CN106685309B - Heavy-duty horizontal loading drive control system and control method - Google Patents
Heavy-duty horizontal loading drive control system and control method Download PDFInfo
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Abstract
本发明涉及一种重载水平装填驱动控制系统及控制方法，包括电机、电机控制单元、人机交互单元，包括用于用来实现超速、过载等故障模式下的备用保护功能的备用保护控制模块；判断电机控制单元电源输入开关和输出开关是否吸合，并且检测控制单元是否属于停止状态，当状态满足后，它控制电机控制单元上电；在运行中，发生转速检测元件故障而电机控制单元无法保护时，备用保护控制模块可以使系统断电停机。本发明以电机控制单元为控制核心，通过备用保护控制模块的备用保护和人机交互单元的实时显示，确保该系统安全可靠且能够实现良好的人机交互，系统辅助设备少，操作简单，维护保养方便。
The invention relates to a heavy-load horizontal loading drive control system and control method, comprising a motor, a motor control unit, a human-computer interaction unit, and a backup protection control module for realizing backup protection functions in failure modes such as overspeed and overload ; Determine whether the power input switch and output switch of the motor control unit are closed, and detect whether the control unit is in a stopped state. When the state is satisfied, it controls the motor control unit to power on; during operation, a failure of the rotational speed detection element occurs and the motor control unit When protection is not possible, the backup protection control module can make the system power off and stop. The invention takes the motor control unit as the control core, through the backup protection of the backup protection control module and the real-time display of the human-computer interaction unit, to ensure that the system is safe and reliable, and can achieve good human-computer interaction, the system has few auxiliary equipment, and is easy to operate and maintain. Easy maintenance.
Description
技术领域technical field
本发明涉及一种火箭发射控制系统，具体的说，是涉及一种重载水平装填驱动控制系统。The invention relates to a rocket launch control system, in particular to a heavy-load horizontal loading drive control system.
背景技术Background technique
传统的重载水平装填推进机械，一般采用液压油缸推进方式来满足重载产品的大推力、大行程使用工况。但液压油缸推进方式具有效率低、易污染环境、噪音大等缺点，且难于实现长行程平稳连续推进、结构复杂、配套设备多、操作人员多、制造、维护成本高，使用时受到了一定的限制。Traditional heavy-duty horizontal loading and propulsion machinery generally adopts hydraulic cylinder propulsion to meet the working conditions of heavy-duty products with large thrust and large stroke. However, the hydraulic cylinder propulsion method has the disadvantages of low efficiency, easy environmental pollution, high noise, etc., and it is difficult to achieve smooth and continuous propulsion with a long stroke, complex structure, many supporting equipment, many operators, and high manufacturing and maintenance costs. limit.
发明内容SUMMARY OF THE INVENTION
针对上述现有技术中的不足，本发明提供一种重量轻、辅助设备少、操作简单，具有连续推进、速度平稳、控制精度高、保护措施完备的重载水平装填驱动控制系统。In view of the above-mentioned deficiencies in the prior art, the present invention provides a heavy-load horizontal loading drive control system with light weight, few auxiliary equipment, simple operation, continuous propulsion, stable speed, high control precision and complete protection measures.
本发明所采取的技术方案是：The technical scheme adopted by the present invention is:
一种重载水平装填驱动控制系统，包括电机、电机控制单元、人机交互单元，包括用于用来实现超速、过载等故障模式下的备用保护功能的备用保护控制模块；系统上电后备用保护控制模块首先开始工作，判断电机控制单元电源输入开关和输出开关是否吸合，并且检测控制单元是否属于停止状态，当状态满足后，它控制电机控制单元上电；在运行中，发生转速检测元件故障而电机控制单元无法保护时，备用保护控制模块可以使系统断电停机；若由于电机控制单元故障，当系统收到限位模块信号后无法停止时，备用保护控制模块可以使系统断电停机。A heavy-load horizontal loading drive control system includes a motor, a motor control unit, a human-computer interaction unit, and a backup protection control module for realizing backup protection functions in failure modes such as overspeed and overload; The protection control module first starts to work, judges whether the power input switch and output switch of the motor control unit are closed, and detects whether the control unit is in a stopped state. When the state is satisfied, it controls the motor control unit to power on; during operation, a speed detection occurs. When the component fails and the motor control unit cannot protect, the backup protection control module can make the system power off and stop; if the system cannot stop after receiving the signal from the limit module due to the failure of the motor control unit, the backup protection control module can make the system power off downtime.
