On-site mixed emulsion explosive truck control system based on PID (Proportion Integration Differentiation) operation

Abstract

The utility model provides an on-site mixed emulsion explosive truck control system based on PID (Proportion Integration Differentiation) operation, and belongs to the field of explosive truck control. The problems that an existing on-site mixed loading emulsification vehicle control system is low in control precision and slow in response time for an emulsion matrix, a sensitizer and a catalyst are solved. Comprising a PLC, an analog quantity input module, an analog quantity output module, a matrix pump rotating speed sensor, a sensitizer flow meter and a catalyst flow meter, and signals of the sensitizer flow meter and the catalyst flow meter are input into the analog quantity input module and then calculated through the PLC. A control signal is output through the analog quantity output module, and then the corresponding material conveying pumps are controlled through the three electro-hydraulic proportional control systems. By calling a PID (Proportion Integration Differentiation) control module in a PLC (Programmable Logic Controller), accurate control on an emulsion matrix, a sensitizer and a catalyst is realized; the device is applied to accurate control of material conveying of the on-site mixed loading explosive truck.

Description

TECHNICAL FIELD

[0001] The utility model provides a field mixed emulsion explosive truck control system based on PID operation belongs to explosive truck control technical field. BACKGROUND

[0002] The field mixed emulsion explosive truck is the civil explosive equipment of mixing and loading emulsion explosive. According to the different preparation processes, it is divided into two types of on-truck preparation and ground preparation. The utility model takes the ground preparation field mixed emulsion explosive truck (BCR (D) H-15 type) as the object, and the following is referred to as emulsion truck. The main raw materials loaded by the emulsion truck are emulsion base, sensitizer and catalyst (sensitization accelerator). During field operation, the three raw materials are mixed on the emulsion truck according to a certain proportion, then transported to the blast hole through the medicine delivery hose, and become emulsion explosive after foaming for 5 to 10 minutes. The density of emulsion explosive is an important factor affecting the quality of explosive. Under certain external environment, the ratio of sensitizer and catalyst to emulsion base determines the final density of explosive. Therefore, accurately controlling the ratio and efficiency of emulsion base, sensitizer and catalyst is particularly important for controlling the quality of emulsion explosive.

[0003] The previous control system has two ways to control emulsion base, sensitizer and catalyst. One is on-off control, the control system outputs on-off electric control signal to open or close the hydraulic electromagnetic valve, and then adjusts the hydraulic flow control valve manually to control the rotation speed of the hydraulic motor, so as to control the efficiency and ratio. The other way is to manually adjust the amplifier output signal through the potentiometer to control the opening degree of the electro-hydraulic proportional valve, control the rotation speed of the hydraulic motor through the proportional valve, and drive the delivery pump through the motor, so as to control the efficiency and ratio. The disadvantages of the above two ways are inconvenient operation, low control precision and great influence of external factors (hydraulic temperature, environmental temperature) etc. With the improvement of the control precision and system response time requirements of the field mixed emulsion explosive density in blasting engineering, the existing control system cannot meet the requirements. UTILITY MODEL CONTENTS

[0004] In order to solve the problems of low input control precision and slow system response time of the control system on the existing emulsion truck for emulsion base, sensitizer and catalyst, the utility model provides a field mixed emulsion explosive truck control system based on PID operation, the purpose is to improve the control system on the existing emulsion truck and its matching hardware equipment, combine PID operation, realize high-precision input of emulsion base, sensitizer and catalyst, and realize the accuracy of quantitative ratio of the three.

