A method, system and terminal for moving control of a pusher machine

Abstract

The application relates to a moving control method and system of a slag pushing machine and a terminal, and relates to the technical field of industrial slag treatment equipment. The method comprises the following steps: collecting a moving trigger signal of the slag pushing machine; controlling a preset current collector to contact a preset slide wire with preset initial contact parameters to supply power to the slag pushing machine according to the moving trigger signal; controlling the slag pushing machine to move to clean waste slag according to preset cleaning moving parameters, and collecting a real-time moving stage of the slag pushing machine; correcting the initial contact parameters according to the real-time moving stage to generate optimized contact parameters of the current collector; and controlling the current collector to contact the slide wire according to the optimized contact parameters to continue supplying power to the slag pushing machine. The application has the effect of reducing the frequency of power supply maintenance of the slag pushing machine to improve the convenience of power supply of the slag pushing machine.

Description

Technical Field

[0001] This application relates to the technical field of industrial slag treatment equipment, and in particular to a method, system and terminal for moving a slag pusher. Background Technology

[0002] A slag pusher is a specialized mechanical device used in industrial production to clean and push slag or other solid waste. It is widely used in industries such as metallurgy, power, waste incineration, and chemicals.

[0003] In related technologies, in the field of flame cutting, slag pushers are mainly used to push away the slag generated by flame cutting. The flame cutting table has a hollow design. After the workpiece is cut, the generated slag falls and accumulates through the flame cutting table. The slag pusher under the flame cutting table is driven by a drag chain to move back and forth, so that the slag pusher pushes the slag accumulated under the flame cutting table out of the flame cutting table for cleaning.

[0004] Regarding the aforementioned technologies, the slag pusher needs to frequently move back and forth under the flame cutting table to remove slag. It is powered by a drag chain, and the cables are constantly worn during the movement of the slag pusher, which can easily cause cable damage. This results in frequent maintenance of the slag pusher, and there is still room for improvement. Summary of the Invention

[0005] In order to reduce the frequency of power supply maintenance for the slag pusher and improve the convenience of power supply for the slag pusher, this application provides a method, system and terminal for moving the slag pusher.

[0006] In a first aspect, this application provides a method for controlling the movement of a slag pusher, employing the following technical solution:

[0007] A method for controlling the movement of a slag pusher, comprising:

[0008] Collect the movement trigger signal of the slag pusher;

[0009] According to the movement trigger signal, the preset current collector is controlled to contact the preset sliding contact line with preset initial contact parameters to supply power to the slag pusher;

[0010] The slag pusher is controlled to move according to the preset cleaning and moving parameters to clean up the waste slag, and the real-time movement stage of the slag pusher is collected.

[0011] The initial contact parameters are corrected based on the real-time movement phase to generate optimized contact parameters for the current collector;

[0012] The current collector is controlled to contact the sliding contact line according to optimized contact parameters to continue supplying power to the slag pusher.

[0013] Optionally, the step of correcting the initial contact parameters based on the real-time movement phase to generate optimized contact parameters for the current collector includes:

[0014] Determine whether the real-time movement stage is the preset movement pushing stage or the preset movement reset stage.

[0015] If it is a preset movement reset phase, then the preset reset contact pressure is defined as the corrected contact pressure.

[0016] If it is a preset moving slag pushing stage, then the real-time moving speed and real-time moving current of the slag pusher will be collected.

[0017] The real-time detection moving speed and real-time detection moving current are analyzed and calculated based on the preset contact force optimization model to generate the corrected contact pressure.

[0018] The influence of pressure on parameters;

[0019] The modified contact pressure is adjusted based on the pressure influence parameters to generate optimized contact parameters for the current collector.

[0020] Optionally, the step of analyzing and calculating the real-time detected moving speed and real-time detected moving current to generate the corrected contact pressure includes:

[0021] The real-time detected moving speed and real-time detected moving current are substituted into the contact force optimization model for calculation to generate the basic contact pressure;

[0022] The changes in the real-time detected moving speed are calculated to generate instantaneous speed change values;

[0023] Determine whether the instantaneous velocity change value meets the preset velocity change threshold requirement;

[0024] If the conditions are met, the basic contact pressure is defined as the corrected contact pressure;

[0025] If it does not meet the requirements, the basic contact pressure is corrected based on the instantaneous change value of the velocity to generate a corrected contact pressure.

[0026] Optionally, the step of correcting the base contact pressure based on the instantaneous velocity change value to generate the corrected contact pressure includes:

[0027] Calculate the product between the instantaneous velocity change value and the preset change coefficient to generate the velocity change impact load;

[0028] The product between the velocity-sudden impact load and the preset sudden change compensation coefficient is calculated to generate the compensating contact pressure;

[0029] Calculate the sum of the base contact pressure and the compensated contact pressure to generate the corrected contact pressure.

