Intelligent control system for tippler of thermal power plant

Abstract

The utility model relates to an intelligent control system for a tippler in a thermal power plant. The system comprises a plurality of redundant controllers, a plurality of redundant frequency converter groups, a plurality of redundant alternating current contactors, a distributed remote IO module, a redundant dual-power switch, an encoder and a video monitoring device, a plurality of redundant AC contactors and a video monitoring device are connected to an IO interface of the distributed remote IO module; the plurality of frequency converter groups are cascaded; each frequency converter group comprises first to fourth frequency converters; the first to fourth frequency converters are cascaded in sequence; each frequency converter is connected to a motor through an alternating current contactor; the encoder is mounted on a rotating shaft of the motor, and the encoder is electrically connected with the plurality of controllers; the plurality of controllers, the distributed remote IO module and the fourth frequency converter in the last cascaded frequency converter group are all connected with the redundant dual-power switch, and the distributed remote IO module is also connected with the first frequency converter in the first cascaded frequency converter group.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent control of car dumpers in thermal power plants, in particular to an intelligent control system for car dumpers in thermal power plants. Background Art

[0002] The control system for a thermal power plant's car dumper consists of a heavy car control unit, a car dumper control unit, an empty car transfer platform control unit, and an empty ox control unit. A loaded car, loaded with fuel, is pulled to a designated location on the heavy car railroad by a heavy ox. The car dumper control unit dumps the fuel from the car, turning it into an empty car without fuel. The heavy car pusher pushes the empty car to the designated location on the transfer platform. The transfer platform control unit moves the empty car onto the empty car railroad using a transfer track. The empty car pusher pushes the empty car off the transfer platform to a specific location. The empty ox control unit directs the empty ox out of the empty ox pit. As it moves, it encounters an empty car waiting on the empty car railroad, pushing the empty car forward until it reaches the desired location. The empty car is then pulled away from the fuel plant by the locomotive. The empty ox then returns to the empty ox pit, ready for the next cycle.

[0003] The car tipper system requires the coordination of multiple devices during operation. Improper coordination can easily lead to production accidents. The existing car tipper control system is complex and improper control may bring the risk of production stagnation. Therefore, a car tipper control system with high reliability is needed. Utility Model Content

[0004] In view of the above analysis, the present invention aims to provide an intelligent control system for a car dumper in a thermal power plant, so as to solve the problem of low reliability of the existing car dumper control system in a thermal power plant.

[0005] The purpose of this utility model is mainly achieved through the following technical solutions:

[0006] A thermal power plant dumper intelligent control system, the system comprising multiple redundant controllers, multiple redundant inverter groups, multiple redundant AC contactors, a distributed remote I / O module, a redundant dual-power switch, an encoder, and a video monitoring device; the multiple redundant AC contactors and the video monitoring device are connected to the I / O interface of the distributed remote I / O module; multiple inverter groups are cascaded; each inverter group comprises first to fourth inverters; the first to fourth inverters are cascaded in sequence; each inverter is connected to a motor via an AC contactor; an encoder is mounted on a motor shaft, and the encoder is electrically connected to multiple controllers; multiple controllers, the distributed remote I / O module, and the fourth inverter in the last inverter group in the cascade are all connected to the redundant dual-power switch, and the distributed remote I / O module is also connected to the first inverter in the first inverter group in the cascaded inverter groups.

[0007] Furthermore, the system also includes multiple limit sensors, which include redundant multiple hard limit switches and multiple photoelectric limit switches; the redundant multiple hard limit switches are located at both ends of the migration track between the heavy vehicle railway line and the light vehicle railway line; and the multiple photoelectric limit switches are located on the empty vehicle railway line and the heavy vehicle railway line.

