Walking control system of coke pusher and coke pushing and coal leveling system

Abstract

The utility model provides a walking control system of a coke pusher and a coke pushing and coal leveling system. The walking control system comprises a motion controller, a coke pushing device and a coal leveling device, the first walking driving device is used for driving a first driving wheel set walking on the first walking track; the second walking driving device is used for driving a second driving wheel set walking on the second walking track; a first displacement detection device and a second displacement detection device; the motion controller controls the first walking driving device and the second walking driving device to move synchronously; the motion controller comprises a position compensation module, and the position compensation module receives output values of the first displacement detection device and the second displacement detection device and outputs position compensation values to the first walking driver. Wherein the position compensation value is used for compensating a given position value of the first walking driver.

Description

Technical Field

[0001] This application relates to the field of metallurgical steelmaking technology, and in particular to a coke pusher travel control system and a coke pushing and coal leveling system. Background Technology

[0002] A coke pusher is a mechanical device used in top-loading coke ovens for pushing coke and leveling coal. It includes a traveling mechanism and a pushing device. The traveling mechanism drives the pusher along a pre-set track, while the pushing device controls the movement of the pushing rod perpendicular to the track. When pushing coke is required, the traveling mechanism first precisely moves the pusher to a position where the pushing rod is directly opposite the target oven opening. After alignment, the pushing device begins operation, driving the pushing rod into the pushing chamber to complete the pushing process. However, in existing technology, the operation of the coke pusher relies entirely on manual control. Operators must rely on visual inspection and experience to determine if the pushing car is in position and aligned. This control method often results in the pushing rod not aligning with the target oven number, necessitating constant adjustments to the pusher's position. This process leads to frequent starts and operations of the controller, frequency converter, and hydraulic brake. Summary of the Invention

[0003] In view of this, this application provides a coke pusher travel control system and a coke pushing and coal leveling system, which can automatically control the coke pusher to travel to the target position.

[0004] In a first aspect, this application provides a walking control system for a coke pusher, comprising:

[0005] Motion controller;

[0006] A first walking drive device includes a first walking driver and a first walking drive motor. The first walking driver is connected to the motion controller. The first walking drive device is used to drive a first active wheel set that walks on a first walking track.

[0007] The second travel drive device includes a second travel driver and a second travel drive motor. The second travel driver is connected to the motion controller. The second travel drive device is used to drive a second set of active wheels that travel on a second travel track.

[0008] A first displacement detection device and a second displacement detection device are installed on the coke pusher and are respectively connected to the motion controller. The first displacement detection device is used to detect the actual position value or displacement value of the first travel drive motor in real time, and the second displacement detection device is used to detect the actual position value or displacement value of the second travel drive motor in real time.

[0009] The motion controller controls the first walking drive device and the second walking drive device to move synchronously; the motion controller includes a position compensation module, which receives the output values ​​of the first displacement detection device and the second displacement detection device, and outputs the position compensation value to the first walking drive device, wherein the position compensation value is used to compensate for a given position value of the first walking drive device.

[0010] Optionally, the first displacement detection device is a first laser rangefinder, and the second displacement detection device is a second laser rangefinder. The first laser rangefinder is installed close to the first drive wheel assembly in a second direction, and the second laser rangefinder is installed close to the second drive wheel assembly in the second direction, which is perpendicular to the walking direction. The first laser rangefinder outputs a first position value to the motion controller, and the second laser rangefinder outputs a second position value to the motion controller. The first walking driver and the second walking driver are configured in absolute position control mode.

[0011] Optionally, the walking control system further includes a switch, and the motion controller, the first walking driver, the second walking driver, the first laser rangefinder, and the second laser rangefinder are respectively connected to the switch.

