CN113885422A - Unmanned intelligent system of bucket wheel machine - Google Patents
Unmanned intelligent system of bucket wheel machine Download PDFInfo
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- 239000003245 coal Substances 0.000 claims abstract description 43
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 19
- 238000013500 data storage Methods 0.000 claims abstract description 13
- 239000011159 matrix material Substances 0.000 claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims abstract description 7
- 238000001514 detection method Methods 0.000 claims description 51
- 239000000463 material Substances 0.000 claims description 25
- 238000004891 communication Methods 0.000 claims description 22
- 238000012544 monitoring process Methods 0.000 claims description 18
- 238000012937 correction Methods 0.000 claims description 6
- 238000007405 data analysis Methods 0.000 claims description 6
- 238000004088 simulation Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims description 3
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- 239000002356 single layer Substances 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
- B65G65/16—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with rotary pick-up conveyors
- B65G65/20—Paddle wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/04—Bulk
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1103—Special, intelligent I-O processor, also plc can only access via processor
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Abstract
The invention discloses an unattended intelligent system of a bucket wheel machine, which relates to the technical field of bucket wheel machines of thermal power plants. The invention adopts a novel positioning mode of sectional type data storage, divides different areas of a coal yard, takes the different areas as triggering conditions for data retrieval, determines the motion direction of the operation by comparing the operation state, realizes an automatic positioning function, adopts a dynamic matrix control algorithm to establish a bucket wheel machine and a coal pile three-dimensional model which changes in real time, is particularly applied to automatic stacking and taking and safety protection work, and can effectively improve the automatic operation efficiency and the safety protection level.
Description
Technical Field
The invention relates to the technical field of bucket wheel machines of thermal power plants, in particular to an unattended intelligent system of a bucket wheel machine.
Background
The bucket wheel machine is generally a bucket wheel stacker-reclaimer, and is a high-efficiency loading and unloading machine which is used for continuous conveying of both stacking and reclaiming of a large dry bulk cargo yard. The rubber belt conveyor comprises a rubber belt conveying arm capable of pitching and horizontally swinging, a bucket wheel at the front end of the rubber belt conveying arm, a rack and a running mechanism, wherein the rubber belt can run in two directions, the material is taken by the bucket wheel and is sent out by the conveying arm during material taking, and goods conveyed by a main conveyor are thrown to a yard by the conveying arm during material piling. The rail-type loading and unloading machine continuously takes materials by a bucket wheel and continuously piles materials by a belt conveyor on the machine. The bulk material storage yard is a special machine in a bulk material storage yard, is evolved on the basis of a bucket wheel excavator, can form a storage yard transportation mechanized system with an unloading (ship) machine, a belt conveyor and a loading (vehicle) machine, and has the production capacity of more than 1 ten thousand tons per hour. The operation of the bucket-wheel stacker reclaimer has strong regularity and is easy to realize automation. The control modes include manual, semi-automatic, automatic and the like. The bucket-wheel stacker reclaimer is divided into an arm frame type and a bridge frame type according to the structure. Some equipment only have and get a material function, the weighing bucket wheel reclaimer.
Coal piling and taking operation is one of key links of power production of a thermal power plant, a bucket-wheel stacker-reclaimer is used as main equipment for coal piling, most of the prior art still adopts a manual operation mode to operate, but the manual operation still has the problems of low operation precision, nonstandard operation, low operation efficiency and the like, along with the development of an unmanned control system in recent years, the technology is also applied to a bucket wheel machine, and through retrieval, Chinese patent technology provides a full-automatic unmanned on duty system (CN213693949U) of the bucket wheel machine of the thermal power plant, the patent can realize wireless control and video monitoring of the bucket wheel machine in actual production, but the bucket wheel machine cannot automatically position and search operation access points in actual production, cannot operate according to the actual stockpiling condition and the like. Therefore, the present invention specifically provides an unattended intelligent system for a bucket wheel machine to solve the problems in the background art.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides an unattended intelligent system of a bucket wheel machine.
In order to achieve the purpose, the invention adopts the following technical scheme:
an unattended intelligent system of a bucket wheel machine comprises a remote control operation platform, wherein the remote control operation platform comprises a bucket wheel machine PLC control system, the bucket wheel machine PLC control system comprises a plurality of bucket wheel machine sets, local control communication integrated switches corresponding to the bucket wheel machine sets and PLC control slave stations corresponding to the local control communication integrated switches, the bucket wheel machine sets are in communication connection with the corresponding local control communication integrated switches, and the local control communication integrated switches are in communication connection with the corresponding PLC control slave stations;
the bucket wheel set comprises a data storage module, an automatic control module, a detection module, a monitoring module and a communication module, and the PLC control slave station comprises a data analysis module, an operation module, a three-dimensional display module, a monitoring video module and a communication module.