一种重载水平装填驱动控制系统，包括如下步骤：A heavy-duty horizontal filling drive control system, comprising the following steps:
步骤101，接通三相工频交流电，三相工频交流电为电机和控制单元供电；Step 101, connect the three-phase power frequency AC power, and the three-phase power frequency AC power supplies power to the motor and the control unit;
步骤102，备用保护控制模块接通电源；Step 102, the standby protection control module is powered on;
步骤103，备用保护控制模块启动；Step 103, the backup protection control module is started;
步骤104，控制系统接通电源；Step 104, the control system is powered on;
步骤105，备用保护控制模块判断电机控制单元电源输入开关和输出开关是否吸合；电机控制单元电源输入开关和输出开关吸合执行步骤106，否则执行步骤104；Step 105, the standby protection control module judges whether the power input switch and the output switch of the motor control unit are pulled in; the power input switch and the output switch of the motor control unit are pulled in to execute step 106, otherwise, execute step 104;
步骤106，备用保护控制模块检测控制单元是否属于停止状态；检测控制单元属于停止状态执行步骤107，否则执行步骤104；Step 106, the backup protection control module detects whether the control unit is in a stopped state; if the control unit is in a stopped state, go to step 107, otherwise go to step 104;
步骤107，电机控制单元上电；Step 107, the motor control unit is powered on;
步骤108，电机运转；Step 108, the motor runs;
步骤109，备用保护控制模块判断转速检测单元是否故障；Step 109, the standby protection control module determines whether the rotational speed detection unit is faulty;
步骤110，前进或后退限位模块发出信号；Step 110, the forward or backward limit module sends a signal;
步骤111，备用保护控制模块检测控制系统是否发出停机信号，控制系统发出停机信号执行步骤000；控制系统没有发出停机信号，执行步骤112；Step 111, the standby protection control module detects whether the control system sends a shutdown signal, and the control system sends a shutdown signal to execute step 000; if the control system does not send a shutdown signal, execute step 112;
步骤112，备用模块发出停机信号；Step 112, the standby module sends a shutdown signal;
步骤113，电机停机。Step 113, the motor is stopped.
所述前进到位和后退到位信号模块分别为两个相互并联的限位模块。The forward-to-position and backward-to-position signal modules are respectively two limit modules connected in parallel with each other.
所述备用保护控制模块在限位模块信号生效后，延时检测电机控制单元是否停止，未停止则切断电机电源。The standby protection control module delays detection of whether the motor control unit stops after the signal of the limit module takes effect, and cuts off the power supply of the motor if it does not stop.
所述备用保护控制模块检测电机自带转速检测元件及外部转速传感器的反馈值，如果偏差是否超过设定值，则延时判断电机控制单元是否进入停止状态，未进入停止状态，则切断电机电源。The backup protection control module detects the motor's own speed detection element and the feedback value of the external speed sensor. If the deviation exceeds the set value, it will delay to judge whether the motor control unit has entered the stop state, and the motor power will be cut off if it does not enter the stop state. .
当主电机控制单元自身出现故障时，通过手动切换到备用电机控制单元。When the main motor control unit itself fails, it is manually switched to the backup motor control unit.
电机控制单元采用双重扭矩保护模式，即：“扭矩限制模块+控制单元过扭矩保护”双扭矩保护模式，当扭矩大于限定值时，控制单元实现扭矩保护，装填机构减速，直至停止；若控制单元扭矩保护失效，则扭矩限制模块动作，确保装填机构停止，增加了系统可靠性与安全性。The motor control unit adopts dual torque protection mode, namely: "torque limit module + control unit over-torque protection" dual torque protection mode. When the torque is greater than the limit value, the control unit realizes torque protection, and the loading mechanism decelerates until it stops; if the control unit If the torque protection fails, the torque limit module will act to ensure the stop of the filling mechanism, which increases the reliability and safety of the system.
