses its logical operations to generate circuit signal drive commands to control the opening and closing of the hydraulic actuators, thereby controlling the movement of the entire swing platform. If the control instructions received by the hydraulic control system from the central control console are not motion position instructions (such as recording logs or storing data), the hydraulic data processing computer performs corresponding processing based on these instructions.

[0031] Audio and video monitoring is used to collect video and audio data on the swing stage. Figure 4 As shown, the system includes cameras, audio transceivers, video servers, and microphones. The centralized control console acquires and displays video and audio data collected by audio and video surveillance. The audio and video surveillance system utilizes a pan-tilt camera deployed at various locations on the swing platform. These cameras capture live video data, which is then processed by the video server and transmitted to the central control console's host software interface, allowing users to observe personnel and equipment operation at each facility in real time. The microphones can direct on-site personnel to operate equipment normally, direct evacuation after equipment accidents, and direct equipment repairs. The audio receiver receives audio information from each device and personnel on the swing platform and transmits it to the centralized control console.

[0032] like Figure 5 As shown in the figure, the swing platform integrated control system also includes a power cabinet. Figure 6As shown, the power cabinet includes a hydraulic pump group starting circuit and a power supply circuit for each device of the swing platform (such as the 380V power circuit, 220V power supply circuit and 24V power supply circuit of the equipment). These parts that provide power for the swing platform are uniformly arranged in a power cabinet, which is convenient for circuit design and reduces the electromagnetic interference and electromagnetic radiation of strong electricity to external equipment, increases the safety of the circuit system of large equipment and reduces the interference of strong electricity to external equipment. In order to ensure safety, the power cabinet is provided with switches for unified management of each power unit, such as air switches, which are used to turn off the power supply of the power unit by manually turning off the switch in the event of an electrical failure or accident in the swing platform. The power supply circuits of different voltage types in the power cabinet are controlled to open and close by the centralized control circuit of the centralized control console.

[0033] The integrated control system of the swing platform also includes a measurement and control platform, such as Figure 7 As shown, the system includes a measurement computer and a communication circuit. The measurement computer communicates with the control cabinet via the communication circuit to obtain and store the swing stage data collected by the source data acquisition controller in a specified format in a designated computer directory. Furthermore, the host computer software in the measurement computer issues control instructions to the source data acquisition controller in the control cabinet, including setting the sampling frequency and / or controlling the switching of time sources (internal or external time system switching).

[0034] The swing platform integrated control system also includes a field control box. The main function of the field control box is to ensure that maintenance personnel can control each hydraulic cylinder, hydraulic valve, hydraulic solenoid and other components separately through the field control box when testing the hydraulic system separately, so as to ensure that the hydraulic system actuators are not coupled during testing. Figure 8 As shown, the field control box includes a field processor, a status display device, and a communication circuit. The field processor is equipped with field host computer software. When field control is required, it sends control commands to the hydraulic system based on the communication circuit to control the opening and closing of each hydraulic valve, the start and stop of the hydraulic pump, and the switching of the hydraulic solenoids in the hydraulic system. It also receives and processes hydraulic system operating data from the source data acquisition controller in the control cabinet to obtain the status of each hydraulic system component. The status display device is used to display the status of each hydraulic system component. The field control box is located in the control room below the swing platform mechanical body. For example, the field control box is mounted on the wall in the control room below the swing platform mechanical body. This eliminates the need for maintenance personnel to send operating commands and then walk to the hydraulic system to observe whether the actuators are executing the instructions, thus reducing operational complexity. The on-site placement of a control box in the control system increases the convenience of maintenance of large hydraulic system control systems.

[0035] Cooperative control principle such as Figure 9As shown, the centralized control console uniformly sends and receives data from the measurement and control console, audio and video monitoring console, control cabinet, and hydraulic data processing computer. The status display device in the centralized control console uniformly displays the fault, alarm, and normal operation status of each device. The host computer software of the centralized control console's display and control computer integrates command operation buttons for each controller and hydraulic system in the control cabinet. The command operation buttons are used to send corresponding control commands to each device on the centralized control console, and the operating status of each device is displayed in the form of indicator lights. The host computer software and status display device in the centralized control console's display and control computer dually display the status of each device, improving the stability of the status display in the control system. The centralized control console controls the power supply and shutdown of the power cabinet and the power outage in the event of an unexpected failure through the centralized control circuit, ensuring that the power supply of the entire swing platform can be uniformly controlled from the centralized control console.

[0036] The control cabinet receives data from each sensor source and transmits it to the centralized control console, field control box, and PLC logic control circuits. It also receives control commands from the centralized control console and the measurement and control console. The measurement computer on the measurement and control console is equipped with measurement host software. This software receives sensor source data from the control cabinet via the control console's electrical interface and transmits the data to the centralized control console. The control console can set the sampling frequency of each controller in the control cabinet to ensure fast and stable data transmission in the communication circuit. Received sensor source data can also be stored and analyzed, allowing users to analyze data from all devices on the control console.