Preferably, the data in the data storage module comprises an operation state of the bucket wheel machine, a material stacking and taking mode and operation parameters, the operation parameters comprise cart position, rotation angle and height variation, when the bucket wheel machine enters an operation area in the operation state, a data storage function is triggered, after the bucket wheel machine stops operating, the data are not updated, and when the bucket wheel machine enters the operation area again for operation, the bucket wheel machine automatically reads historical data of previous operation.
Preferably, the bucket wheel set is provided with detection equipment, and the detection equipment comprises contour scanning equipment, automatic positioning equipment, environment detection equipment and coal pile detection equipment;
the profile scanning equipment corresponds pile amount detecting elements in the detecting module, the automatic positioning equipment corresponds position detecting elements in the detecting module, the environment detecting equipment corresponds environment detecting elements in the detecting module, the coal pile detecting equipment corresponds coal pile detecting elements in the detecting module, wherein the profile scanning equipment adopts a laser sensing technology to scan the outline of the coal pile, obtains real-time data, has wide and high coal pile amount, establishes a coal pile three-dimensional model, and the coal pile detecting equipment adopts an online infrared laser thermometer to monitor the coal temperature in real time and adopts coal quality detecting equipment to monitor the coal quality and the coal type in real time.
Preferably, the danger module is kept away in the anticollision of piling magnitude detecting element and position detecting element constitution in the detecting module, PLC control is provided with a key in the slave station and opens and stop control module, the danger module is kept away in the anticollision and opens and stop control module signal connection with a key, when bucket wheel machine operation in-process position detecting element detects pedestrian or barrier, signal transmission automatic triggering key opens and stops, waits to resume work after pedestrian or barrier remove, effectively prevents the emergence of incident, and when bucket wheel machine operation in-process, the operation cantilever detects the coal pile safe distance through the cooperation of piling magnitude detecting element and position detecting element, stops soon automatically, avoids the equipment collision.
Preferably, the PLC control slave station internal data analysis module specifically includes the following algorithm:
model prediction, simulating and predicting a three-dimensional animation demonstration picture of the bucket wheel machine through the algorithm,
YM(k+1)＝AΔU(k)+A0u (k-1), where k is a time;
the accuracy of the motion model of the bucket wheel machine is optimized through the algorithm, the error is reduced,
ΔU(k)＝(ATQT+R)-1ATQ[WP(k)-yP0(k)]wherein R is a control quantity weighting matrix, and Q is an output prediction error weighting matrix;
feedback correction, namely correcting the predicted value of each step through the algorithm, reducing the influence of mismatch of the bucket wheel machine model and environmental factors on a simulation result so as to achieve the effect of feedback correction,
initial predicted value at next time: y is0＝(k+1)＝sYp(k+1)。
The dynamic matrix control algorithm is adopted to establish a bucket wheel machine and a coal pile three-dimensional model changing in real time, multi-model predictive control simulation is carried out, the dynamic matrix control algorithm is particularly applied to automatic stacking and taking and safety protection work, and automatic operation efficiency and safety protection level are effectively improved.
Preferably, the autonomous control program flow of the bucket wheel set unattended in the bucket wheel PLC control system specifically includes the following steps:
s1, acquiring the current position data of the bucket wheel set, and controlling the bucket wheel set to move to an operation point through the control module if the bucket wheel set does not reach the operation point;
s2, acquiring the current operation mode;
s3, calling historical operation data of an operation point, and if no historical operation data exists, observing the current actual operation condition through a remote control console by a worker, and manually selecting a reasonable operation mode;
and S4, automatically stacking and taking materials.
Preferably, in step S1, the bucket wheel unit reads historical data of the previous operation in the area, determines the movement direction of the current operation by comparing current state data of the bucket wheel unit, and realizes accurate cut-in of the operation point, and meanwhile, stores fine-grained segmented data of multiple regional stockpiles, and realizes functions of positioning different stockpiles and updating data by the bucket wheel unit.