[0008] Furthermore, the system also includes a heavy vehicle hydraulic control device, a light vehicle hydraulic control device, and multiple electromagnetic switches; the heavy vehicle hydraulic control device and the light vehicle hydraulic control device are both connected to multiple controllers; the heavy vehicle hydraulic control device and the light vehicle hydraulic control device respectively control the movement of the heavy vehicle pusher and the empty vehicle pusher in the direction perpendicular to the ground under the control of the controller; multiple electromagnetic switches are located on the openable and closable push plates of the heavy vehicle pusher and the empty vehicle pusher, multiple electromagnetic switches are connected to the controller, and multiple electromagnetic switches are used to control the opening and closing of the openable and closable push plates.

[0009] Furthermore, the encoder adopts PEPPERL+FOCHS TVI40N-09TK0T6TN-01024.

[0010] Furthermore, the normally open auxiliary contacts of the redundant AC contactor are connected to the redundant dual-power switch through the IO interface of the distributed remote IO module, and then connected to multiple controllers through the redundant dual-power switch; the controller is connected to multiple redundant AC contactor control coils through the redundant dual-power switch and the IO interface of the distributed remote IO module.

[0011] Furthermore, an arc extinguishing device is connected between the moving and static contacts of the main contacts of the redundant AC contactor.

[0012] Furthermore, the control system also includes a reducer and a coupling, and the reducer is connected to the output shaft of the air-buffalo drive motor through the coupling.

[0013] Furthermore, the control system also includes a power supply, which includes a first UPS power supply branch, a second UPS power supply branch, and a UPS power supply system bypass connected in parallel; the input ends of the first UPS power supply branch, the second UPS power supply branch, and the UPS power supply system bypass are all connected to a three-phase four-wire 380V power supply or a three-phase four-wire 380V AC diesel generator set, and the output end supplies power to the multiple inverter groups. At the same time, the output end supplies power to multiple redundant controllers, distributed remote IO modules, redundant dual-power switches, encoders, multiple limit sensors, and video monitoring devices after DC / DC conversion.

[0014] Furthermore, the power supply also includes an air circuit breaker and a power switch combination device; the air circuit breaker and the power switch combination device are connected in sequence between the power supply output end and the inverter; the A, B, and C phase lines output by the power switch combination device are connected to the first to fourth inverters of each group.

[0015] Furthermore, the A, B, and C phase power supply input terminals of each AC contactor are respectively connected to the corresponding A, B, and C phase output terminals of each inverter, and the two redundant AC contactors are interlocked; the control input terminal of each inverter is connected to the controller via a network cable and a hard wire.

[0016] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0017] 1. In the intelligent control system of the thermal power plant dumper of the present invention, multiple AC contactors and video monitoring devices are connected to a redundant dual-power switch through a distributed remote IO module, and then connected to multiple controllers through the redundant dual-power switch. At the same time, the distributed remote IO module is also connected to the first inverter in the first inverter group in the cascaded inverter group. The distributed remote IO module and the last inverter group in the cascade are both connected to the redundant dual-power switch. Therefore, the distributed remote IO module and the inverter group are arranged on a ring network. When one of the devices fails, it will not affect the operation of its backup device, meeting the requirements of the intelligent control system of the thermal power plant dumper for efficient and reliable operation.

[0018] 2. This utility model utilizes multiple redundant controllers, multiple redundant inverters, multiple redundant AC contactors, redundant dual-power switches, dual encoder and photoelectric limit switch control, and redundant power supplies. During operation, the intelligent control system utilizes redundant configurations to maintain system operation regardless of failures in the controllers, first through fourth inverters, AC contactors, or power supplies.

[0019] 3. The intelligent control system of the thermal power plant dumper of the utility model controls the running distance of the empty cattle by measuring the output pulse number of the encoder through the controller, and introduces the precise control of the motor operation by the encoder signal into the empty cattle, so that the empty cattle has the ability of self-learning and judgment; the video monitoring device is introduced into the system to assist the hard limit switch and the photoelectric limit switch to make accurate judgments and prevent false triggering caused by interference signals; the hydraulic control system is introduced into the heavy vehicle hydraulic control device and the light vehicle hydraulic control device, and the electromagnetic switch is introduced into the heavy vehicle pusher and the empty vehicle pusher, realizing an intelligent thermal power plant dumper control system, and the control is more stable and reliable.

