CN114483685A - Emergency control system and control method - Google Patents
Emergency control system and control method Download PDFInfo
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- CN114483685A CN114483685A CN202111615760.XA CN202111615760A CN114483685A CN 114483685 A CN114483685 A CN 114483685A CN 202111615760 A CN202111615760 A CN 202111615760A CN 114483685 A CN114483685 A CN 114483685A
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- switching valve
- position sensor
- valve
- control system
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- 238000000034 method Methods 0.000 title claims description 17
- 238000001514 detection method Methods 0.000 claims abstract description 20
- 230000001105 regulatory effect Effects 0.000 claims abstract description 7
- 238000011010 flushing procedure Methods 0.000 claims description 5
- 230000001960 triggered effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 239000012530 fluid Substances 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/22—Synchronisation of the movement of two or more servomotors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/28—Means for indicating the position, e.g. end of stroke
- F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/78—Control of multiple output members
- F15B2211/782—Concurrent control, e.g. synchronisation of two or more actuators
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses an emergency control system, comprising: a first position sensor for detecting a position of the first actuator; the second position sensor is used for detecting the position of the second actuating piece; the first valve is used for calibrating the driving of the power source to the first execution piece; the second valve is used for regulating the driving of the power source to the second execution element; the input of the switching valve is respectively connected with the first valve and the second valve, and the output of the switching valve is respectively connected with the first actuating element and the second actuating element; the switching valve switches between a first state and a second state according to a detection difference value of a first position sensor and a second position sensor; when the switching valve is in a first state, the power source drives the first executive component to act through the first valve and the switching valve, and drives the second executive component to act through the second valve and the switching valve; when the switching valve is in the second state, the power source drives the first executive component and the second executive component to act after passing through the first valve and the branch of the switching valve. The scheme can start the equipment in an emergency when the position sensor fails.
Description
Technical Field
The invention relates to a multi-cylinder drive control system, in particular to an emergency control system and a control method.
Background
In a multi-cylinder control system, multi-cylinder synchronous motion drive equipment is often required. One solution in the prior art is: a three-way valve is adopted to synchronously provide power sources, and the multiple cylinders are ensured to obtain the same pressure, so that the movement synchronism of the equipment is ensured. Another solution is: many branches, every branch road sets up the valve, combines position sensor to the output of valve is adjusted to the position synchronization as the standard to guarantee the synchronism of equipment operation.
In some application fields, it is more reasonable to use the second solution to solve the synchronization, but the second solution has the following defects: the position sensor is an electronic component and is prone to failure. In order to ensure the safety of the equipment, when a control program is set, the equipment is stopped to wait for maintenance when the position sensor is judged to have a fault. However, in some applications, an emergency start of the device is required. For example: in the drainage field, a rainstorm condition occurs, emergency flood discharge is needed for ensuring urban safety, and urban waterlogging can be caused if relevant equipment cannot be started in time.
Disclosure of Invention
To solve the above problems, a first aspect of the present invention provides an emergency control system.
Specifically, an emergency control system includes:
a first position sensor for detecting a position of the first actuator;
the second position sensor is used for detecting the position of the second actuating piece;
the first valve is used for calibrating the driving of the power source on the first execution piece;
the second valve is used for regulating the driving of the power source to the second execution piece;
the input of the switching valve is respectively connected with the first valve and the second valve, and the output of the switching valve is respectively connected with the first actuating element and the second actuating element; the switching valve switches between a first state and a second state according to whether a detection difference value between the first position sensor and the second position sensor can be obtained; when the switching valve is in a first state, the power source drives the first executive component to act through the first valve and the switching valve, and drives the second executive component to act through the second valve and the switching valve; when the switching valve is in the second state, the power source drives the first executive component and the second executive component to act after passing through the first valve and the branch of the switching valve.