[0030] Optionally, the expression for the contact force optimization model is:

[0031] ,

[0032] In the formula, Based on contact pressure, To detect moving current in real time, These are preset material constants. The preset coefficient of friction, To detect movement speed in real time.

[0033] Optionally, the pressure influence parameters include contact temperature and moving acceleration. The step of correcting the modified contact pressure based on the pressure influence parameters to generate optimized contact parameters for the current collector includes:

[0034] The contact temperature value and the corrected contact pressure are analyzed to determine the temperature correction pressure;

[0035] The moving acceleration and corrected contact pressure are analyzed to determine the acceleration correction pressure;

[0036] Calculate the sum of the corrected contact pressure, temperature corrected pressure, and acceleration corrected pressure to generate the optimized contact pressure;

[0037] Collect real-time contact pressure;

[0038] The difference between the optimized contact pressure and the real-time contact pressure is calculated to generate the contact pressure deviation. The contact pressure deviation is then input into a preset contact adjustment algorithm to generate optimized contact parameters.

[0039] Optionally, the step of analyzing the contact temperature value and the corrected contact pressure to determine the temperature correction pressure includes:

[0040] Calculate the difference between the contact temperature value and the preset ideal operating temperature value to generate the influence on temperature deviation;

[0041] Calculate the product between the temperature deviation and the preset temperature correction factor to generate the temperature-pressure correction factor;

[0042] Calculate the product between the temperature-pressure correction factor and the corrected contact pressure to generate the temperature-corrected pressure.

[0043] Optionally, the steps of analyzing the moving acceleration and corrected contact pressure to determine the acceleration correction pressure include:

[0044] Calculate the quotient of the moving acceleration and the preset gravitational acceleration to generate an acceleration correction coefficient;

[0045] Calculate the product between the acceleration correction factor and the corrected contact pressure to generate the acceleration correction pressure.

[0046] Secondly, this application provides a mobile control system for a slag pusher, which adopts the following technical solution:

[0047] A mobile control system for a slag pusher includes:

[0048] The acquisition module is used to acquire movement trigger signals and real-time movement phases;

[0049] A memory for storing a program for a movement control method for a slag pusher as described in any of the preceding claims;

[0050] The processor and the program in the memory can be loaded and executed by the processor to implement a movement control method for a slag pusher as described in any of the above.

[0051] Thirdly, this application provides a smart terminal, which adopts the following technical solution:

[0052] A smart terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any of the preceding claims for a method of moving control of a slag pusher.

[0053] In summary, this application includes at least one of the following beneficial technical effects:

[0054] 1. By controlling the contact line of the current collector to supply power to the slag pusher, the movement of the slag pusher to clean up the waste slag is controlled. The contact line of the current collector is adjusted according to the optimized contact parameters to ensure the stability of the power supply. In addition, the cable wear is greatly reduced during the movement, thereby reducing the frequency of power supply maintenance of the slag pusher and improving the convenience of power supply to the slag pusher.

[0055] 2. When the real-time moving stage is determined to be the moving reset stage, the reset contact pressure is defined as the corrected contact pressure. When the real-time moving stage is determined to be the moving slag pushing stage, the corrected contact pressure is obtained by analyzing and calculating the real-time detected moving speed and real-time detected moving current according to the contact force optimization model. Thus, according to the different operating conditions of the slag pusher, the influence of the slag pusher's operation on the contact of the current collector and the sliding contact line is analyzed, ensuring that the current collector and the sliding contact line are stably connected to provide stable power to the slag pusher.

[0056] 3. The contact pressure is corrected by the contact temperature value and the moving acceleration, respectively, so as to take into account the influence of temperature and acceleration on the contact stability during the movement, and the temperature correction pressure and acceleration correction pressure are obtained. The sum of the corrected contact pressure, temperature correction pressure and acceleration correction pressure is calculated to obtain the optimized contact pressure, thereby ensuring the contact stability between the current collector and the sliding contact line. Attached Figure Description

[0057] Figure 1 This is a flowchart of a movement control method for a slag pusher according to an embodiment of this application.

[0058] Figure 2 This is a flowchart of the steps in this application embodiment to modify the initial contact parameters according to the real-time movement stage in order to generate optimized contact parameters for the current collector.

[0059] Figure 3 This is a flowchart of the steps in this application embodiment to analyze and calculate the real-time detection of moving speed and real-time detection of moving current in order to generate corrected contact pressure.