[0012] Optionally, the motion controller includes a virtual spindle for movement, wherein a first movement axis and a second movement axis are respectively configured to synchronize with gears of the virtual spindle for movement; and,

[0013] The position compensation module outputs a position compensation value to the first traveling axis when the absolute value of the difference between the first position value and the second position value is less than a preset threshold; and / or,

[0014] When the absolute value of the difference between the first position value and the second position value is greater than or equal to a preset threshold, the position compensation module sends a stop signal to the walking virtual spindle.

[0015] Optionally, the position compensation value is the product of the PID calculation value of the difference between the first position value and the second position value and the position compensation coefficient β1.

[0016] Optionally, the first travel drive motor is equipped with a first encoder, and the second travel drive motor is equipped with a second encoder; and,

[0017] The first encoder is connected to the first travel driver, and the second encoder is connected to the second travel driver; or,

[0018] The first encoder and the second encoder are respectively connected to the switch.

[0019] Optionally, the first encoder and the second encoder are incremental encoders.

[0020] Optionally, when the first encoder is connected to the first travel driver and the second encoder is connected to the second travel driver, the first travel driver is connected to the second travel driver; and,

[0021] The first walking driver is equipped with a speed compensation module. The speed compensation module receives a first speed value output by the first encoder and a second speed value output by the second encoder, and outputs the speed compensation value to the speed loop of the first walking driver.

[0022] Optionally, the speed compensation value is the product of the PID calculated value of the difference between the first speed value and the second speed value and the speed compensation coefficient β2.

[0023] Secondly, this application provides a coking coal pushing and leveling system, comprising:

[0024] The first coke pusher includes a walking control system as described in any of items 2-9 of Embodiment 1;

[0025] The second coke pusher includes a travel control system as described in any one of items 2-9 of the embodiments; and

[0026] The first focus pusher has two laser rangefinders for matching with the first reflector, and the second focus pusher has two laser rangefinders for matching with the second reflector. The first reflector is disposed at the first end of the travel track along the first direction, and the second reflector is disposed at the second end of the travel track along the first direction. The first direction is parallel to the travel direction.

[0027] As can be seen from the above technical solution, the coke pusher's walking control system of this application, upon receiving the coke pushing or coal leveling signal from the host computer, can automatically determine and move to the target walking position based on the target furnace number. During the walking process, based on the real-time feedback from the displacement detection device and the position compensation mechanism of the motion controller, the position of the coke pusher can be corrected in real time, thereby ensuring the accuracy of the coke pusher's walking position and the stability of its movement, thus ensuring the smooth execution of coke discharging or coal leveling operations. The coke pushing and coal leveling system of this application allows two coke pushers to work simultaneously, realizing rapid and accurate coke pushing operations on hundreds of furnace holes, significantly improving operational efficiency. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of a coke pusher's walking control system according to an exemplary embodiment of this application.

[0029] Figure 2 This is a schematic diagram of a coke pusher's walking control system according to an exemplary embodiment of this application.

[0030] Figure 3 This is a system architecture diagram of a coke pusher based on an exemplary embodiment of this application.

[0031] Figure 4 This is a schematic diagram of a coke pusher according to an exemplary embodiment of this application.

[0032] Figure 5 This is a schematic diagram of a coking coal leveling system based on an exemplary embodiment of this application.

[0033] List of reference numerals in the attached diagram:

[0034] 10: Motion controller;

[0035] 21: First walking drive;

[0036] 22: First walking drive motor;

[0037] 221: First encoder;

[0038] 23: First displacement detection device;

[0039] 31: Second travel drive;

[0040] 32: Second travel drive motor;

[0041] 321: Second encoder;

[0042] 33: Second displacement detection device;

[0043] 40: Switch;

[0044] 50: Coke pusher;

[0045] 51: Focus pusher;

[0046] 61: Furnace hole;

[0047] 62: First travel track;

[0048] 63: Second travel track;

[0049] 64: Limit switch;

[0050] 65: Reflector;

[0051] 71: The first coke pusher;

[0052] 72: Second coke pusher;

[0053] 73: First reflector;

[0054] 74: Second reflector;

[0055] 801: Coking / Coal Discharge Signal (including target furnace number);