The two paths of position sensors in the scheme respectively monitor the positions of the first executing part and the second executing part; the two paths of the two ways respectively provide power for the first executing part and the second executing part; the first valve is used as a reference for quantitative determination, the opening is constant, the speed is constant, and the branch provides constant driving force for the first actuating member; the second valve is used as a regulating variable, the driving force provided by the branch for the second executing part is a variable, and the power source output of the second valve is regulated according to the detection difference between the second position sensor and the first position sensor, namely the output force of the branch changes along with the position difference, so that the difference between the two positions is finally zero or reaches a set range, and the second executing part and the first executing part keep the position synchronism in the movement process. In the scheme, the synchronization of the positions is taken as a final standard, the driving force is adjusted, the influence of different resistances is overcome, and the synchronism of the control system is finally achieved. Considering that the position sensor is an electronic component, the position sensor is more easily damaged especially under the working condition of harsh environment. When the position sensor fails, the safety of the equipment can be ensured by cutting off the output of the power source. But the cut-off output system is in a shutdown state and cannot be started, which is not acceptable in some application scenarios. This effect is taken into account. The emergency control system is additionally provided with the switching valve, so that the system can be switched between two states. When one output branch is cut off, the switching valve is switched to a three-way state from two ways and two ways, and the other branch can still provide a power source to drive the first executing part and the second executing part respectively after being shunted by the switching valve, so that the emergency purpose is achieved.
Optionally, the switching valve further comprises a third state; the switching valve switches between a first state and a third state according to whether a detection difference value between the first position sensor and the second position sensor can be obtained; when the switching valve is in the third state, the first actuating member and the second actuating member can not obtain the power source. The switching valve in this alternative adds the third state, so that there is a transition in switching between the first state and the second state, and the third state is used as an intermediate state, so that the apparatus operates more safely.
Optionally, the emergency control system of the present invention further includes an emergency instruction triggering unit. And the emergency instruction triggering unit is used for triggering the emergency instruction of switching the switching valve from the third state to the second state when the detection difference value of the first position sensor and the second position sensor cannot be obtained. The three-way state in the emergency control system is not suitable for being used frequently, because when the two-way is switched to the three-way state, the branch where the first valve is located provides the same pressure for the first executive component and the second executive component through the power source after the diversion of the switching valve, and therefore the problem of synchronism cannot be solved due to different resistances. Therefore, the three-way state can only be used as an emergency scheme, namely, when the position sensor has a fault, the system can be started to operate temporarily. It is more reliable to add an emergency command triggering unit in the emergency system, and the emergency command triggering unit can be separately arranged in a touch screen, a keyboard or a brake switch and is specially used for triggering the emergency command. The emergency state is prevented from being frequently started remotely or automatically when the position sensor fails.
Optionally, the emergency control system is one of a hydraulic control system, a pneumatic control system, and a hybrid control system. Emergency control systems may use fluid and gas as power sources, such as oil, compressed air. Or both fluid and gas are used as power sources for different driving branches.
Optionally, the emergency control system is a control system applied to the field of drainage. The control system in the drainage field is one of a lower opening type weir gate control system, an upper opening type weir gate control system, a rotary weir gate control system and a flushing gate control system.
In another aspect of the present invention, there is provided a control method for an emergency control system according to the first aspect, the control method including the steps of:
at the time of execution of the drive instruction,
if the detection difference value between the second position sensor and the first position sensor can be obtained, the switching valve is enabled to be in the first state, the power source drives the first executing part to act through the first valve and the switching valve, and drives the second executing part to act through the second valve and the switching valve;
and if the detection difference between the second position sensor and the first position sensor cannot be obtained, the switching valve is enabled to be in the second state, and the power source drives the first executing part and the second executing part to act after passing through the first valve and the switching valve.
Optionally, if the detection difference between the second position sensor and the first position sensor cannot be obtained, the control method further includes: and judging that the first position sensor and/or the second position sensor have faults, and sending an alarm signal.
The invention provides a control method, which can also comprise the following steps:
at the time of execution of the drive instruction,
if the detection difference value between the second position sensor and the first position sensor can be obtained, the switching valve is enabled to be in the first state, the power source drives the first executing part to act through the first valve and the switching valve, and drives the second executing part to act through the second valve and the switching valve;
if the detection difference value between the second position sensor and the first position sensor cannot be obtained, the switching valve is enabled to be in the third state firstly, and the first executing part and the second executing part cannot obtain the power source; and when the driving command is executed again, the switching valve is in the second state, and the power source drives the first executive component and the second executive component to act after passing through the first valve and the branch of the switching valve.