[0060] Figure 4 This is a flowchart of the steps in this application embodiment to correct the basic contact pressure based on the instantaneous change value of velocity in order to generate the corrected contact pressure.

[0061] Figure 5 This is a flowchart of the steps in this application embodiment to modify the contact pressure according to the pressure influence parameter in order to generate the optimized contact parameters of the current collector.

[0062] Figure 6 This is a flowchart of the steps in this application embodiment to analyze the contact temperature value and the corrected contact pressure to determine the temperature correction pressure.

[0063] Figure 7 This is a flowchart illustrating the steps in this application embodiment to analyze the moving acceleration and corrected contact pressure to determine the acceleration correction pressure. Detailed Implementation

[0064] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figures 1 to 7 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0065] Reference Figure 1 This application discloses a method for controlling the movement of a slag pusher, comprising the following steps:

[0066] Step S100: Collect the movement trigger signal of the slag pusher.

[0067] The movement trigger signal is the signal that the slag pusher starts to move. The operator observes the amount of waste slag accumulated below the flame cutting table. When the operator determines that the slag pusher needs to push and clean the waste slag, he presses the start button, thereby sending a movement trigger signal to the processing terminal, which provides an activation signal for subsequent control of the slag pusher's movement.

[0068] Step S101: Control the preset current collector to contact the preset sliding contact line with preset initial contact parameters according to the movement trigger signal to supply power to the slag pusher.

[0069] In this process, after receiving the movement trigger signal, the processing terminal responds to the movement trigger signal and controls the current collector to contact the sliding contact line with the initial contact parameters, thereby supplying power to the slag pusher and providing a basic preparation for the subsequent control of the slag pusher to move and push the waste slag for cleaning.

[0070] A current collector is a device used to collect electricity. The current collector is installed on the slag pusher and is slidably connected to the sliding contact line. When the slag pusher moves, the current collector and the sliding contact line are always in contact, so that the electrical energy is conducted from the sliding contact line to the slag pusher to keep the slag pusher running continuously.

[0071] The sliding contact line refers to the power supply busbar, which is installed on the moving guide rail of the slag pusher. It uses three-phase live wires and one-phase functional ground wire to ensure the safe grounding of the equipment frame. At the power supply input end of the sliding contact line, a special variable frequency leakage protection device is integrated with an action threshold current of 300mA. It is specially designed for the operating characteristics of the variable frequency drive and can effectively distinguish between the inherent high-frequency leakage current of the variable frequency drive and actual dangerous grounding faults, greatly reducing the probability of the variable frequency drive falsely triggering protection shutdown and ensuring the continuous and stable operation of the system.

[0072] The initial contact parameter refers to the contact voltage that maintains stable power supply to the current collector and the sliding contact line in a static ideal environment. A telescopic mechanism is installed below the current collector to control the pressure of the current collector contacting the sliding contact line. The operator gradually increases the voltage of the telescopic mechanism from small to large. When it is determined that the power supply parameters meet the requirements, the voltage is defined as the initial contact parameter and stored in the processing terminal.

[0073] Step S102: Control the movement of the slag pusher according to the preset cleaning and moving parameters to clean up the waste slag, and collect the real-time movement stage of the slag pusher.

[0074] In this process, after the current collector contacts the sliding contact line to supply power to the slag pusher, the slag pusher moves with the power corresponding to the cleaning movement parameters, thereby pushing the waste slag out of the flame cutting table for cleaning. The real-time movement stage of the slag pusher is detected to provide data support for subsequent optimization of the contact between the current collector and the sliding contact line.

[0075] The cleaning movement parameter refers to the power of the slag pusher when moving to clean up waste slag, which is the rated power of the slag pusher. Using the cleaning movement parameter to control the slag pusher to clean up waste slag ensures effective cleaning of waste slag and keeps the slag pusher in a relatively ideal movement state. This helps to optimize the contact state between the current collector and the sliding contact line based on the movement parameters of the slag pusher.

[0076] The real-time movement phase refers to the movement phase of the slag pusher, including the slag pushing movement phase and the reset phase. After receiving the movement trigger signal, the processing terminal automatically defines the slag pushing movement phase as the real-time movement phase. After the slag pusher moves to the other end of the track, the infrared sensor is triggered, at which point the slag pusher resets, and the processing terminal defines the reset phase as the real-time movement phase. By detecting the real-time movement phase, data support is provided for subsequently optimizing the contact state between the current collector and the sliding contact line based on the movement conditions of the slag pusher.

[0077] Step S103: Correct the initial contact parameters according to the real-time movement phase to generate optimized contact parameters for the current collector.