[0020] 4. When a fault occurs in the power supply of the intelligent control system of the thermal power plant dumper, the first to fourth inverters in the inverter group, each motor, AC contactor, redundant dual power switch, distributed remote IO module, or power cable, an alarm message will be issued in real time, and the touch screen and the host computer in the central control room will display the fault in real time.

[0021] In the present invention, the above-mentioned technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of the present invention will be described in the following content, and some advantages will become apparent from the description or be understood through practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the text and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are only used for the purpose of illustrating specific embodiments and are not to be considered as limiting the present invention. Throughout the accompanying drawings, the same reference symbols denote the same components.

[0023] Figure 1 This is a block diagram of an intelligent control system for a dumper in a thermal power plant;

[0024] Figure 2 This is a schematic diagram of the power supply composition of an intelligent control system for a dumper in a thermal power plant.

[0025] Reference numerals:

[0026] 15-mains electricity;

[0027] 16-diesel generator set;

[0028] 17-First UPS power supply branch;

[0029] 18-Second UPS power supply branch. DETAILED DESCRIPTION

[0030] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, and are not used to limit the scope of the present invention.

[0031] A specific embodiment of the present utility model discloses an intelligent control system for a dumper in a thermal power plant, such as Figure 1As shown. The system includes multiple redundant controllers, multiple redundant inverter groups, multiple redundant AC contactors, a distributed remote IO module, a redundant dual-power switch, an encoder, and a video monitoring device; the multiple redundant AC contactors and the video monitoring device are connected to the IO interface of the distributed remote IO module; the multiple inverter groups are cascaded; each inverter group includes first to fourth inverters; the first to fourth inverters are cascaded in sequence; each inverter is connected to the motor via an AC contactor; the encoder is mounted on the motor shaft and is electrically connected to the multiple controllers; the multiple controllers, the distributed remote IO module, and the fourth inverter in the last inverter group in the cascade are all connected to the redundant dual-power switch, and the distributed remote IO module is also connected to the first inverter in the first inverter group in the cascaded inverter groups.

[0032] Specifically, each inverter group of the system includes a heavy vehicle traction inverter (first inverter), a tipper inverter (second inverter), a transfer platform inverter (third inverter), and an empty cattle drive inverter (fourth inverter); the heavy vehicle traction inverter is connected to the heavy vehicle traction motor, the tipper inverter is connected to the tipper motor, the transfer platform inverter is connected to the transfer platform control motor, and the empty cattle drive inverter is connected to the empty cattle drive motor.

[0033] Because multiple inverter groups are provided, the first through fourth inverters are redundant. The AC contactors are used to control the motor control of the connected inverters. Each inverter is connected to a controller via a switch and receives control commands from the controller. The controller changes the inverter's input frequency, thereby changing the inverter's output voltage. If an inverter fails, the system switches to the backup inverter to control the motor, and the corresponding AC contactors are also switched on and off by the controller.

[0034] Multiple controllers are connected via synchronous optical fiber. If one controller fails, another controller will take over control.

[0035] In a specific embodiment of the present invention, the controller adopts ABB PM582 and the distributed remote IO module adopts ABBCI501-PINIO.

[0036] The encoder adopts PEPPERL+FOCHS TVI40N-09TK0T6TN-01024.

[0037] Specifically, an encoder is connected to one end of the motor's output shaft. During the testing phase, the encoder output pulses are measured for every meter the empty vehicle moves, and these pulses are fed back to the controller. The preset number of encoder pulses is calculated based on the distance the empty vehicle moves to its target position. When the controller detects that the encoder output pulse count reaches the preset number, it stops the motor.

[0038] The system also includes multiple limit sensors, which include redundant multiple hard limit switches and multiple photoelectric limit switches; the redundant multiple hard limit switches are located at both ends of the migration track between the heavy vehicle railway line and the light vehicle railway line; and the multiple photoelectric limit switches are located on the empty vehicle railway line and the heavy vehicle railway line.