电机控制单元基于矢量控制算法，由三相工频交流电供电，能够接受来自开关信号的开环/闭环、慢速/快速、手动/自动、装填到位/后退到位、前进/后退/停止等模式选择信号，当控制单元得电后，选择相应的工作模式，电机开始运行，运转中可以进行快速和慢速模式的切换，满足不同工况的速度要求。当运行中收到限位模块信号后，装填机构停止运行。The motor control unit is based on the vector control algorithm, powered by three-phase power frequency AC power, and can accept open-loop/closed-loop, slow/fast, manual/automatic, filling in position/reverse position, forward/reverse/stop and other mode selections from switching signals signal, when the control unit is powered on, select the corresponding working mode, the motor starts to run, and the fast and slow modes can be switched during operation to meet the speed requirements of different working conditions. When the signal of the limit module is received during operation, the loading mechanism stops running.
具有可视化操作人机交互界面，实现与电机控制单元和备用保护控制模块基于现场总线的通信；It has a visual operation man-machine interface, and realizes the communication with the motor control unit and the backup protection control module based on the field bus;
交互单元与电机控制单元的通信为双向模式，既可以接收电机控制单元发送的转速、转矩、报警等信息，也可以通过交互单元对电机控制单元中的部分参数进行设置；备用保护控制模块可将相关报警信息发送给人机交互单元显示。The communication between the interactive unit and the motor control unit is in a two-way mode, which can not only receive the speed, torque, alarm and other information sent by the motor control unit, but also set some parameters in the motor control unit through the interactive unit; the backup protection control module can Send the relevant alarm information to the human interaction unit for display.
本发明相对现有技术的有益效果：The beneficial effects of the present invention relative to the prior art:
本发明重载水平装填驱动控制系统，解决了传统液压油缸推进方式效率低、污染环境、噪音大、且难于实现长行程平稳连续推进，结构较为复杂，制造、维护成本高等一系列问题，The heavy-load horizontal loading drive control system of the present invention solves a series of problems such as low efficiency, environmental pollution, high noise, difficulty in realizing long-stroke smooth and continuous propulsion, complex structure, and high manufacturing and maintenance costs in the traditional hydraulic cylinder propulsion method.
本发明重载水平装填驱动控制系统，由电控驱动方案取代了传统的液压油缸推进方案。本发明以电机控制单元为控制核心，通过备用保护控制模块的备用保护和人机交互单元的实时显示，确保该系统安全可靠且能够实现良好的人机交互，是新一代重载水平装填推进技术的发展方向。The heavy-load horizontal loading drive control system of the present invention replaces the traditional hydraulic oil cylinder propulsion scheme by the electric control drive scheme. The invention takes the motor control unit as the control core, through the backup protection of the backup protection control module and the real-time display of the human-computer interaction unit, to ensure that the system is safe and reliable and can achieve good human-computer interaction, and is a new generation of heavy-load horizontal loading and propulsion technology. development direction.
本发明重载水平装填驱动控制系统，系统辅助设备少，操作简单，维护保养方便，具有连续推进、速度平稳的优点，相对于传统的液压推进方案，从根本上降低了设计难度及设计成本，缩短了生产周期。The heavy-load horizontal filling drive control system of the present invention has few auxiliary equipments, simple operation, convenient maintenance, and has the advantages of continuous propulsion and stable speed. Compared with the traditional hydraulic propulsion scheme, the design difficulty and design cost are fundamentally reduced. Shortened production cycle.
为解决上述问题，简化系统结构，适应某重载产品特殊使用需求，本发明公开了一种水平装填电控系统方案，该系统主要由电机控制单元、备用保护控制模块、人机交互单元、电机等组成。整套电控系统重量轻、辅助设备少、操作简单，具有连续推进、速度平稳、控制精度高、保护措施完备等优点，解决了传统的液压装填方案存在的辅助设备多，操作复杂，维护保养成本高、无法连续推进等问题。In order to solve the above problems, simplify the system structure, and meet the special use requirements of a heavy-duty product, the present invention discloses a horizontal filling electric control system scheme. etc. composition. The whole set of electronic control system is light in weight, less auxiliary equipment and simple in operation. It has the advantages of continuous propulsion, stable speed, high control precision, and complete protection measures. High, unable to continue to advance and other issues.
附图说明Description of drawings
图1是本发明重载水平装填驱动控制系统的控制流程示意图；Fig. 1 is the control flow schematic diagram of the heavy-duty horizontal loading drive control system of the present invention;
图2是本发明重载水平装填驱动控制系统的电控系统原理示意图。FIG. 2 is a schematic diagram of the electrical control system of the heavy-load horizontal loading drive control system of the present invention.