Optionally, if the detection difference between the second position sensor and the first position sensor cannot be obtained, the method further includes: and setting the redriving command to be an emergency command triggered by an emergency command triggering unit.
Drawings
FIG. 1 is a schematic diagram of one embodiment of a lower opening weir control system;
fig. 2 is a schematic diagram of an embodiment of the emergency control system of the present invention.
Reference numerals:
f1-first valve, F2-second valve, F3-switching valve;
k1-first switch, K2-second switch;
m1-first oil cylinder, M2-second oil cylinder.
Detailed Description
Common control systems in the field of drainage are: the device comprises a lower opening type weir gate control system, an upper opening type weir gate control system, a rotary weir gate control system and a flushing gate control system. The lower open weir gate, the upper open gate and the rotary weir gate are equipment for opening and closing a flow channel in the drainage field. The flushing door is equipment for realizing channel flushing in the drainage field. In some dams, box culverts and storage tanks, the discharge opening is wide, the overflow width even exceeds 4 meters, and at least two cylinders are usually adopted to respectively drive two ends of a movable door of the equipment. In order to ensure the smooth movement of the movable door and avoid severe jamming, the two ends of the movable door are required to move synchronously. The friction resistance on two sides of the movable door is different under the influence of installation or working conditions, or the movable resistance on two sides of the movable door is uneven due to the fact that garbage is wound and particles are blocked after the equipment runs for a period of time, and the feasibility of a mode of synchronously providing a power source by adopting a three-way valve is poor. The technical scheme is more suitable for the drainage field, the output is regulated by acquiring position information to achieve the synchronism of equipment operation, but the position sensor is an electronic element, and the drainage field is severe in environment and extremely easy to corrode the electronic element. For the sake of safety of the operation of the equipment, it is common that in the set control program, if it is determined that the position sensor has a failure, the equipment is set to be stopped to wait for maintenance. However, when the urban storm occurs, if the related equipment cannot be started in time, the urban waterlogging is caused, the equipment must be started urgently to discharge the flood in order to ensure the urban safety, and the equipment is maintained after the flood is discharged.
The technical solutions in the embodiments of the present specification are clearly and completely described below by taking the drainage field as an example and combining with the drawings in the embodiments of the present specification, and it is obvious that the described embodiments are only a part of the embodiments of the present specification, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification are within the scope of the present invention.
Fig. 1 is a schematic diagram of one embodiment of a downward opening weir gate control system.
In the illustration, the first valve F1 is connected to the first switch K1 to supply oil to the first cylinder M1, thereby actuating the first cylinder. The second valve F2 is connected with the second switch K2 to provide oil inlet amount for the second oil cylinder M2. In a control system in the field of drainage, a first oil cylinder and a second oil cylinder are arranged on two sides of a movable door and finally drive the movable door to move. Wherein the first valve has a certain opening, a certain oil inlet amount and a certain speed, and is used as a fixed amount; the opening of the second valve is adjustable, the oil inlet amount is adjustable, and the speed is adjustable. Two paths of position sensors are respectively arranged on two sides of the movable door and used for detecting whether two sides of the movable door keep synchronous motion or not. In order to ensure the synchronism of the two sides of the movable door, the control center obtains position signals of the two paths of position sensors, calculates a difference value, and then adjusts the output of the second valve, so that the difference value is zero or is controlled within a certain range, and the movable door can move synchronously.
When any one of the two position sensors fails, the control center cannot obtain a position difference value, and in order to ensure the safety of the equipment, the second switch K2 is normally switched off, so that the equipment is shut down, the safety of the equipment is ensured, and the equipment is normally operated after the maintenance and the element replacement are completed. But use in the drainage field, the torrential rain causes urban waterlogging, and the overhaul of the equipments, the time consuming overlength of returning factory replacement part will influence urban safety certainly, consequently need promptly open the dodge gate and carry out the flood discharge, overhaul the equipment again after guaranteeing urban safety.