[0056] 802: Target location given;

[0057] 803: Target velocity given;

[0058] 804: Virtual walking axis;

[0059] 805: Electronic gear synchronization;

[0060] 806: The absolute value of the difference between the first position value and the second position value is greater than or equal to the preset position threshold;

[0061] 807: Real-time position difference PID calculation;

[0062] 808: Position compensation value;

[0063] 809: Stop signal;

[0064] 810: Real-time position difference PID calculation;

[0065] 811: Speed ​​compensation value; Detailed Implementation

[0066] To enable those skilled in the art to better understand the technical solutions in the embodiments of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art should fall within the protection scope of the embodiments of this application.

[0067] In this document, “illustrative” means “serving as an example, illustration or description”, and any illustration or implementation described herein as “illustrative” should not be construed as a more preferred or advantageous technical solution.

[0068] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Where there is no conflict between the embodiments, the following embodiments and features can be combined with each other. The steps in the following method embodiments are for illustrative purposes only and are not intended to limit this application.

[0069] To provide a clearer understanding of the technical features, objectives, and effects of the invention, specific embodiments of this application are now described with reference to the accompanying drawings. In the drawings, the same reference numerals indicate components with the same or similar structures but the same function.

[0070] To keep the drawings simple, each drawing only schematically shows the parts relevant to this application, and they do not represent the actual structure of the product.

[0071] A coke pusher is a mechanical device used in top-loading coke ovens for pushing coke and leveling coal. It includes a traveling mechanism and a pushing device. The traveling mechanism drives the pusher along a pre-set track, while the pushing device controls the movement of the pushing rod 51 perpendicular to the track. When pushing coke is required, the traveling mechanism first precisely moves the pusher to a position where the pushing rod 51 is aligned with the target oven opening. After alignment, the pushing device begins operation, driving the pushing rod 51 into the pushing chamber to complete the pushing process. However, in existing technology, the operation of the coke pusher relies entirely on manual control. Operators must rely on visual inspection and experience to determine if the pushing car is in position and aligned. This control method often results in the pushing rod not aligning with the target oven number, necessitating constant adjustments to the pusher's position. This process leads to frequent starts and operations of the controller, frequency converter, and hydraulic brake. This not only significantly reduces the operating efficiency of the pusher but also shortens the lifespan of related equipment.

[0072] In view of the various problems in the prior art, the embodiments of this application provide a coking machine walking control system and a coking and coal leveling system.

[0073] The following detailed description, with reference to the accompanying drawings, describes the walking control system and the coking and coal leveling system of the coke pusher provided in the various embodiments of this application.

[0074] Example 1

[0075] The coke pusher's walking control system of this application includes a motion controller 10, a first walking drive device, a second walking drive device, a first displacement detection device 23, and a second displacement detection device 33. The first walking drive device drives a first drive wheel assembly that travels on a first walking track 62, and the second walking drive device drives a second drive wheel assembly that travels on a second walking track 63. The first walking drive device includes a first walking driver 21 and a first walking drive motor 22, and the second walking drive device includes a second walking driver 31 and a second walking drive motor 32. The first walking driver 21, the second walking driver 31, the first displacement detection device 23, and the second displacement detection device 33 are respectively connected to the motion controller 10, such as... Figure 1 As shown.

[0076] The motion controller 10 controls the first and second walking drive devices to move synchronously. The motion controller 10 includes a position compensation module. A first displacement detection device 23 is used to detect the actual position or displacement value of the first walking drive motor 22 in real time, and a second displacement detection device 33 is used to detect the actual position or displacement value of the second walking drive motor 32 in real time and send it to the position compensation module. The position compensation module outputs a position compensation value to the first walking driver 21, wherein the position compensation value is used to compensate for a given position value of the first walking driver 21 so that the positions of the first walking driver 21 and the second walking driver 31 are synchronized.