Preferably, in step S2, the bucket wheel unit reads historical data of previous operations in the area, and determines the operation mode of this time by comparing current state data of the bucket wheel unit, where the operation mode of the bucket wheel unit specifically includes stacking and reclaiming, if the operation mode is stacking, a cantilever rotation single-layer stacking mode is adopted, the height of the stacking is detected by a high-energy sound wave level gauge, the width and height of the coal pile is automatically set, the system automatically adjusts the rotation speed and steps backwards, and no human intervention is performed in the whole process; if the material taking is carried out, the system automatically controls the material taking stepping and the cantilever rotation, a laser flow detection device is adopted, automatic adjustment is carried out, constant material taking is kept, and no human intervention exists in the whole process.
Preferably, the monitoring module includes network high definition camera equipment, the surveillance video module is including the big screen of control display, network high definition camera equipment passes through the regional real-time picture information of operation that the network high definition camera equipment will monitor on the integrated switch of control communication transmits the big screen of control display on the spot, and wherein network high definition camera equipment installs at the important mechanism position of bucket wheel, and this monitored control system can effectively guarantee bucket wheel creak, stock ground and staff's safety, can realize the control to the camera through the control cloud platform, passes back the display screen of control slave station with the real-time high definition picture of coal yard.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention adopts a brand-new positioning mode of sectional type data storage, divides different areas of a coal yard, takes the different areas as triggering conditions for data retrieval, determines the movement direction of the operation by comparing the operation state, realizes the cut-in operation point, realizes the automatic positioning function, simultaneously realizes the fine work sectional type data storage of a plurality of area stockpiles, and realizes the functions of respectively positioning different stockpiles and updating data by a bucket wheel machine;
2. the PLC control system adopts a dynamic matrix control algorithm to establish the bucket wheel machine and a coal pile three-dimensional model changing in real time, carries out multi-model predictive control simulation, is particularly applied to automatic stacking and taking and safety protection work, can effectively improve the automatic operation efficiency and the safety protection grade, and realizes the positioning of the bucket wheel machine coal yard operation point based on data storage and a depth algorithm, thereby not only reducing the cost of the bucket wheel machine automatic positioning system, but also reducing the errors caused by sensor measurement and complex calculation;
3. the detection element and the video monitoring module arranged in the invention can effectively ensure the safety of the creak, the stock ground and the workers at the site, and the one-key start-stop function, the intelligent coal blending and unattended function of the bucket wheel machine are realized by combining the technologies of the three-dimensional coal stack model established by the PLC control and detection module, the upper computer and the like, so that the manpower resource is saved, the production efficiency is improved, and the accident rate is reduced.
Drawings
Fig. 1 is a schematic structural diagram of an unattended intelligent system of a bucket wheel machine according to the invention;
FIG. 2 is a schematic structural diagram of an unattended intelligent system of a bucket wheel machine according to the invention;
FIG. 3 is a schematic structural diagram of an unattended intelligent system of a bucket wheel machine according to the invention;
fig. 4 is a schematic structural diagram of an unattended intelligent system of a bucket wheel machine according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example 1
Referring to fig. 1-4, an unmanned on duty intelligence system of bucket wheel machine, including the remote control operation panel, the remote control operation panel includes bucket wheel machine PLC control system, bucket wheel machine PLC control system includes a plurality of bucket wheel units, correspond the integrated switch of control on the spot of bucket wheel unit, correspond the PLC control slave station of the integrated switch of control on the spot, bucket wheel unit and the integrated switch intercommunication connection of corresponding control on the spot, the integrated switch of control on the spot and the mutual communication connection of corresponding PLC control slave station.
Further, the bucket wheel set comprises a data storage module, an automatic control module, a detection module, a monitoring module and a communication module, data in the data storage module comprises the operation state, the stacking and taking mode and the operation parameters of the bucket wheel, the operation parameters comprise the position of a cart, the rotation angle and the height variation, the bucket wheel set is provided with a detection device, the detection device comprises a contour scanning device, an automatic positioning device, an environment detection device and a coal pile detection device, the contour scanning device corresponds to a stacking amount detection element in the detection module, the automatic positioning device corresponds to a position detection element in the detection module, the environment detection device corresponds to an environment detection element in the detection module, the coal pile detection device corresponds to a coal pile detection element in the detection module, wherein the contour scanning device adopts a laser sensing technology to scan the contour of the coal pile to obtain real-time data, the stacking amount of the coal pile is wide and high, a three-dimensional model of the coal pile is established, wherein the coal pile detection equipment adopts an online infrared laser thermometer to monitor the temperature of coal in real time, and adopts coal quality detection equipment to monitor the quality and the type of the coal in the coal pile in real time.