[0039] Specifically, there is a section of migration track perpendicular to the heavy vehicle railway line between the heavy vehicle railway line and the light vehicle railway line. Under the action of the migration platform control motor, the empty vehicle will be migrated from the heavy vehicle railway line to the light vehicle railway line. When the empty vehicle touches the hard limit switch of the heavy vehicle railway line of the migration track, and the video monitoring device recognizes that the empty vehicle is already at the starting position of the migration track, the migration platform control motor starts to rotate, driving the empty vehicle to move on the migration track. When the empty vehicle touches the hard limit switch of the light vehicle railway line of the migration track, and the video monitoring device recognizes that the empty vehicle is already at the starting position of the migration track, the migration platform control motor stops rotating. The first pair of photoelectric limit switches are set at the starting point and the end point of the heavy ox traction on the heavy vehicle railway line; the heavy vehicle filled with fuel on the heavy vehicle railway line is pulled by the heavy ox to the designated position; the dumper control device dumps the fuel in the heavy vehicle, and the heavy vehicle becomes an empty vehicle without fuel; the second pair of photoelectric limit switches are set at the starting and end positions of the heavy vehicle pusher pushing the empty vehicle on the heavy vehicle railway line (the end position is located at the designated position of the vehicle transfer platform); the third pair of photoelectric limit switches are set at the starting and end positions of the empty vehicle pusher pushing the empty vehicle, and the empty vehicle The cart pusher propels the empty cart off the transfer platform to a certain position. A fourth pair of photoelectric limit switches are set at the starting and ending points of the empty cart pulling on the light vehicle railway line. When the fourth pair of photoelectric limit switches detects that the empty cart is at the starting point of the empty cart pulling, the empty cart control device causes the empty cart to rise from the empty cart pit to the ground. During its movement, the empty cart will meet the empty cart waiting on the empty cart railway line, pushing the empty cart forward and pushing it to the end point of the empty cart pulling. The empty cart is then towed away from the thermal power plant by the locomotive. The empty cart returns to the empty cart pit and waits for the next work cycle.

[0040] The system also includes a heavy vehicle hydraulic control device, a light vehicle hydraulic control device, and multiple electromagnetic switches; the heavy vehicle hydraulic control device and the light vehicle hydraulic control device are both connected to multiple controllers; the heavy vehicle hydraulic control device and the light vehicle hydraulic control device respectively control the movement of the heavy vehicle pusher and the empty vehicle pusher in the direction perpendicular to the ground under the control of the controller; multiple electromagnetic switches are located on the openable and closable push plates of the heavy vehicle pusher and the empty vehicle pusher, multiple electromagnetic switches are connected to the controller, and multiple electromagnetic switches are used to control the opening and closing of the openable and closable push plates.

[0041] Specifically, when the starting position switch in the second pair of photoelectric limit switches detects an empty vehicle, the controller controls the heavy vehicle hydraulic control device to extend the hydraulic legs and raise the heavy vehicle pusher to the ground. After the heavy vehicle pusher rises to its position, it sends a control signal to the controller. The controller controls the electromagnetic switch of the openable and closable push plate on the heavy vehicle pusher to open the openable and closable push plate, thereby pushing the empty vehicle forward. When the end position switch of the second pair of photoelectric limit switches detects an empty vehicle, the openable and closable push plate of the heavy vehicle pusher is retracted, and pushing the empty vehicle is stopped. The heavy vehicle pusher returns to the starting position. At this time, the hydraulic legs are retracted and the heavy vehicle pusher is lowered below the ground. When the starting position switch in the third pair of photoelectric limit switches detects an empty car, the controller controls the empty car hydraulic control device to extend the hydraulic legs and raise the empty car pusher to the ground. After the empty car pusher rises to its position, it sends a control signal to the controller. The controller controls the electromagnetic switch of the openable and closable push plate on the empty car pusher to open the openable and closable push plate, thereby pushing the empty car forward. When the end position switch of the third pair of photoelectric limit switches detects an empty car, the openable and closable push plate of the empty car pusher is retracted, and pushing the empty car is stopped. The empty car pusher returns to the starting position. At this time, the hydraulic legs are retracted and the empty car pusher is lowered below the ground.