[0078] Among them, the optimized contact parameters refer to the control voltage of the telescopic mechanism optimized according to the movement status of the slag pusher. This voltage is obtained by the processing terminal after correcting the initial contact parameters based on the real-time movement stage. Specific methods are described in [reference needed]. Figure 2 These steps ensure stable contact between the current collector and the sliding contact line during the movement of the slag pusher, thereby guaranteeing a stable power supply.

[0079] Step S104: Control the current collector to contact the sliding contact line according to the optimized contact parameters to continue supplying power to the slag pusher.

[0080] After determining the optimized contact parameters, the telescopic mechanism is adjusted according to the control voltage corresponding to the optimized contact parameters. This allows the telescopic structure to adjust the contact pressure between the current collector and the sliding contact line in a timely manner, ensuring stable contact between the current collector and the sliding contact line, and ensuring good power supply parameters, thereby ensuring the stable movement of the slag pusher.

[0081] Reference Figure 2 The steps for correcting the initial contact parameters based on the real-time movement phase to generate optimized contact parameters for the current collector include:

[0082] Step S200: Determine whether the real-time moving stage is a preset moving slag pushing stage or a preset moving reset stage.

[0083] The moving slag pushing stage refers to the stage in which the slag pusher moves and pushes the slag below the flame cutting table to clean it up. The moving reset stage refers to the stage in which the slag pusher returns to its initial position after cleaning up the slag. The operator maps the moving slag pushing stage and the moving reset stage to a specified code and stores it in the processing terminal.

[0084] The processing terminal determines whether the real-time movement stage is the slag pushing stage or the slag resetting stage, and then determines the contact pressure between the current collector and the sliding contact line in the corresponding stage based on the differences in movement parameters of the slag pusher in different movement stages.

[0085] Step S201: If it is a preset movement reset stage, then the preset reset contact pressure is defined as the corrected contact pressure.

[0086] If the processing terminal determines that the real-time movement stage is the movement reset stage, it indicates that the current movement process of the slag pusher is relatively smooth because there is no waste residue. The movement process has fewer factors affecting the contact pressure of the current collector and the sliding contact line. Therefore, the reset contact pressure is defined as the correction contact pressure.

[0087] The reset contact pressure refers to the contact pressure between the current collector and the sliding contact line when the slag pusher moves at the minimum speed and current during the reset process. During the reset phase, the slag pusher moves without additional obstruction, and the moving speed and current are relatively stable. Moreover, the current of the slag pusher is relatively small. At this time, friction loss becomes the main loss. However, the moving speed is relatively fast during the reset phase. If the contact force is too large, it will further aggravate the friction loss. The reset contact pressure is the contact pressure under the minimum speed and minimum current conditions, which is calculated by the operator by substituting the minimum speed and minimum current into the contact force optimization model.

[0088] Corrected contact pressure refers to the contact pressure between the current collector and the sliding contact line obtained after considering only the independent influencing factors during the movement phase. In this step, the reset contact pressure is directly determined as the corrected contact pressure by the processing terminal.

[0089] Step S202: If it is the preset moving slag pushing stage, then collect the real-time moving speed and real-time moving current of the slag pushing machine.

[0090] If the processing terminal determines that the real-time movement stage is the slag pushing stage, it indicates that the slag pusher may experience speed and current changes during its current movement due to the presence of waste slag. Therefore, it is necessary to analyze the changes in real-time contact force from both speed and current perspectives to detect the real-time movement speed and current of the slag pusher, providing data support for subsequent analysis of contact pressure.

[0091] Real-time detection of moving speed refers to the moving speed of the slag pusher during the slag pushing process, which is detected by a speed sensor and sent to the processing terminal. Real-time detection of moving current refers to the current of the slag pusher during the slag pushing process, which is detected by a current sensor and sent to the processing terminal.

[0092] Step S2021: Analyze and calculate the real-time detected moving speed and real-time detected moving current according to the preset contact force optimization model to generate the corrected contact pressure.

[0093] The corrected contact pressure in this step is the same as that in step S201. The difference is that the corrected contact pressure in this step is obtained by the processing terminal after analyzing and calculating the real-time detected moving speed and real-time detected moving current according to the contact force optimization model, thereby balancing the loss and contact stability during the slag pushing process. The specific method is as follows: Figure 3 The steps.

[0094] The contact force optimization model refers to a model based on the moving speed of the slag pusher, current balance losses, and contact stability. The specific expression is shown in [reference needed]. Figure 3 The steps.

[0095] Step S203: Collect pressure-affecting parameters.