Furthermore, the stacking amount detection element and the position detection element in the detection module form an anti-collision danger avoiding module, a one-key start-stop control module is arranged in the PLC control slave station, the anti-collision danger avoiding module is in signal connection with the one-key start-stop control module, when the position detection element detects a pedestrian or an obstacle in the operation process of the bucket wheel machine, signal transmission automatically triggers one-key start-stop, the pedestrian or the obstacle is recovered after being removed, safety accidents are effectively prevented, and when the operation process of the bucket wheel machine is carried out, the operation cantilever is automatically and rotationally stopped when the safety distance of the coal pile is detected through the cooperation of the stacking amount detection element and the position detection element, and equipment collision is avoided.
Furthermore, the PLC control slave station comprises a data analysis module, an operation module, a three-dimensional display module, a monitoring video module and a communication module, and the data analysis module in the PLC control slave station specifically comprises the following algorithms:
model prediction, simulating and predicting a three-dimensional animation demonstration picture of the bucket wheel machine through the algorithm,
YM(k+1)＝AΔU(k)+A0u (k-1), where k is a time;
the accuracy of the motion model of the bucket wheel machine is optimized through the algorithm, the error is reduced,
ΔU(k)＝(ATQT+R)-1ATQ[WP(k)-yP0(k)]wherein R is a control quantity weighting matrix, and Q is an output prediction error weighting matrix;
feedback correction, namely correcting the predicted value of each step through the algorithm, reducing the influence of mismatch of the bucket wheel machine model and environmental factors on a simulation result so as to achieve the effect of feedback correction,
initial predicted value at next time: y is0＝(k+1)＝sYp(k+1)；
The dynamic matrix control algorithm is adopted to establish a bucket wheel machine and a coal pile three-dimensional model changing in real time, multi-model predictive control simulation is carried out, the dynamic matrix control algorithm is particularly applied to automatic stacking and taking and safety protection work, and automatic operation efficiency and safety protection level are effectively improved.
Furthermore, the monitoring module comprises a network high-definition camera device, the monitoring video module comprises a monitoring display large screen, the network high-definition camera device transmits monitored real-time image information of an operation area to the monitoring display large screen through a local control communication integrated switch, the network high-definition camera device is installed at an important mechanism part of the bucket wheel, the monitoring system can effectively ensure the squeak sound of the bucket wheel machine, the safety of a stock ground and workers, the camera can be controlled through a control cloud platform, and the real-time high-definition image of the coal yard is transmitted back to the display screen of the control slave station.
Furthermore, the unattended intelligent system of the bucket wheel machine specifically comprises the following control program flows:
s1, acquiring current position data of the bucket wheel set, triggering a data storage function when the bucket wheel machine enters an operation area in an operation state, acquiring the current operation state and operation parameters of the bucket wheel machine, and automatically reading historical data of previous operation by the bucket wheel machine when the bucket wheel machine enters the operation area again for operation after the bucket wheel machine stops operating and the data are not updated;
s2, acquiring a current operation mode, comparing current state data of the bucket wheel set, and determining the operation mode, wherein the specific mode comprises stacking and taking;
s3, calling historical operation data of an operation point, and if no historical operation data exists, observing the current actual operation condition through a remote control console by a worker, and manually selecting a reasonable operation mode;
s4, automatically stacking and taking materials, if the materials are stacked, adopting a cantilever rotation single-layer stacking mode, detecting the stacking height by adopting a high-energy sound wave level meter, automatically setting the width and height of the coal pile, automatically adjusting the rotation speed and retreating and stepping by the system, and carrying out no human intervention in the whole process; if the material taking is carried out, the system automatically controls the material taking stepping and the cantilever rotation, a laser flow detection device is adopted, automatic adjustment is carried out, constant material taking is kept, and no human intervention exists in the whole process.