An emergency treatment scheme is provided for this embodiment, and fig. 2 is a schematic diagram of an embodiment of the emergency control system according to the present invention. On the basis of the first embodiment, the switching valve F3 is connected to the emergency control system. In this embodiment, the switching valve F3 provides three switching states, a first state, the switching valve F3 is in a two-way, two-way state; in the second state, the switching valve F3 is in the three-way state; in the third state, the switch F3 is in the off state. In the present embodiment, the input of the switching valve F3 is connected to the first valve F1 and the second valve F2, respectively, and the output of the switching valve F3 is connected to the first cylinder M1 and the second cylinder M2, respectively. In general, the switching valve F3 is in a two-way state, the branch where the first valve F1 is located drives the first cylinder M1, and the branch where the second valve F2 is located drives the second cylinder M2. When the position sensor fails, the system judges that the failure has occurred, so that the switching valve F3 is in the disabled state, thereby protecting the equipment. When emergency flood discharge is needed and faults are not overhauled urgently, the switching valve F3 is switched to a three-way state, the oil path of the branch where the first valve F1 is located is branched by the switching valve F3 and then drives the first oil cylinder M1 and the second oil cylinder M2, and therefore equipment is started emergently. The emergency scheme does not need to change the structure of the original control system, only needs to connect a switching valve on the original oil way, and is particularly easy to modify the existing control system.
Although the present invention has been described in detail with reference to examples, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.
Finally, it should be noted that the terms "first" and "second" as used in the present patent application text do not denote a sequence, but rather are intended to distinguish between components having the same or similar properties. The term "fluid" is not limited to "oil" as is conventionally used in hydraulic systems; the term "gas" is not limited to "compressed air" in pneumatic systems, and it is within the scope of this patent to be able to act as a power source for the control system, whether in fluid or gaseous form as the working medium. In the present patent application, "first valve" should be understood broadly as a functional element capable of obtaining a target parameter, and "second valve" should be understood broadly as a functional element capable of being regulated to obtain a variable parameter, and the first valve and the second valve may be the same valve or different valves. The term "actuator" in the present patent application includes, but is not limited to, cylinders, and the like. The "emergency command triggering unit" in the present patent application text includes, but is not limited to, emergency commands triggered by a touch screen, a keyboard, a brake button, etc. It should be noted that the solution of the present application is not limited to only two-cylinder control systems, but at least two-cylinder control systems. It should be understood that the emergency control system of the present invention includes at least two position sensors and two actuators. It is within the scope of the present application to include more than two position sensors or two actuators.
Claims (10)
1. An emergency control system, comprising:
a first position sensor for detecting a position of the first actuator;
the second position sensor is used for detecting the position of the second actuating piece;
the first valve is used for calibrating the driving of the power source on the first execution piece;
the second valve is used for regulating the driving of the power source to the second execution piece;
the input of the switching valve is respectively connected with the first valve and the second valve, and the output of the switching valve is respectively connected with the first actuating element and the second actuating element; the switching valve switches between a first state and a second state according to whether a detection difference value between the first position sensor and the second position sensor can be obtained; when the switching valve is in a first state, the power source drives the first executive component to act through the first valve and the switching valve, and drives the second executive component to act through the second valve and the switching valve; when the switching valve is in the second state, the power source drives the first executive component and the second executive component to act after passing through the first valve and the branch of the switching valve.
2. The emergency control system of claim 1, wherein: the switching valve further comprises a third state; the switching valve switches between a first state and a third state according to whether a detection difference value between the first position sensor and the second position sensor can be obtained; when the switching valve is in the third state, the first executing part and the second executing part can not obtain the power source.
3. The emergency control system of claim 2, further comprising:
and the emergency instruction triggering unit is used for triggering the emergency instruction of switching the switching valve from the third state to the second state when the detection difference value of the first position sensor and the second position sensor cannot be obtained.
4. The emergency control system of claim 1, wherein: the emergency control system is one of a hydraulic control system, a pneumatic control system and a hybrid control system.
5. The emergency control system of claim 1, wherein: the emergency control system is a control system applied to the field of drainage.
6. The emergency control system of claim 5, wherein: the control system in the drainage field is one of a lower opening type weir gate control system, an upper opening type weir gate control system, a rotary weir gate control system and a flushing gate control system.