[0096] Among them, the pressure-affecting parameters refer to the factors that jointly influence the contact pressure at different stages, including contact temperature and moving acceleration. Contact temperature refers to the contact temperature of the current collector, detected by a temperature sensor. Temperature affects the hardness of the current collector, thus causing changes in the contact area between the current collector and the sliding contact line, which in turn affects the contact resistance, leading to unstable power supply. Moving acceleration refers to the acceleration of the slag pusher, calculated by the processing terminal based on the pusher's speed. During the pusher's movement, the current collector is subjected to additional centrifugal force. The current collector needs to overcome this additional centrifugal force to ensure a stable connection between the current collector and the sliding contact line.

[0097] Step S204: Correct the modified contact pressure according to the pressure influence parameters to generate optimized contact parameters for the current collector.

[0098] The optimized contact parameters in this step are the same as those in step S103. They are obtained by the processing terminal after correcting the modified contact pressure based on the pressure influence parameters. The specific method is described in [reference needed]. Figure 5 The steps.

[0099] Reference Figure 3 The steps for analyzing and calculating the real-time detected moving speed and real-time detected moving current to generate the corrected contact pressure include:

[0100] Step S300: Substitute the real-time detected moving speed and real-time detected moving current into the contact force optimization model for calculation to generate the basic contact pressure.

[0101] The expression for the contact force optimization model is as follows:

[0102] .

[0103] In the formula, Based on contact pressure, To detect moving current in real time, These are preset material constants. The preset coefficient of friction, To detect movement speed in real time.

[0104] Contact loss is obtained by analyzing the relationship between current and contact pressure, and friction loss is obtained by analyzing the relationship between speed and contact pressure. Adding contact loss and friction loss together yields a functional relationship between loss and contact pressure. The derivative of this function with respect to contact pressure is then calculated and set to zero, thus obtaining the optimal contact pressure, which is the contact force optimization model. Contact pressure is directly proportional to the square of the current; that is, the higher the current, the higher the contact pressure needs to be to reduce contact resistance and thus reduce contact loss. Contact pressure is inversely proportional to speed; the higher the speed, the lower the contact pressure needs to be to reduce friction loss.

[0105] The material constant is a parameter that quantifies the influence of contact materials on contact resistance. It is obtained by operators conducting contact resistance tests, applying different contact pressures to the same current collector and sliding contact line, and measuring the contact resistance. The material constant is then obtained by fitting the square root of the contact resistance and contact pressure.

[0106] The coefficient of friction refers to the friction coefficient between the current collector and the sliding contact line, which is obtained by the operator by consulting the manual based on the material type of the current collector and the sliding contact line.

[0107] The basic contact pressure refers to the contact pressure obtained based on the moving speed of the slag pusher, the current balance loss, and the contact stability. It is calculated by the processing terminal by substituting the real-time detected moving speed and real-time detected moving current into the contact force optimization model.

[0108] Step S301: Calculate the real-time detected change value of the moving speed to generate the instantaneous change value of the speed.

[0109] The instantaneous speed change value refers to the change in the moving speed of the slag pusher, which is obtained by calculating the absolute value of the difference between two adjacent moving speeds from the processing terminal. By determining the instantaneous speed change value, data support is provided for subsequent determination of whether the slag pusher speed change is caused by excessive amount of waste slag or uneven accumulation, thus causing instantaneous current spikes.

[0110] Step S302: Determine whether the instantaneous velocity change value meets the requirements of the preset velocity change threshold.

[0111] Among them, the speed mutation threshold refers to the minimum mutation value that indicates that the speed of the slag pusher is suddenly changed due to a large amount of slag or uneven accumulation of slag. The specific value is determined by the operator according to the actual situation. The requirement for the speed mutation threshold is that it should not be greater than the speed mutation threshold.

[0112] By processing the terminal to determine whether the instantaneous speed change value is not greater than the speed change threshold, it can be determined whether the slag pusher speed change is caused by excessive amount of waste slag or uneven accumulation, which in turn causes instantaneous current spike.

[0113] Step S3021: If the condition is met, the basic contact pressure is defined as the corrected contact pressure.

[0114] If the processing terminal determines that the instantaneous speed change value is not greater than the speed change threshold, it indicates that the speed of the slag pusher is relatively stable and there is no sudden speed change caused by excessive amount of waste slag or uneven accumulation, which in turn causes instantaneous current spikes. Therefore, there is no need to consider the impact of instantaneous current changes on contact pressure, and the basic contact pressure can be directly defined as the corrected contact pressure.

[0115] Step S3022: If it does not meet the requirements, the basic contact pressure is corrected according to the instantaneous change value of the velocity to generate a corrected contact pressure.