附图中主要部件符号说明：Description of the main components in the attached drawings:
图中：In the picture:
1、电机 2、外部速度传感器1.
3、转速、转矩检测元件。3. Speed and torque detection components.
具体实施方式Detailed ways
以下参照附图及实施例对本发明进行详细的说明：The present invention will be described in detail below with reference to the accompanying drawings and embodiments:
附图1-2可知，一种重载水平装填驱动控制系统，包括如下步骤：It can be seen from the accompanying drawings 1-2 that a heavy-duty horizontal loading drive control system includes the following steps:
步骤101，接通三相工频交流电，三相工频交流电为电机和控制单元供电；Step 101, connect the three-phase power frequency AC power, and the three-phase power frequency AC power supplies power to the motor and the control unit;
步骤102，备用保护控制模块接通电源；Step 102, the standby protection control module is powered on;
步骤103，备用保护控制模块启动；Step 103, the backup protection control module is started;
步骤104，控制系统接通电源；Step 104, the control system is powered on;
步骤105，备用保护控制模块判断电机控制单元电源输入开关和输出开关是否吸合；电机控制单元电源输入开关和输出开关吸合执行步骤106，否则执行步骤104；Step 105, the standby protection control module judges whether the power input switch and the output switch of the motor control unit are pulled in; the power input switch and the output switch of the motor control unit are pulled in to execute step 106, otherwise, execute step 104;
步骤106，备用保护控制模块检测控制单元是否属于停止状态；检测控制单元属于停止状态执行步骤107，否则执行步骤104；Step 106, the backup protection control module detects whether the control unit is in a stopped state; if the control unit is in a stopped state, go to step 107, otherwise go to step 104;
步骤107，电机控制单元上电；Step 107, the motor control unit is powered on;
步骤108，电机运转；Step 108, the motor runs;
步骤109，备用保护控制模块判断转速检测单元是否故障；Step 109, the standby protection control module determines whether the rotational speed detection unit is faulty;
步骤110，前进或后退限位模块发出信号；Step 110, the forward or backward limit module sends a signal;
步骤111，备用保护控制模块检测控制系统是否发出停机信号，控制系统发出停机信号执行步骤000；控制系统没有发出停机信号，执行步骤112；Step 111, the standby protection control module detects whether the control system sends a shutdown signal, and the control system sends a shutdown signal to execute step 000; if the control system does not send a shutdown signal, execute step 112;
步骤112，备用模块发出停机信号；Step 112, the standby module sends a shutdown signal;
步骤113，电机停机。Step 113, the motor is stopped.
所述前进到位和后退到位信号模块分别为两个相互并联的限位模块。The forward-to-position and backward-to-position signal modules are respectively two limit modules connected in parallel with each other.
所述备用保护控制模块在限位模块信号生效后，延时检测电机控制单元是否停止，未停止则切断电机电源。The standby protection control module delays detection of whether the motor control unit stops after the signal of the limit module takes effect, and cuts off the power supply of the motor if it does not stop.
所述备用保护控制模块检测电机自带转速检测元件及外部转速传感器的反馈值，如果偏差是否超过设定值，则延时判断电机控制单元是否进入停止状态，未进入停止状态，则切断电机电源。The backup protection control module detects the motor's own speed detection element and the feedback value of the external speed sensor. If the deviation exceeds the set value, it will delay to judge whether the motor control unit has entered the stop state, and the motor power will be cut off if it does not enter the stop state. .
当主电机控制单元自身出现故障时，通过手动切换到备用电机控制单元。When the main motor control unit itself fails, it is manually switched to the backup motor control unit.
电机控制单元采用双重扭矩保护模式，即：“扭矩限制模块+控制单元过扭矩保护”双扭矩保护模式，当扭矩大于限定值时，控制单元实现扭矩保护，装填机构减速，直至停止；若控制单元扭矩保护失效，则扭矩限制模块动作，确保装填机构停止，增加了系统可靠性与安全性。The motor control unit adopts dual torque protection mode, namely: "torque limit module + control unit over-torque protection" dual torque protection mode. When the torque is greater than the limit value, the control unit realizes torque protection, and the loading mechanism decelerates until it stops; if the control unit If the torque protection fails, the torque limit module will act to ensure the stop of the filling mechanism, which increases the reliability and safety of the system.