[0077] As mentioned earlier, the coke pusher car requires high positioning accuracy. If the positioning is inaccurate, the pusher rod 51 will not be able to accurately align with the outlet of the carbonization chamber, resulting in poor coke ejection or damage to the carbonization chamber. Furthermore, the coke pusher car is relatively heavy, thus exhibiting significant inertia during operation, making positional accuracy control difficult. The coke pusher car's track is laid in the open-air area of ​​the coking plant, making it susceptible to the effects of wind, rain, sun, frost, and other natural factors. Obstacles such as debris and water may also exist on the track, further increasing the difficulty of controlling the coke pusher car's positioning accuracy.

[0078] In this embodiment, after receiving the target furnace number for coking or coal leveling, the motion controller 10 determines the position value corresponding to the target furnace number. This position value is the target position that the coke pusher needs to move to. The motion controller 10 sends this target position value to the first travel drive 21 and the second travel drive 31, thereby controlling the first and second travel drive devices to move synchronously to the target position. During the movement of the coke pusher, the actual position value or actual displacement value of each travel drive motor can be obtained in real time through two displacement detection devices installed on the coke pusher. Based on the difference between these two values, a position correction value is obtained, thereby correcting the given position value of the first travel drive 21 in real time. This ensures that the travel positions of the travel wheels on both sides of the coke pusher remain consistent, thereby reducing the impact of the operating environment (such as uneven ground, load changes, etc.) on the position control accuracy and improving the position control accuracy and travel stability of the travel wheels on both sides.

[0079] In this embodiment, when the motion controller 10 receives the coke pushing or coal leveling signal output by the host computer, it can automatically determine and move to the target walking position according to the target furnace number. During the walking process, the position of the coke pushing car can be corrected in real time based on the real-time feedback of the displacement detection device and the position compensation mechanism of the motion controller 10, thereby ensuring the accuracy of the coke pushing car's walking position and the stability of its walking, and thus ensuring the smooth execution of coke discharging or coal leveling operations.

[0080] In some embodiments, the first displacement detection device 23 is a first laser rangefinder, and the second displacement detection device 33 is a second laser rangefinder. The first laser rangefinder is mounted close to the first drive wheel assembly in a second direction, and the second laser rangefinder is mounted close to the second drive wheel assembly in the second direction, which is perpendicular to the walking direction. The laser rangefinder's mounting position close to its corresponding drive wheel assembly in the second direction allows for real-time feedback of the actual absolute position value of the walking drive motor. Figure 4 As shown. The first laser rangefinder outputs a first position value to the motion controller 10, and the second laser rangefinder outputs a second position value to the motion controller 10; and the first walking driver 21 and the second walking driver 31 are configured in absolute position control mode.

[0081] In this embodiment, the laser rangefinder cooperates with the reflector 65 located at the beginning or end of the walking track to provide real-time feedback on the actual absolute position values ​​of the two walking drive motors; and the first walking driver 21 and the second walking driver (31) are configured in absolute position control mode to achieve precise positioning of the walking position and ensure that the coking machine accurately reaches the preset walking position.

[0082] In one embodiment, the walking control system further includes a switch 40, wherein the motion controller 10, the first walking driver 21, the second walking driver 31, the first laser rangefinder, and the second laser rangefinder are respectively connected to the switch 40, such as... Figure 2 As shown.

[0083] In a walking control system, devices such as the motion controller 10, the walking driver, and the laser rangefinder need to frequently exchange data to achieve precise control of the walking position. Using a switch 40 allows multiple devices to be connected to the same network, ensuring efficient and accurate data transmission between devices, thereby improving the overall system's response speed and stability.

[0084] In some embodiments, the motion controller 10 includes a virtual main axis for movement, and a first movement axis and a second movement axis are respectively configured to synchronize with the gears of the virtual main axis for movement; and the position compensation module outputs a position compensation value to the first movement axis when the absolute value of the difference between the first position value and the second position value is less than a preset threshold, such as... Figure 3 As shown.