[0037] The PLC logic control circuit receives information monitored by the hydraulic system itself, namely, information monitored by relevant hydraulic system sensors, including at least two of temperature, pressure, hydraulic oil flow, oil level, and hydraulic station pressure differential. It then combines the lateral / longitudinal limit data of the swing platform, the swing platform posture data, and hydraulic system operation data sent by the control cabinet to perform a logical judgment to determine whether to allow hydraulic system movement. If so, it sends a motion permission message to the motion posture controller, instructing it to enable the hydraulic system. It also feeds back the information monitored by the hydraulic system itself to the hydraulic data processing computer. After receiving the servo permission from the PLC logic control circuit, the motion posture controller combines this data with the motion position control instructions sent by the central control console to generate speed and position commands. The hydraulic data processing computer transmits the speed and position commands sent by the motion posture controller to the hydraulic motion controller. The hydraulic motion controller uses its own algorithm to generate commands that can be recognized by the PLC logic control circuit. After receiving the commands from the hydraulic data processing computer, the logic control circuit uses its logical operation function to generate circuit signal drive commands to control the opening and closing of the hydraulic actuators, thereby controlling the movement of the entire swing platform.

Claims

1. A large-load swing platform multi-device integrated control system, characterized in that: It includes a centralized control console, a hydraulic control system, audio and video monitoring, and a control cabinet. The control cabinet includes a function for collecting swing table data, including swing table posture data, hydraulic system operation data, and swing table horizontal / vertical limit data. The audio and video monitoring is used to collect video and audio data from the swing table. The hydraulic control system is used to determine whether to allow the hydraulic system to move based on the information monitored by the hydraulic system itself and the swing table data sent by the control cabinet. If movement is allowed, it generates a drive instruction based on the motion position control instruction issued by the centralized control console and sends it to the actuator to control the swing table. The centralized control console is used to receive data collected by the hydraulic control system, audio and video monitoring and control cabinet, analyze the data and display the operating status of each device, and send control instructions including setting the sampling frequency and / or controlling the time source switching to the control cabinet, and send control instructions to the audio and video monitoring to start or shut down the monitoring.

2. The large-load swing platform multi-device integrated control system according to claim 1 is characterized in that: The centralized control console includes a display and control computer, a status display device and a communication circuit; the communication circuit is used to communicate with the hydraulic control system, audio and video monitoring and control cabinet; the display and control computer is used to analyze the received data and generate control instructions, and the display and control computer integrates various control instruction hardware buttons; the status display is used to display the operating status of each device, and the operating status includes fault, alarm and normal operation.

3. The large-load swing platform multi-device integrated control system according to claim 2 is characterized in that: The control system also includes a power unit, which includes a hydraulic pump group starting circuit and a power supply circuit for powering various devices on the swing platform. The centralized control console also includes a centralized control circuit, and the display and control computer controls the power on or off of power supply circuits of different voltage types in the power unit through the centralized control circuit.

4. The large-load swing platform multi-device integrated control system according to claim 3 is characterized in that: The hydraulic pump group starting circuit and the power supply circuit for each device of the swing platform are integrated in the power cabinet. The power cabinet is provided with a switch for unified management of each power unit, which is used to shut down the power supply of the power unit by manually turning off the switch in the event of an electrical failure or accident on the swing platform.

5. The large-load swing platform multi-device integrated control system according to claim 1 is characterized in that: The control cabinet includes a source data acquisition controller, a motion posture controller and a weak current control circuit. The source data acquisition controller, the motion posture controller and the weak current control circuit are integrated in the control cabinet to prevent interference from external electromagnetic fields or strong AC electricity.

6. The large-load swing platform multi-device integrated control system according to claim 1 is characterized in that: The hydraulic control system includes a logic control circuit, a hydraulic motion controller and a hydraulic data processing computer; the logic control circuit is used to receive information monitored by the hydraulic system itself, and judge whether the hydraulic system is allowed to move based on the information monitored by the hydraulic system itself and the swing platform data sent by the control cabinet, and send the movement permission to the motion posture controller when the hydraulic system is allowed to move. The motion posture controller generates speed instructions and position instructions based on the motion position control instructions issued by the centralized control console. The hydraulic data processing computer is used to receive speed instructions and position instructions and send them to the hydraulic motion controller to generate instructions that can be recognized by the logic control circuit. After the logic control circuit receives the instructions sent by the hydraulic motion controller, it generates a driving instruction of the circuit signal through its logical operation function to control the opening and closing of the hydraulic actuator, thereby controlling the movement of the entire swing platform.

7. The large-load swing platform multi-device integrated control system according to claim 5 is characterized in that: The control system also includes a field control box, which includes a field processor, a status display device and a communication circuit. The field processor is used to send control instructions to the hydraulic system based on the communication circuit when field control is required to control the opening and closing of each hydraulic valve in the hydraulic system, the start and stop of the hydraulic pump and the switch of the hydraulic electromagnet, receive the hydraulic system operation data sent by the control cabinet source data acquisition controller and process it to obtain the status of each component of the hydraulic system. The status display device is used to display the status of each component of the hydraulic system; the field control box is set in the control room below the swing table mechanical platform.

8. The large-load swing platform multi-device integrated control system according to claim 5 is characterized in that: The control system also includes a measurement and control console, which includes a measurement computer and a communication circuit. The measurement computer communicates with the control cabinet based on the communication circuit, obtains and stores the swing table data collected by the source data acquisition controller, and sends control instructions including setting the sampling frequency and / or controlling the time source switching to the source data acquisition controller of the control cabinet.

9. The large-load swing platform multi-device integrated control system according to claim 2 is characterized in that: The display and control computer also includes a display module, which is used to display the operating status of each device together with the status display device.

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