7. A control method based on the emergency control system according to claim 1 or 4 or 5 or 6, characterized in that the control method comprises the following steps:
at the time of execution of the drive instruction,
if the detection difference value between the second position sensor and the first position sensor can be obtained, the switching valve is enabled to be in the first state, the power source drives the first executing part to act through the first valve and the switching valve, and drives the second executing part to act through the second valve and the switching valve;
and if the detection difference between the second position sensor and the first position sensor cannot be obtained, the switching valve is enabled to be in the second state, and the power source drives the first executing part and the second executing part to act after passing through the first valve and the switching valve.
8. A control method as set forth in claim 7, wherein if a detection difference between the second position sensor and the first position sensor cannot be obtained, the method further comprises:
and judging that the first position sensor and/or the second position sensor have faults, and sending an alarm signal.
9. A control method based on the emergency control system according to any one of claims 2 to 6, characterized in that the control method comprises the following steps:
at the time of execution of the drive instruction,
if the detection difference value between the second position sensor and the first position sensor can be obtained, the switching valve is enabled to be in the first state, the power source drives the first executing part to act through the first valve and the switching valve, and drives the second executing part to act through the second valve and the switching valve;
if the detection difference value between the second position sensor and the first position sensor cannot be obtained, the switching valve is enabled to be in the third state firstly, and the first executing part and the second executing part cannot obtain the power source; and when the driving command is executed again, the switching valve is in the second state, and the power source drives the first executive component and the second executive component to act after passing through the first valve and the branch of the switching valve.
10. A control method according to claim 9, characterized by: if the detection difference between the second position sensor and the first position sensor cannot be obtained, the method further comprises: and setting the redriving command to be an emergency command triggered by an emergency command triggering unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111615760.XA CN114483685B (en) | 2021-12-27 | 2021-12-27 | Emergency control system and control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111615760.XA CN114483685B (en) | 2021-12-27 | 2021-12-27 | Emergency control system and control method |
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| CN114483685A true CN114483685A (en) | 2022-05-13 |
| CN114483685B CN114483685B (en) | 2023-11-21 |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4317557A (en) * | 1979-07-13 | 1982-03-02 | Exxon Production Research Company | Emergency blowout preventer (BOP) closing system |
| TW414287U (en) * | 1999-10-16 | 2000-12-01 | Tsai Jen An | Control device of automatic complex lubricating and cooling oil injecting machine |
| JP2007255439A (en) * | 2006-03-20 | 2007-10-04 | Toyota Motor Corp | Control device for powertrain |
| EP2085622A1 (en) * | 2008-01-31 | 2009-08-05 | Caterpillar Motoren GmbH & Co. KG | Continuous compressed air leakage monitoring system and method |
| JP2014105541A (en) * | 2012-11-29 | 2014-06-09 | Hitachi Constr Mach Co Ltd | Work machine |
| CN105257889A (en) * | 2015-07-17 | 2016-01-20 | 湖南山源安自控***有限公司 | Electro-hydraulic driving system for sluice valve and sluice valve |
| CN208778369U (en) * | 2018-07-31 | 2019-04-23 | 长沙智汛通环保科技有限公司 | A kind of hydraulic emergency system |
-
2021
- 2021-12-27 CN CN202111615760.XA patent/CN114483685B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4317557A (en) * | 1979-07-13 | 1982-03-02 | Exxon Production Research Company | Emergency blowout preventer (BOP) closing system |
| TW414287U (en) * | 1999-10-16 | 2000-12-01 | Tsai Jen An | Control device of automatic complex lubricating and cooling oil injecting machine |
| JP2007255439A (en) * | 2006-03-20 | 2007-10-04 | Toyota Motor Corp | Control device for powertrain |
| EP2085622A1 (en) * | 2008-01-31 | 2009-08-05 | Caterpillar Motoren GmbH & Co. KG | Continuous compressed air leakage monitoring system and method |
| JP2014105541A (en) * | 2012-11-29 | 2014-06-09 | Hitachi Constr Mach Co Ltd | Work machine |
| CN105257889A (en) * | 2015-07-17 | 2016-01-20 | 湖南山源安自控***有限公司 | Electro-hydraulic driving system for sluice valve and sluice valve |
| CN208778369U (en) * | 2018-07-31 | 2019-04-23 | 长沙智汛通环保科技有限公司 | A kind of hydraulic emergency system |
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| CN114483685B (en) | 2023-11-21 |
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