[0116] If the processing terminal determines that the instantaneous speed change value is greater than the speed change threshold, it indicates that the slag pusher speed change is caused by excessive amount of waste slag or uneven accumulation, which in turn causes instantaneous current spike. Therefore, it is necessary to correct the basic contact pressure according to the instantaneous speed change value to ensure that there is sufficient contact pressure to cope with the vibration caused by the current change and to reduce contact resistance and reduce losses.

[0117] The corrected contact pressure in this step is the same as the corrected contact pressure in step S2021. It is obtained by the processing terminal after correcting the basic contact pressure based on the instantaneous change value of the speed. For the specific method, please refer to [link / reference]. Figure 4 In the process of slag pushing, sudden changes in the speed of the slag pusher cause mechanical vibration and instantaneous current spikes. At this time, a sufficiently large contact pressure is needed to offset the mechanical vibration and reduce the contact resistance to reduce contact loss. Therefore, by adjusting the contact pressure, the stability of the power supply can be guaranteed.

[0118] Reference Figure 4 The steps for generating a corrected contact pressure by correcting the base contact pressure based on the instantaneous change in velocity include:

[0119] Step S400: Calculate the product between the instantaneous velocity mutation value and the preset mutation coefficient to generate the velocity mutation impact load.

[0120] The mutation coefficient refers to the sensitivity of the current collector to speed changes, that is, the proportional relationship between speed mutation and impact load. It can be determined by experimental calibration. Simulate the scenario of large accumulation or uneven accumulation of waste residue, control the movement of the slag pusher, record the speed mutation value and the torque of the slag pusher, convert the torque into impact load, and linearly fit the impact load with the speed mutation value to obtain the mutation coefficient.

[0121] Speed ​​mutation impact load refers to the impact load caused by speed mutation on the current collector. It is obtained by the processing terminal calculating the product between the instantaneous speed mutation value and the mutation coefficient. By measuring the speed mutation impact load, the impact of the slag pusher on the current collector due to speed change can be quantified, providing data support for subsequent compensation of impact effects.

[0122] Step S401: Calculate the product between the velocity change impact load and the preset change compensation coefficient to generate the compensation contact pressure.

[0123] The sudden change compensation coefficient refers to the proportional coefficient that converts the impact load into compensation pressure. It ensures that when the speed changes suddenly, the current collector will not separate from the sliding contact line due to the impact, and will not over-compensate, causing friction and wear of the current collector. It can be determined by experimental calibration. The impact load is simulated on the current collector and the sliding contact line, and the contact state between the current collector and the sliding contact line is detected during the simulation. The compensation contact pressure is gradually increased from the set minimum sudden change compensation coefficient, and the minimum sudden change compensation coefficient that ensures the contact state is intact and the compensation contact pressure does not exceed the wear pressure is determined. Finally, the midpoint between the minimum and maximum sudden change compensation coefficients is taken as the sudden change compensation coefficient, thereby satisfying the pressure compensation effect while reducing friction and wear.

[0124] Step S402: Calculate the sum of the base contact pressure and the compensated contact pressure to generate the corrected contact pressure.

[0125] In this step, the corrected contact pressure is consistent with the corrected contact pressure in step S3022. It is obtained by the processing terminal by calculating the sum of the basic contact pressure and the compensated contact pressure, thereby offsetting the impact caused by sudden speed changes and the increased contact loss caused by instantaneous current spikes.

[0126] Reference Figure 5 The pressure-affected parameters include contact temperature and moving acceleration. The steps for correcting the contact pressure based on these parameters to generate optimized contact parameters for the current collector include:

[0127] Step S500: Analyze the contact temperature value and the corrected contact pressure to determine the temperature correction pressure.

[0128] Among them, temperature correction pressure refers to the contact pressure correction value required to offset the effect of temperature. It is determined by the processing terminal after analyzing the contact temperature value and the corrected contact pressure. The specific method is described in [reference needed]. Figure 6 The steps.

[0129] Step S501: Analyze the moving acceleration and corrected contact pressure to determine the acceleration correction pressure.

[0130] Among them, the acceleration correction pressure refers to the contact pressure correction value required to offset the effect of acceleration. It is determined by the processing terminal after analyzing the moving acceleration and the corrected contact pressure. The specific method is described in [reference needed]. Figure 7 The steps.

[0131] Step S502: Calculate the sum of the corrected contact pressure, temperature corrected pressure, and acceleration corrected pressure to generate the optimized contact pressure.

[0132] Among them, the optimized contact pressure refers to the pressure value of the final contact between the current collector and the sliding contact line, which is obtained by the processing terminal by calculating the sum of the corrected contact pressure, temperature corrected pressure and acceleration corrected pressure.