[0042] The normally open auxiliary contacts of the redundant AC contactor are connected to the redundant dual-power switch through the IO interface of the distributed remote IO module, and then connected to multiple controllers through the redundant dual-power switch; the controller is connected to multiple redundant AC contactor control coils through the redundant dual-power switch and the IO interface of the distributed remote IO module.

[0043] Specifically, the controller is connected to a redundant dual-power switch, which in turn connects to the IO interface of a distributed remote IO module through the redundant dual-power switch, and then to multiple redundant AC contactor control coils. The controller uses the redundant dual-power switch to energize or de-energize the multiple redundant AC contactor control coils, closing or opening the AC contactors, and thus enabling the inverter to control the motor's operation or stop. The redundant AC contactors' normally open auxiliary contacts transmit their current status to the controller through the redundant dual-power switch, and the controller then checks whether the current AC contactor status is normal.

[0044] An arc extinguishing device is connected between the moving and static contacts of the main contacts of the redundant AC contactor.

[0045] Specifically, the arc extinguishing device can prevent the AC contactor from arcing and short-circuiting during the switching process of the moving and static contacts.

[0046] The control system further comprises a reducer and a coupling, wherein the reducer is connected to the output shaft of the hollow cow drive motor via the coupling.

[0047] Specifically, to control the speed of the steer, the end of the steer drive motor output shaft that is not connected to the encoder is connected to the reducer through a coupling (to achieve precise control of the steer stop position, the other end of the steer drive motor output shaft is connected to the encoder). This prevents the steer from falling off the steer track when the motor moves too fast.

[0048] The power supply diagram is as follows: Figure 2 shown.

[0049] The control system also includes a power supply, which includes a first UPS power supply branch 17, a second UPS power supply branch 18, and a UPS power supply system bypass connected in parallel; the input ends of the first UPS power supply branch 17, the second UPS power supply branch 18, and the UPS power supply system bypass are all connected to a three-phase four-wire 380V power supply or a three-phase four-wire 380V AC diesel generator set 16, and the output end supplies power to the multiple inverter groups. At the same time, the output end supplies power to multiple redundant controllers, distributed remote IO modules, redundant dual-power switches, encoders, multiple limit sensors, and video monitoring devices after DC / DC conversion.

[0050] Specifically, in an emergency, the redundant first UPS power supply branch 17 and the second UPS power supply branch 18 can simultaneously power multiple redundant inverter groups, multiple redundant AC contactors, multiple redundant controllers, redundant dual-power switches, distributed remote I / O modules, encoders, and video surveillance equipment. During normal operation, the power supply system is provided by 380V AC mains power 15, which is bypassed by the UPS power system to reach the power loads. In the event of a mains power failure, power is switched to the diesel generator set 16 or the UPS power supply branch. Due to the large number of power loads in the control system, the first UPS power supply branch 17 and the second UPS power supply branch 18 can operate simultaneously to provide power. The UPS units dynamically calculate the remaining power and, when power is insufficient, activate the diesel generator set 16 to ensure normal system operation. Both the first and second UPS power supply branches 18 include AC / DC and DC / AC modules connected in series, as well as a battery pack. The battery pack charging port is connected to the output of the AC / DC module, which is also connected to the input of the DC / AC module, providing power to the power loads in the absence of mains power 15.

[0051] The power supply also includes an air circuit breaker and a power switch assembly; the air circuit breaker and the power switch assembly are connected in sequence between the power supply output end and the inverter; the A, B, and C phase lines output by the power switch assembly are connected to the first to fourth inverters of each group.