[0005] The technical solution adopted in this utility model is as follows: a field mixing emulsion explosive vehicle control system based on PID calculation, including a PLC, an analog input module, an analog output module, an electro-hydraulic proportional control system corresponding to each of the matrix pump, sensitizer pump and catalyst pump, a speed sensor for calculating the emulsion matrix conveying efficiency, a sensitizer flow meter installed on the sensitizer conveying pipeline and a catalyst flow meter installed on the catalyst conveying pipeline, wherein the electro-hydraulic proportional control system includes an electro-hydraulic proportional amplifier, an electro-hydraulic proportional valve and a hydraulic motor;

[0006] The speed sensor is connected to the input terminal of the PLC pulse signal via a wire. The sensitizer flow meter and the catalyst flow meter are respectively connected to the signal input terminal of the analog input module via wires. The signal of the analog input module is connected to the PLC via a bus. The analog control signal of the PLC is connected to the analog output module via a bus. The signal output terminal of the analog output module is connected to the corresponding electro-hydraulic proportional valve through the electro-hydraulic proportional amplifier of the matrix pump, sensitizer pump, and catalyst pump, respectively. The electro-hydraulic proportional valve of the matrix pump, sensitizer pump, and catalyst pump is connected to the hydraulic motor of the matrix pump, sensitizer pump, and catalyst pump, respectively.

[0007] The PLC is connected to a touch screen via an RS422 interface and an extended RS232 interface. It controls the input of the emulsion matrix, sensitizer, and catalyst by executing the PLC's internal PID control program. Each of the emulsion matrix, sensitizer, and catalyst uses a separate PID closed-loop control.

[0008] Furthermore, touch screens were installed in the cab and rear of the vehicle used for mixing emulsion explosives on site.

[0009] Furthermore, the touch screen is equipped with a PID parameter adjustment interface, which includes controls for setting target values, sampling time, filter constant, proportional gain, integral time, derivative gain, derivative time, upper output limit, and lower output limit parameters in the PID control program for pumping the emulsion matrix, sensitizer, and catalyst.

[0010] Furthermore, the analog input module is also connected to a hydraulic temperature sensor for detecting the internal temperature of the hydraulic oil tank, a flow meter installed in the delivery pipeline of the water ring lubrication device for detecting the water ring flow rate, a liquid level sensor for detecting the material in the matrix tank, a temperature sensor for detecting the matrix temperature, a pressure sensor for measuring the pressure of the matrix pump, and a control terminal for the radiator.

[0011] Furthermore, the PLC is an FX3U-32MR / DS type programmable controller, the analog input module is an FX3U-4AD type analog input module, and the analog output module is an FX3U-4DA type analog output module.

[0012] Further, the sensitizing agent flow meter and the catalyst flow meter are both electric remote mass flow meters.

[0013] Further, three closed-loop switching switches are arranged on the touch screen, and are used for respectively controlling opening or closing of PID closed-loop functions of the emulsion base, the sensitizing agent and the catalyst.

[0014] Further, the PID operation of the control system can also be used for a field mixed loading ammonium nitrate fuel oil explosive vehicle, a field mixed loading heavy ammonium nitrate fuel oil explosive vehicle or an underground field mixed loading emulsion explosive vehicle, and when the control system is used for the field mixed loading ammonium nitrate fuel oil explosive vehicle, the field mixed loading heavy ammonium nitrate fuel oil explosive vehicle or the underground field mixed loading emulsion explosive vehicle, the PID closed loop is used for separately controlling the conveying efficiency of different materials.

[0015] The utility model has the beneficial effects that relative to the prior art: the utility model discloses through PLC and PID control, can realize the accurate control of emulsion base, catalyst, sensitizing agent three material efficiency and proportion. BRIEF DESCRIPTION OF DRAWINGS

[0016] The utility model will be further described below in combination with the drawings:

[0017] Figure 1 It is system block diagram of the utility model;

[0018] Figure 2 It is circuit schematic diagram of PID control part of the utility model. PREFERRED EMBODIMENT

[0019] As shown in Figure 1 and 2 The utility model discloses a field mixed loading emulsion explosive vehicle control system based on PID operation provides a kind of, using three Mitsubishi FX3U-32MR / DS type programmable controller (PLC), equipped with FX3U-4AD, FX3U-4DA analog quantity processing module, signal amplifier, emulsion base pump speed sensor, catalyst flow meter, sensitizing agent flow meter and industrial man-machine interface.Through PID control algorithm realizes the accurate control of emulsion base, catalyst, sensitizing agent three material efficiency and proportion.