[0133] Step S503: Collect real-time contact pressure.

[0134] Among them, the real-time contact pressure refers to the contact pressure between the current collector and the sliding contact line at the current moment, which is obtained by the pressure sensor and sent to the processing terminal.

[0135] Step S504: Calculate the difference between the optimized contact pressure and the real-time contact pressure to generate a contact pressure deviation, and input the contact pressure deviation into a preset contact adjustment algorithm to generate optimized contact parameters.

[0136] The contact pressure deviation refers to the difference between the current contact pressure and the optimal contact pressure, which is obtained by the processing terminal calculating the difference between the optimized contact pressure and the real-time contact pressure.

[0137] The contact adjustment algorithm refers to the algorithm for adjusting the control voltage of the telescopic mechanism. The embodiment of this application adopts the PID control algorithm.

[0138] The optimized contact parameters in this step are the same as those in step S204, and are calculated by the processing terminal by inputting the contact pressure deviation into the contact adjustment algorithm.

[0139] Reference Figure 6 The steps for analyzing contact temperature values ​​and corrected contact pressure to determine temperature correction pressure include:

[0140] Step S600: Calculate the difference between the contact temperature value and the preset ideal operating temperature value to generate the temperature deviation.

[0141] The ideal operating temperature value refers to the temperature at which the current collector and the sliding contact line have no effect on the contact, which is 25 degrees Celsius.

[0142] Temperature deviation refers to the amount of temperature that affects the contact between the current collector and the sliding contact line, which is obtained by calculating the difference between the contact temperature value and the ideal operating temperature value from the processing terminal.

[0143] Step S601: Calculate the product between the temperature deviation and the preset temperature correction factor to generate the temperature-pressure correction factor.

[0144] The temperature correction factor refers to the correction rate of the contact pressure as a function of temperature. The operator determines the change in the hardness of the current collector with temperature, then determines the index between the contact area and the contact pressure of the current collector, and finally calculates the quotient between the change and the square of the index to obtain the temperature correction factor.

[0145] The temperature-pressure correction factor refers to the proportion by which temperature causes pressure correction. It is obtained by calculating the product between the temperature deviation and the temperature correction factor at the processing terminal.

[0146] Step S602: Calculate the product between the temperature-pressure correction factor and the corrected contact pressure to generate the temperature-corrected pressure.

[0147] The temperature correction pressure in this step is the same as the temperature correction pressure in step S500, and is obtained by the processing terminal by calculating the product between the temperature pressure correction coefficient and the correction contact pressure.

[0148] Reference Figure 7 The steps for analyzing the moving acceleration and corrected contact pressure to determine the acceleration correction pressure include:

[0149] Step S700: Calculate the quotient of the moving acceleration and the preset gravitational acceleration to generate an acceleration correction coefficient.

[0150] In this embodiment of the application, the gravitational acceleration is 9.8 m / s². 2 For example.

[0151] The acceleration correction coefficient refers to the compensation ratio of contact pressure when offsetting the effect of acceleration. It is obtained by the processing terminal by calculating the quotient of the moving acceleration and the gravitational acceleration. When the moving acceleration is greater, the centrifugal force of the current collector is greater. At this time, the acceleration correction coefficient is greater, and thus the compensation contact pressure is greater, so as to offset the effect of centrifugal force and ensure stable contact between the current collector and the sliding contact line.

[0152] Step S701: Calculate the product between the acceleration correction factor and the corrected contact pressure to generate the acceleration correction pressure.

[0153] In this step, the acceleration correction pressure is the same as that in step S501, and is obtained by the processing terminal by calculating the product between the acceleration correction coefficient and the correction contact pressure.

[0154] Based on the same inventive concept, embodiments of this application provide a movement control system for a slag pusher, comprising:

[0155] The acquisition module is used to acquire movement trigger signals, real-time movement stages, real-time movement speed detection, real-time movement current detection, pressure influence parameters, and real-time contact pressure.

[0156] A memory for storing a program for a method of controlling the movement of a slag pusher;

[0157] The processor can load and execute programs in memory to implement a method for controlling the movement of a slag pusher.

[0158] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0159] This application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as a method for controlling the movement of a slag pusher.

[0160] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0161] Based on the same inventive concept, embodiments of this application provide a smart terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as a method for controlling the movement of a slag pusher.