[0052] Specifically, the power supply output end is also connected to an air circuit breaker and a power switch combination device before being connected to the inverter. When a short circuit occurs, the air circuit breaker and the power switch combination device cut off the power to avoid burning the power load and protecting the power supply line.

[0053] The A, B, and C phase power supply input terminals of each AC contactor are respectively connected to the corresponding A, B, and C phase output terminals of each inverter, and the two redundant AC contactors are interlocked; the control input terminal of each inverter is connected to the controller through a network cable and a hard line.

[0054] Specifically, the interlocking connection between the two redundant AC contactors ensures that only one of the two redundant inverters is controlling the motor at any given time. Each inverter's control input is connected to the controller via both a network cable and a hardwire, further ensuring the inverter's normal operation. If the network cable is disconnected, the hardwire directly receives the inverter's control from the controller, ensuring the normal operation of each motor.

[0055] The system also includes a central control room, which houses a host computer connected to the controller via a switch. A touch screen is also installed on-site, connected to the switch via a wireless access point, allowing operators to easily monitor status at any time. Failures in the system power supply, the first through fourth inverters in the inverter group, the motors, the AC contactors, the redundant dual-power switch, the distributed remote I / O modules, or the power cables generate real-time alarm information, which is displayed on the touch screen and the host computer in the central control room.

[0056] Compared to the prior art, the multiple AC contactors and video surveillance devices in the intelligent control system for thermal power plant dumpers provided in this embodiment include connections to a redundant dual-power switch via a distributed remote IO module, which is then connected to multiple controllers via the redundant dual-power switch. The distributed remote IO module is also connected to the first inverter in the first inverter group in the cascaded inverter group. The distributed remote IO module and the last inverter group in the cascade are both connected to the redundant dual-power switch. Therefore, the distributed remote IO module and inverter group are arranged on a ring network. When one device fails, the operation of its backup device will not be affected, thus meeting the requirements of the intelligent control system for thermal power plant dumpers for efficient and reliable operation. The intelligent control system for thermal power plant dumpers in this embodiment employs multiple redundant controllers, multiple redundant inverter groups, multiple redundant AC contactors, redundant dual-power switches, dual control of encoders and photoelectric limit switches, and a redundant power supply. During operation, regardless of failures in the controllers, the first to fourth inverters, the AC contactors, or the power supply, the redundant configuration can be used to promptly maintain normal system operation. The intelligent control system for the thermal power plant dumper in this embodiment uses a controller to measure the number of encoder output pulses to control the running distance of the empty bull, and introduces the encoder signal's precise control of the motor operation into the empty bull, so that the empty bull has the ability to self-learn and judge; a video monitoring device is introduced into the system to assist the hard limit switch and the photoelectric limit switch in making accurate judgments to prevent false triggering caused by interference signals; a hydraulic control system is introduced into the heavy vehicle hydraulic control device and the light vehicle hydraulic control device, and an electromagnetic switch is introduced into the heavy vehicle pusher and the empty vehicle pusher, thus realizing an intelligent thermal power plant dumper control system with more stable and reliable control. When a fault occurs in the power supply, the first to fourth frequency converters in the frequency converter group, each motor, AC contactor, redundant dual power supply switch, distributed remote IO module, and power cable of the intelligent control system for the thermal power plant dumper in this utility model, an alarm message is issued in real time, and the touch screen and the host computer in the central control room display the fault in real time.

[0057] Those skilled in the art will appreciate that the programs / software involved in the above embodiments are common methods in the prior art, and the present invention does not involve any software improvements. The present invention merely requires connecting the various devices with corresponding functions through the connection relationships provided in the embodiments of the present invention, and does not involve any program or software improvements. As for the connection methods between the various hardware devices with corresponding functions, these can be implemented by those skilled in the art using existing technologies and will not be described in detail here.

[0058] The above is only a preferred specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any changes or replacements that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed in the present invention should be covered by the protection scope of the present invention.