[0020] The PID control part of the embodiment mainly comprises a PLC, an FX3U-4AD analog quantity input module, an FX3U-4DA analog quantity output module, a matrix pump rotating speed sensor, a sensitizer flowmeter, a catalyst flowmeter, a matrix electro-hydraulic proportional amplifier, a sensitizer electro-hydraulic proportional amplifier, a catalyst electro-hydraulic proportional amplifier, a matrix electro-hydraulic proportional valve, a sensitizer electro-hydraulic proportional valve, a catalyst electro-hydraulic proportional valve, a cab touch screen and a tail touch screen. The signal end of the FX3U-4AD analog quantity module is connected to the PLC bus. The signal input end of the FX3U-4AD analog quantity input module is connected to the sensitizer flowmeter and the catalyst flowmeter. The signal end of the FX3U-4AD analog quantity input module is connected to the signal end of the FX3U-4DA analog quantity output module. The signal output end of the FX3U-4DA analog quantity output module is connected to the matrix electro-hydraulic proportional amplifier, the sensitizer electro-hydraulic proportional amplifier and the catalyst electro-hydraulic proportional amplifier. The matrix electro-hydraulic proportional amplifier is connected to the matrix electro-hydraulic proportional valve. The matrix electro-hydraulic proportional valve is connected to a matrix pump motor. The matrix pump motor controls the operation of the matrix pump. The sensitizer electro-hydraulic proportional amplifier is connected to the sensitizer electro-hydraulic proportional valve. The sensitizer electro-hydraulic proportional valve is connected to a sensitizer pump motor. The sensitizer pump motor controls the operation of the sensitizer pump. The catalyst electro-hydraulic proportional amplifier is connected to the catalyst electro-hydraulic proportional valve. The catalyst electro-hydraulic proportional valve is connected to a catalyst pump motor. The catalyst pump motor controls the operation of the catalyst pump. The PLC is connected to the touch screens arranged in the cab and the tail of the vehicle respectively. The control mode, target value, proportion, integral, differential and other parameters of the emulsion matrix, sensitizer and catalyst can be modified on the touch screens. The limiting values of the sensors can be modified. The data of the sensors can be displayed.

[0021] In order to control the whole vehicle, a hydraulic temperature sensor for detecting the internal temperature of a hydraulic oil tank, a flowmeter arranged in a delivery pipeline of a water ring lubricating device for detecting the flow of the water ring, a liquid level sensor arranged in a matrix tank for detecting the material in the matrix tank and a temperature sensor arranged on a matrix pump for detecting the operating temperature of the matrix pump are connected to the PLC. The PLC controls the start and stop of the radiator according to the hydraulic oil temperature. An alarm is connected to the PLC for alarm processing of abnormal signals.

[0022] The control system of the embodiment adopts the cab control and the tail control interface. The production operation can be operated in the tail of the vehicle or in the cab.

[0023] The rotating speed of the emulsion matrix is calculated by a rotating speed sensor (10 pulse signals per revolution) arranged at the coupling of the emulsion matrix pump. The emulsion matrix delivery efficiency is calculated by the matrix calibration value (the mass of the emulsion matrix output by the matrix pump per pulse signal).

[0024] The flow efficiency of the sensitizer is collected by an electric remote mass flow meter installed in the sensitizer conveying pipeline. The flow meter transmits the flow signal to the FX3U-4AD analog input module of the control system through a 4-20 mA signal. The flow signal conversion is completed through the PLC logical operation instruction.

[0025] The flow efficiency of the catalyst is collected by an electric remote mass flow meter installed in the catalyst conveying pipeline. The flow meter transmits the flow signal to the FX3U-4AD analog input module of the control system through a 4-20 mA signal. The flow signal conversion is completed through the PLC logical operation instruction.