[0085] The two walking drive devices synchronize their positions with the virtual spindle via electronic gears. After the motion controller 10 receives the target furnace hole number that needs to be discharged coke or leveled coal, since the position value of each furnace hole has been preset and calibrated in the virtual spindle, the virtual spindle will compare the current position of the coke pusher car with the position of the target furnace hole and automatically determine whether to move left or right using the shortest path algorithm. At the same time, it will automatically accelerate, maintain a constant speed and decelerate according to the path length to achieve precise positioning without any manual intervention.

[0086] In some implementations, the position compensation module sends a stop signal to the walking virtual spindle when the absolute value of the difference between the first position value and the second position value is greater than or equal to a preset threshold. Figure 3 As shown.

[0087] In some implementations, the position compensation module outputs a position compensation value to the first traveling axis when the absolute value of the difference between the first position value and the second position value is less than a preset threshold; and the position compensation module sends a stop signal to the traveling virtual spindle when the absolute value of the difference between the first position value and the second position value is greater than or equal to a preset threshold. Figure 4 As shown.

[0088] In this embodiment, after receiving the target furnace number for coking or coal leveling, the motion controller 10 outputs the target furnace number to the virtual spindle. The virtual spindle determines the target travel position based on the correspondence between the target furnace number and the travel position, and controls the first and second travel axes to move synchronously via electronic gears. During this process, the position compensation module acquires the actual positions of the first and second travel axes in real time and calculates the difference between them. This difference reflects the position synchronization error between the two travel axes. When the detected difference is less than a preset threshold, the position compensation module outputs a position compensation value to the first travel axis. This position compensation value is used to compensate for the given position value output by the virtual spindle to the first travel axis, thereby reducing or eliminating the position synchronization error between the two travel axes.

[0089] When the difference between the detected first and second position values ​​reaches or exceeds a preset threshold, it indicates a significant positional deviation between the two traveling axes. This deviation not only causes the coke pusher's structure to twist or deform but also induces additional friction and vibration during operation. These adverse factors further exacerbate equipment wear, negatively impacting the overall lifespan of the coke pusher. To prevent this situation from worsening, the position compensation module responds quickly, sending a stop signal to the traveling virtual spindle to immediately halt the coke pusher's operation and prevent further damage.

[0090] In some implementations, the position compensation value is the product of the PID calculated value of the difference between the first position value and the second position value and the position compensation coefficient β1, such as... Figure 4 As shown.

[0091] In some embodiments, the first travel drive motor 22 is equipped with a first encoder 221, and the second travel drive motor 32 is equipped with a second encoder 321. The first encoder 221 is connected to the first travel driver 21, and the second encoder 321 is connected to the second travel driver 31. Figure 2 As shown.

[0092] In another embodiment, the first encoder 221 and the second encoder 321 are respectively connected to the switch 40.

[0093] Each of the two drive motors is equipped with an encoder to participate in the speed closed-loop control, thereby enabling constant torque control across the entire speed range.

[0094] In some embodiments, the first encoder 221 and the second encoder 321 are incremental encoders.

[0095] When the first encoder 221 is connected to the first travel driver 21 and the second encoder 321 is connected to the second travel driver 31, the first travel driver 21 is connected to the second travel driver 31, as follows: Figure 2 As shown; and, the first travel driver 21 is equipped with a speed compensation module, which receives a first speed value output by the first encoder 221 and a second speed value output by the second encoder 321, and outputs a speed compensation value to the speed loop of the first travel driver 21, as shown. Figure 4 As shown.

[0096] Given the complex operating environment of the coke pusher, the first and second travel drive devices face the problem of asynchronous actual speeds. To solve this problem, this embodiment further compensates the speed of the first travel drive 21 in real time through a speed compensation module, ensuring that the speeds of the two devices remain consistent, thereby improving the overall operational stability and efficiency of the coke pusher.

[0097] In some implementations, the speed compensation value is the product of the PID calculated value of the difference between the first speed value and the second speed value and the speed compensation coefficient β2.