Claims

1. An intelligent control system for a dumper in a thermal power plant, characterized in that: The system includes multiple redundant controllers, multiple redundant inverter groups, multiple redundant AC contactors, distributed remote IO modules, redundant dual-power switches, encoders, and video monitoring devices; multiple redundant AC contactors and video monitoring devices are connected to the IO interface of the distributed remote IO module; multiple inverter groups are cascaded; each inverter group includes first to fourth inverters; the first to fourth inverters are cascaded in sequence; each inverter is connected to the motor through an AC contactor; the encoder is installed on the motor shaft, and the encoder is electrically connected to multiple controllers; multiple controllers, distributed remote IO modules, and the fourth inverter in the last inverter group in the cascade are all connected to the redundant dual-power switch, and the distributed remote IO module is also connected to the first inverter in the first inverter group in the cascaded inverter groups.

2. The intelligent control system according to claim 1, characterized in that: The system also includes multiple limit sensors, which include redundant multiple hard limit switches and multiple photoelectric limit switches; the redundant multiple hard limit switches are located at both ends of the migration track between the heavy vehicle railway line and the light vehicle railway line; and the multiple photoelectric limit switches are located on the empty vehicle railway line and the heavy vehicle railway line.

3. The intelligent control system according to claim 1, characterized in that: The system also includes a heavy vehicle hydraulic control device, a light vehicle hydraulic control device, and multiple electromagnetic switches; the heavy vehicle hydraulic control device and the light vehicle hydraulic control device are both connected to multiple controllers; the heavy vehicle hydraulic control device and the light vehicle hydraulic control device respectively control the movement of the heavy vehicle pusher and the empty vehicle pusher in the direction perpendicular to the ground under the control of the controller; multiple electromagnetic switches are located on the openable and closable push plates of the heavy vehicle pusher and the empty vehicle pusher, multiple electromagnetic switches are connected to the controller, and multiple electromagnetic switches are used to control the opening and closing of the openable and closable push plates.

4. The intelligent control system according to claim 1, characterized in that: The encoder adopts PEPPERL+FOCHSTVI40N-09TK0T6TN-01024.

5. The intelligent control system according to claim 1, characterized in that: The normally open auxiliary contacts of the redundant AC contactor are connected to the redundant dual-power switch through the IO interface of the distributed remote IO module, and then connected to multiple controllers through the redundant dual-power switch; the controller is connected to multiple redundant AC contactor control coils through the redundant dual-power switch and the IO interface of the distributed remote IO module.

6. The intelligent control system according to claim 5, characterized in that: An arc extinguishing device is connected between the moving and static contacts of the main contacts of the redundant AC contactor.

7. The intelligent control system according to claim 1, characterized in that: The control system further comprises a reducer and a coupling, wherein the reducer is connected to the output shaft of the hollow cow drive motor via the coupling.

8. The intelligent control system according to claim 1, characterized in that: The control system also includes a power supply, which includes a first UPS power supply branch, a second UPS power supply branch, and a UPS power supply system bypass connected in parallel; the input ends of the first UPS power supply branch, the second UPS power supply branch, and the UPS power supply system bypass are all connected to a three-phase four-wire 380V power supply or a three-phase four-wire 380V AC diesel generator set, and the output end supplies power to the multiple inverter groups. At the same time, the output end supplies power to multiple redundant controllers, distributed remote IO modules, redundant dual-power switches, encoders, multiple limit sensors, and video monitoring devices after DC / DC conversion.

9. The intelligent control system according to claim 8, characterized in that: The power supply also includes an air circuit breaker and a power switch assembly; the air circuit breaker and the power switch assembly are connected in sequence between the power supply output end and the inverter; the A, B, and C phase lines output by the power switch assembly are connected to the first to fourth inverters of each group.

10. The intelligent control system according to claim 9, characterized in that: The A, B, and C phase power supply input terminals of each AC contactor are respectively connected to the corresponding A, B, and C phase output terminals of each inverter, and the two redundant AC contactors are interlocked; the control input terminal of each inverter is connected to the controller through a network cable and a hard line.

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