[0026] The matrix pump control is realized by transmitting a 0-10V electric control signal to the matrix proportional valve amplifier through the FX3U-4DA analog output module, controlling the matrix electro-hydraulic proportional valve through the matrix proportional valve amplifier, and then controlling the matrix pump motor driven by the motor.

[0027] The sensitizer control is realized by transmitting a 0-10V electric control signal to the sensitizer proportional valve amplifier through the FX3U-4DA analog output module, controlling the sensitizer electro-hydraulic proportional valve through the sensitizer proportional valve amplifier, and then controlling the sensitizer motor driven by the motor.

[0028] The catalyst control is realized by transmitting a 0-10V electric control signal to the catalyst proportional valve amplifier through the FX3U-4DA analog output module, controlling the catalyst electro-hydraulic proportional valve through the catalyst proportional valve amplifier, and then controlling the catalyst motor driven by the motor.

[0029] The PID control instruction and algorithm of the embodiment run on the Mitsubishi FX3U-32MR / DS programmable controller. In use, the PID control instruction in the FX3U-32MR / DS is directly called, the corresponding PID control parameters are manually set, and the PID parameter setting is realized with the aid of the PID curve.

[0030] In the PID control instruction, the emulsion matrix target value is the set matrix efficiency, the sampling value is the actual matrix conveying efficiency, the output value is a 0-4000 value corresponding to a 0-10V electric signal of channel 1 of the FX3U-4DA analog output module. The sensitizer target value is the set sensitizer flow efficiency, the sampling value is the flow signal feedback by the sensitizer flow meter, the output value is a 0-4000 value corresponding to a 0-10V electric signal of channel 2 of the FX3U-4DA analog output module. The catalyst target value is the set catalyst flow efficiency, the sampling value is the flow feedback by the catalyst flow meter, and the output value is a 0-4000 value corresponding to a 0-10V electric signal of channel 3 of the FX3U-4DA analog output module.

[0031] The embodiment adopts closed loop control delay, and through the mode, the initial stable value can be maintained in each starting process in the multiple starting processes.

[0032] The embodiment separately sets PID logic operation instruction and closed loop switch for emulsified matrix, sensitizer and catalyst respectively.

[0033] The embodiment also sets PID parameter adjustment interface on the touch screen of the cab control and the tail of the vehicle respectively, and realizes the separate adjustment of the set target value, sampling time, filter constant, proportional gain, integral time, differential gain, differential time, output upper limit and output lower limit control parameters in the PID program of the emulsified matrix, sensitizer and catalyst.

[0034] The embodiment also sets the section for displaying the PID curve on the touch screen of the cab control and the tail of the vehicle respectively, and the system feedback curve of the emulsified matrix, sensitizer and catalyst is displayed in the curve.

[0035] The control system of the embodiment can also be applied to the on-site mixed ammonium oil explosive vehicle, the on-site mixed heavy ammonium oil explosive vehicle and the underground on-site mixed emulsified explosive vehicle.

[0036] It should be noted that the connection relationship between the components and modules of the utility model is determined and can be realized, and the specific connection relationship can bring corresponding technical effects, and based on the premise of not relying on the corresponding software program execution, the technical problems proposed in the utility model are solved, the model, the connection mode between the components and modules, the conventional use method and the expected technical effects brought by the above technical features, except for the specific description, all belong to the public content in the patent, journal paper, technical manual, technical dictionary, textbook, etc. that can be obtained by the technical personnel in the field before the application date, or belong to the existing technology such as conventional technology and common knowledge, and do not need to be described in detail, so that the technical scheme provided in the case is clear, complete and can be realized, and the corresponding entity product can be reproduced or obtained according to the technical means.