[0098] In some implementations, each end of the first travel track 62 and the second travel track 63 is equipped with a limit switch 64, which is used to provide limit stop protection to ensure that the coke pusher does not exceed the track range during operation.

[0099] The coke pusher's walking control system of this application has the following advantages:

[0100] 1) It achieves fully automatic positioning and combines a dual speed and position correction mechanism, eliminating the need for manual intervention throughout the process and significantly improving work efficiency.

[0101] 2) Each walking drive unit is precisely synchronized with the virtual spindle, and with the dual adjustment of speed difference PID and position difference PID, the walking mechanism is made to run more smoothly.

[0102] 3) By using encoders in speed closed-loop control and displacement detection devices in position closed-loop control, constant torque control is achieved across the entire speed range. Furthermore, the system can effectively monitor track unevenness and slippage in rainy weather, and provide timely warnings.

[0103] 4) By adopting automatic positioning and dual correction technology, the wear and noise of the coke pusher are greatly reduced, while also becoming more efficient and energy-saving.

[0104] Example 2

[0105] Example 2 provides a coking coal pushing and leveling system, which includes a first coking machine 71 and a second coking machine 72, wherein each coking machine is equipped with the travel control system described in Example 1. Figure 5 As shown, the first focus pusher 71 has two laser rangefinders for matching with the first reflector 73, and the second focus pusher 72 has two laser rangefinders for matching with the second reflector 74. The first reflector 73 is disposed at the first end of the travel track along the first direction, and the second reflector 74 is disposed at the second end of the travel track along the first direction. The first direction is parallel to the travel direction.

[0106] Given the large number of furnace holes, a single coke pusher is insufficient to meet the demands of efficient operation. Therefore, this embodiment adopts a dual-machine configuration, aiming to significantly improve the overall efficiency of coke pushing and coal leveling operations.

[0107] In this embodiment, the laser rangefinder on each focus pusher is matched with a specific reflector: the laser rangefinder of the first focus pusher 71 corresponds to the first reflector 73 located at the first end of the travel track, while the laser rangefinder of the second focus pusher 72 corresponds to the second reflector 74 located at the second end of the travel track (opposite to the first end). The reflectors are respectively located at both ends of the track. This layout not only simplifies the system structure and ensures that each focus pusher obtains accurate position information through its own reflector, but also avoids obstruction by the other focus pusher, allowing the two focus pushers to work simultaneously without interfering with each other during operation.

[0108] The coking and coal leveling system in this embodiment allows two coking machines to work simultaneously, enabling rapid and accurate coking operations on hundreds of furnace holes, significantly improving operational efficiency.

[0109] In this patent application, nouns and pronouns relating to people are not limited to specific genders.

[0110] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0111] The detailed descriptions listed above are merely specific descriptions of feasible embodiments of this application and are not intended to limit the scope of protection of this application. All equivalent implementations or modifications made without departing from the spirit of the art of this application, such as combinations, divisions or repetitions of features, should be included within the scope of protection of this application.

[0112] The present application has been shown and described in detail above with reference to the accompanying drawings and preferred embodiments. However, the present application is not limited to these disclosed embodiments. Based on the above multiple embodiments, those skilled in the art will know that more embodiments of the present application can be obtained by combining the technical features of the different embodiments described above. These embodiments are also within the protection scope of the present application.