[0162] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0163] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A method for controlling the movement of a slag pusher, characterized in that, include: Collect the movement trigger signal of the slag pusher; According to the movement trigger signal, the preset current collector is controlled to contact the preset sliding contact line with preset initial contact parameters to supply power to the slag pusher; The slag pusher is controlled to move according to the preset cleaning and moving parameters to clean up the waste slag, and the real-time movement stage of the slag pusher is collected. The initial contact parameters are corrected based on the real-time movement phase to generate optimized contact parameters for the current collector; The current collector is controlled to contact the sliding contact line according to optimized contact parameters to continue supplying power to the slag pusher; The steps for correcting the initial contact parameters based on the real-time movement phase to generate optimized contact parameters for the current collector include: Determine whether the real-time movement stage is the preset movement pushing stage or the preset movement reset stage. If it is a preset movement reset phase, then the preset reset contact pressure is defined as the corrected contact pressure. If it is a preset moving slag pushing stage, then the real-time moving speed and real-time moving current of the slag pusher will be collected. The real-time detection moving speed and real-time detection moving current are analyzed and calculated based on the preset contact force optimization model to generate the corrected contact pressure. The influence of pressure on parameters; The modified contact pressure is adjusted based on the pressure influence parameters to generate optimized contact parameters for the current collector.

2. The method for controlling the movement of a slag pusher according to claim 1, characterized in that, The steps for analyzing and calculating the real-time detected moving speed and real-time detected moving current to generate the corrected contact pressure include: The real-time detected moving speed and real-time detected moving current are substituted into the contact force optimization model for calculation to generate the basic contact pressure; The changes in the real-time detected moving speed are calculated to generate instantaneous speed change values; Determine whether the instantaneous velocity change value meets the preset velocity change threshold requirement; If the conditions are met, the basic contact pressure is defined as the corrected contact pressure; If it does not meet the requirements, the basic contact pressure is corrected based on the instantaneous change value of the velocity to generate a corrected contact pressure.

3. The method for controlling the movement of a slag pusher according to claim 2, characterized in that, The steps for generating a corrected contact pressure by correcting the base contact pressure based on the instantaneous velocity change value include: Calculate the product between the instantaneous velocity change value and the preset change coefficient to generate the velocity change impact load; The product between the velocity-sudden impact load and the preset sudden change compensation coefficient is calculated to generate the compensating contact pressure; Calculate the sum of the base contact pressure and the compensated contact pressure to generate the corrected contact pressure.

4. The method for controlling the movement of a slag pusher according to claim 1, characterized in that, The expression for the contact force optimization model is: ， In the formula, Based on contact pressure, To detect moving current in real time, These are preset material constants. The preset coefficient of friction, To detect movement speed in real time.

5. The method for controlling the movement of a slag pusher according to claim 1, characterized in that, The pressure-affecting parameters include contact temperature and moving acceleration. The step of correcting the contact pressure based on the pressure-affecting parameters to generate optimized contact parameters for the current collector includes: The contact temperature value and the corrected contact pressure are analyzed to determine the temperature correction pressure; The moving acceleration and corrected contact pressure are analyzed to determine the acceleration correction pressure; Calculate the sum of the corrected contact pressure, temperature corrected pressure, and acceleration corrected pressure to generate the optimized contact pressure; Collect real-time contact pressure; The difference between the optimized contact pressure and the real-time contact pressure is calculated to generate the contact pressure deviation. The contact pressure deviation is then input into a preset contact adjustment algorithm to generate optimized contact parameters.

6. The method for controlling the movement of a slag pusher according to claim 5, characterized in that, The steps for analyzing contact temperature values ​​and corrected contact pressure to determine temperature correction pressure include: Calculate the difference between the contact temperature value and the preset ideal operating temperature value to generate the influence on temperature deviation; Calculate the product between the temperature deviation and the preset temperature correction factor to generate the temperature-pressure correction factor; Calculate the product between the temperature-pressure correction factor and the corrected contact pressure to generate the temperature-corrected pressure.

7. The method for controlling the movement of a slag pusher according to claim 5, characterized in that, The steps for analyzing the moving acceleration and corrected contact pressure to determine the acceleration correction pressure include: Calculate the quotient of the moving acceleration and the preset gravitational acceleration to generate an acceleration correction coefficient; Calculate the product between the acceleration correction factor and the corrected contact pressure to generate the acceleration correction pressure.

8. A mobile control system for a slag pusher, characterized in that, include: The acquisition module is used to acquire movement trigger signals and real-time movement phases; A memory for storing a program for a movement control method for a slag pusher as described in any one of claims 1 to 7; The processor and the program in the memory can be loaded and executed by the processor to implement the movement control method of the slag pusher as described in any one of claims 1 to 7.

9. A smart terminal, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any one of claims 1 to 7 for the movement control method of a slag pusher.

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