[0037] Finally, it should be noted that: the above embodiments are used to illustrate the technical solutions of the present application, but not limited to them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A control system for a field mixed emulsion explosive truck based on PID operation, characterized in that: The control system comprises PLC, analog input module, analog output module, base material pump, sensitizing agent pump, and catalyst pump, each corresponding electro-hydraulic proportional control system, rotation speed sensor for calculating emulsion base material delivery efficiency, sensitizing agent flow meter installed on sensitizing agent delivery pipeline, and catalyst flow meter installed on catalyst delivery pipeline, wherein the electro-hydraulic proportional control system comprises electro-hydraulic proportional amplifier, electro-hydraulic proportional valve, and hydraulic motor. The rotation speed sensor is connected to the input end of PLC pulse signal through wires, the sensitizing agent flow meter and the catalyst flow meter are connected to the signal input end of the analog input module through wires respectively, the signal of the analog input module is connected to the PLC through bus, the analog control signal of the PLC is connected to the analog output module through bus, the signal output end of the analog output module is connected to the corresponding electro-hydraulic proportional valve through the electro-hydraulic proportional amplifier of the base material pump, the sensitizing agent pump, and the catalyst pump respectively, and the electro-hydraulic proportional valve of the base material pump, the sensitizing agent pump, and the catalyst pump is connected to the hydraulic motor of the base material pump, the sensitizing agent pump, and the catalyst pump respectively. The PLC is connected to the touch screen through RS422 interface and extended RS232 interface, the input control of the emulsion base material, the sensitizing agent, and the catalyst is realized by executing the PID control program in the PLC, and the emulsion base material, the sensitizing agent, and the catalyst are separately controlled by single PID closed loop.

2. The control system of the field mixed emulsified explosive vehicle based on PID operation according to claim 1, characterized in that: Touch screens are arranged in the driver's cabin and the tail of the on-site mixed emulsion explosive vehicle.

3. The control system of the field mixed emulsion explosive vehicle based on PID operation according to claim 2, characterized in that: The touch screen is provided with a PID parameter adjustment interface, and the PID parameter adjustment interface is provided with controls for realizing the set target value, sampling time, filtering constant, proportional gain, integral time, differential gain, differential time, output upper limit, and output lower limit parameters in the PID control program for pumping the emulsion base material, the sensitizing agent, and the catalyst.

4. The control system of the field mixed emulsion explosive vehicle based on PID operation according to any one of claims 1-3, characterized in that: The analog input module is further connected with a hydraulic temperature sensor for detecting the internal temperature of the hydraulic oil tank, a flow meter arranged in the delivery pipeline of the water ring lubricating device for detecting the water ring flow, a liquid level sensor for detecting the material in the base material tank, a temperature sensor for detecting the base material temperature, a pressure sensor for measuring the pressure of the base material pump, and the control end of the radiator.

5. The control system of the field mixed emulsion explosive vehicle based on PID operation according to claim 4, characterized in that: The PLC adopts FX3U-32MR / DS type programmable controller, the analog input module adopts FX3U-4AD type analog input module, and the analog output module adopts FX3U-4DA type analog output module.

6. The control system of the field mixed emulsified explosive vehicle based on PID operation according to claim 4, characterized in that: Both the sensitizing agent flow meter and the catalyst flow meter adopt electric remote mass flow meter.

7. The control system of the field mixed emulsified explosive vehicle based on PID operation according to claim 3, characterized in that: The touch screen is further provided with three closed loop switching switches for respectively controlling the opening or closing of the PID closed loop function of the emulsion base material, the sensitizing agent, and the catalyst.

8. The control system of the field mixed emulsion explosive vehicle based on PID operation according to any one of claims 5-7, characterized in that: The PID operation of the control system can also be used for on-site mixed ammonium nitrate fuel oil explosive vehicle, on-site mixed heavy ammonium nitrate fuel oil explosive vehicle, or underground on-site mixed emulsion explosive vehicle, and the control system is used for separately controlling the delivery efficiency of different materials by PID closed loop when used for on-site mixed ammonium nitrate fuel oil explosive vehicle, on-site mixed heavy ammonium nitrate fuel oil explosive vehicle, or underground on-site mixed emulsion explosive vehicle.

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