Claims

1. A travel control system for a coke pusher, characterized in that, include: Motion controller (10); The first walking drive device includes a first walking driver (21) and a first walking drive motor (22). The first walking driver (21) is connected to the motion controller (10). The first walking drive device is used to drive a first active wheel set to walk on a first walking track (62). The second walking drive device includes a second walking driver (31) and a second walking drive motor (32). The second walking driver (31) is connected to the motion controller (10). The second walking drive device is used to drive the second active wheel set to walk on the second walking track (63). The first displacement detection device (23) and the second displacement detection device (33) are installed on the coke pusher and are respectively connected to the motion controller (10). The first displacement detection device (23) is used to detect the actual position value or displacement value of the first walking drive motor (22) in real time, and the second displacement detection device (33) is used to detect the actual position value or displacement value of the second walking drive motor (32) in real time. The motion controller (10) controls the first walking drive device and the second walking drive device to move synchronously; the motion controller (10) includes a position compensation module, which receives the output values ​​of the first displacement detection device (23) and the second displacement detection device (33) and outputs the position compensation value to the first walking driver (21), wherein the position compensation value is used to compensate for the given position value of the first walking driver (21).

2. The coke pusher's walking control system as described in claim 1, characterized in that, The first displacement detection device (23) is a first laser rangefinder, and the second displacement detection device (33) is a second laser rangefinder. The first laser rangefinder is installed close to the first drive wheel assembly in the second direction, and the second laser rangefinder is installed close to the second drive wheel assembly in the second direction. The second direction is perpendicular to the walking direction. The first laser rangefinder outputs a first position value to the motion controller (10), and the second laser rangefinder outputs a second position value to the motion controller (10). The first walking driver (21) and the second walking driver (31) are configured in absolute position control mode.

3. The coke pusher's walking control system as described in claim 2, characterized in that, The walking control system also includes a switch (40), and the motion controller (10), the first walking driver (21), the second walking driver (31), the first laser rangefinder and the second laser rangefinder are respectively connected to the switch (40).

4. The coke pusher's walking control system as described in claim 3, characterized in that, The motion controller (10) includes a virtual main axis for walking, and the first walking axis and the second walking axis are respectively configured to synchronize with the gears of the virtual main axis for walking; as well as, The position compensation module outputs a position compensation value to the first traveling axis when the absolute value of the difference between the first position value and the second position value is less than a preset threshold; and / or, When the absolute value of the difference between the first position value and the second position value is greater than or equal to a preset threshold, the position compensation module sends a stop signal to the walking virtual spindle.

5. The coke pusher's walking control system as described in claim 4, characterized in that, The position compensation value is the product of the PID calculation value of the difference between the first position value and the second position value and the position compensation coefficient β1.

6. The walking control system of the coke pusher as described in claim 3, characterized in that, The first walking drive motor (22) is equipped with a first encoder (221), and the second walking drive motor (32) is equipped with a second encoder (321); and, The first encoder (221) is connected to the first travel driver (21), and the second encoder (321) is connected to the second travel driver (31); or, The first encoder (221) and the second encoder (321) are respectively connected to the switch (40).

7. The coke pusher's walking control system as described in claim 6, characterized in that, The first encoder (221) and the second encoder (321) are incremental encoders.

8. The walking control system of the coke pusher as described in claim 6, characterized in that, When the first encoder (221) is connected to the first travel driver (21) and the second encoder (321) is connected to the second travel driver (31), the first travel driver (21) is connected to the second travel driver (31); and, The first walking driver (21) is equipped with a speed compensation module. The speed compensation module receives the first speed value output by the first encoder (221) and the second speed value output by the second encoder (321), and outputs the speed compensation value to the speed loop of the first walking driver (21).

9. The coke pusher's walking control system as described in claim 8, characterized in that, The speed compensation value is the product of the PID calculation value of the difference between the first speed value and the second speed value and the speed compensation coefficient β2.

10. A system for pushing coke and leveling coal, characterized in that, include: The first coke pusher (71) includes a walking control system as described in any one of claims 2-9; The second coke pusher (72) includes a travel control system as described in any one of claims 2-9; and, The first focus pusher (71) has two laser rangefinders for matching with the first reflector (73), and the second focus pusher (72) has two laser rangefinders for matching with the second reflector (74). The first reflector (73) is disposed at the first end of the walking track along the first direction, and the second reflector (74) is disposed at the second end of the walking track along the first direction. The first direction is parallel to the walking direction.

Images