电机控制单元基于矢量控制算法，由三相工频交流电供电，能够接受来自开关信号的开环/闭环、慢速/快速、手动/自动、装填到位/后退到位、前进/后退/停止等模式选择信号，当控制单元得电后，选择相应的工作模式，电机开始运行，运转中可以进行快速和慢速模式的切换，满足不同工况的速度要求。当运行中收到限位模块信号后，装填机构停止运行。The motor control unit is based on the vector control algorithm, powered by three-phase power frequency AC power, and can accept open-loop/closed-loop, slow/fast, manual/automatic, filling in position/reverse position, forward/reverse/stop and other mode selections from switching signals signal, when the control unit is powered on, select the corresponding working mode, the motor starts to run, and the fast and slow modes can be switched during operation to meet the speed requirements of different working conditions. When the signal of the limit module is received during operation, the loading mechanism stops running.
具有可视化操作人机交互界面，实现与电机控制单元和备用保护控制模块基于现场总线的通信；It has a visual operation man-machine interface, and realizes the communication with the motor control unit and the backup protection control module based on the field bus;
交互单元与电机控制单元的通信为双向模式，既可以接收电机控制单元发送的转速、转矩、报警等信息，也可以通过交互单元对电机控制单元中的部分参数进行设置；备用保护控制模块可将相关报警信息发送给人机交互单元显示，实现了良好的人机交互。The communication between the interactive unit and the motor control unit is in a two-way mode, which can not only receive the speed, torque, alarm and other information sent by the motor control unit, but also set some parameters in the motor control unit through the interactive unit; the backup protection control module can The relevant alarm information is sent to the human-computer interaction unit for display, realizing a good human-computer interaction.
本发明重载水平装填驱动控制系统，解决了传统液压油缸推进方式效率低、污染环境、噪音大、且难于实现长行程平稳连续推进，结构较为复杂，制造、维护成本高等一系列问题，The heavy-load horizontal loading drive control system of the present invention solves a series of problems such as low efficiency, environmental pollution, high noise, difficulty in realizing long-stroke smooth and continuous propulsion, complex structure, and high manufacturing and maintenance costs in the traditional hydraulic cylinder propulsion method.
本发明重载水平装填驱动控制系统，由电控驱动方案取代了传统的液压油缸推进方案。本发明以电机控制单元为控制核心，通过备用保护控制模块的备用保护和人机交互单元的实时显示，确保该系统安全可靠且能够实现良好的人机交互，是新一代重载水平装填推进技术的发展方向。The heavy-load horizontal loading drive control system of the present invention replaces the traditional hydraulic oil cylinder propulsion scheme by the electric control drive scheme. The invention takes the motor control unit as the control core, through the backup protection of the backup protection control module and the real-time display of the human-computer interaction unit, to ensure that the system is safe and reliable and can achieve good human-computer interaction, and is a new generation of heavy-load horizontal loading and propulsion technology. development direction.
本发明重载水平装填驱动控制系统，系统辅助设备少，操作简单，维护保养方便，具有连续推进、速度平稳的优点，相对于传统的液压推进方案，从根本上降低了设计难度及设计成本，缩短了生产周期。The heavy-load horizontal filling drive control system of the present invention has few auxiliary equipments, simple operation, convenient maintenance, and has the advantages of continuous propulsion and stable speed. Compared with the traditional hydraulic propulsion scheme, the design difficulty and design cost are fundamentally reduced. Shortened production cycle.
本发明重载水平装填驱动控制系统，该系统主要由电机控制单元、备用保护控制模块、人机交互单元、电机等组成。整套电控系统重量轻、辅助设备少、操作简单，具有连续推进、速度平稳、控制精度高、保护措施完备等优点，解决了传统的液压装填方案存在的辅助设备多，操作复杂，维护保养成本高、无法连续推进等问题。The heavy-load horizontal loading drive control system of the present invention is mainly composed of a motor control unit, a backup protection control module, a human-computer interaction unit, a motor, and the like. The whole set of electronic control system is light in weight, less auxiliary equipment and simple in operation. It has the advantages of continuous propulsion, stable speed, high control precision, and complete protection measures. High, unable to continue to advance and other issues.
以上所述，仅是本发明的较佳实施例而已，并非对本发明的结构作任何形式上的限制。凡是依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化与修饰，均属于本发明的技术方案范围内。The above descriptions are only preferred embodiments of the present invention, and do not limit the structure of the present invention in any form. Any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention fall within the scope of the technical solutions of the present invention.
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