Example 2
Referring to fig. 1-4, on the basis of embodiment 1, the difference lies in an intelligent unattended system of a bucket wheel machine, which specifically includes the following control program flows:
s1, acquiring current position data of the bucket wheel set, controlling the set to move to an operation point through a control module if the current position data of the bucket wheel set does not reach the operation point, triggering a data storage function when the bucket wheel set enters an operation area in an operation state, acquiring the operation state and operation parameters of the current bucket wheel set, stopping the operation of the bucket wheel set, and automatically reading historical data of previous operation by the bucket wheel set when the bucket wheel set enters the operation area again for operation;
s2, acquiring a current operation mode, comparing current state data of the bucket wheel set, and determining the operation mode, wherein the specific mode comprises stacking and taking;
s3, calling historical operation data of an operation point, and directly performing stacking and taking operation if the historical operation data exists;
s4, automatically stacking and taking materials, if the materials are stacked, adopting a cantilever rotation single-layer stacking mode, detecting the stacking height by adopting a high-energy sound wave level meter, automatically setting the width and height of the coal pile, automatically adjusting the rotation speed and retreating and stepping by the system, and carrying out no human intervention in the whole process; if the material taking is carried out, the system automatically controls the material taking stepping and the cantilever rotation, a laser flow detection device is adopted, automatic adjustment is carried out, constant material taking is kept, and no human intervention exists in the whole process.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (9)
1. An unattended intelligent system of a bucket wheel machine is characterized by comprising a remote control operation console, wherein the remote control operation console comprises a bucket wheel machine PLC control system, the bucket wheel machine PLC control system comprises a plurality of bucket wheel machine sets, local control communication integrated switches corresponding to the bucket wheel machine sets and PLC control slave stations corresponding to the local control communication integrated switches, the bucket wheel machine sets are in communication connection with the corresponding local control communication integrated switches, and the local control communication integrated switches are in communication connection with the corresponding PLC control slave stations;
the bucket wheel set comprises a data storage module, an automatic control module, a detection module, a monitoring module and a communication module, and the PLC control slave station comprises a data analysis module, an operation module, a three-dimensional display module, a monitoring video module and a communication module.
2. The unmanned intelligent system for the bucket wheel machine according to claim 1, wherein the data in the data storage module comprise an operation state, a material piling and taking mode and operation parameters of the bucket wheel machine, and the operation parameters comprise a cart position, a rotation angle and a height variation.
3. The unmanned intelligent system for the bucket wheel machine according to claim 1, wherein detection equipment is arranged on the bucket wheel machine set, and the detection equipment comprises contour scanning equipment, automatic positioning equipment, environment detection equipment and coal pile detection equipment;
the profile scanning device corresponds to a pile amount detection element in the detection module, the automatic positioning device corresponds to a position detection element in the detection module, the environment detection device corresponds to an environment detection element in the detection module, and the coal pile detection device corresponds to a coal pile detection element in the detection module.
4. The unmanned intelligent system of a bucket wheel machine of claim 3, wherein the pile detection element and the position detection element in the detection module form an anti-collision risk avoiding module, a one-key start-stop control module is arranged in the PLC control slave station, and the anti-collision risk avoiding module is in signal connection with the one-key start-stop control module.
5. The intelligent unattended system for bucket wheels of claim 1, wherein the PLC control slave station data analysis module specifically comprises the following algorithm:
model prediction, simulating and predicting a three-dimensional animation demonstration picture of the bucket wheel machine through the algorithm,
YM(k+1)＝AΔU(k)+A0u (k-1), where k is a time;
the accuracy of the motion model of the bucket wheel machine is optimized through the algorithm, the error is reduced,
ΔU(k)＝(ATQT+R)-1ATQ[WP(k)-yP0(k)]wherein R is a control quantity weighting matrix, and Q is an output prediction error weighting matrix;
feedback correction, namely correcting the predicted value of each step through the algorithm, reducing the influence of mismatch of the bucket wheel machine model and environmental factors on a simulation result so as to achieve the effect of feedback correction,
initial predicted value at next time: y is0＝(k+1)＝sYp(k+1)。
6. The intelligent unattended bucket wheel machine system according to claim 1, wherein the autonomous control program flow of the PLC bucket wheel machine control system for the unattended bucket wheel machine set specifically comprises the following steps:
s1, acquiring the current position data of the bucket wheel set, and controlling the bucket wheel set to move to an operation point through the control module if the bucket wheel set does not reach the operation point;
s2, acquiring the current operation mode;
s3, calling historical operation data of an operation point, and if no historical operation data exists, observing the current actual operation condition through a remote control console by a worker, and manually selecting a reasonable operation mode;
and S4, automatically stacking and taking materials.
7. The intelligent unattended bucket wheel machine system according to claim 6, wherein in the step S1, the bucket wheel machine set reads historical data of last operation in the area, and the current state data of the bucket wheel machine set is compared to determine the movement direction of the current operation, so that the accurate cut-in operation point is realized.
8. The intelligent unattended bucket wheel machine system according to claim 6, wherein in the step S2, the bucket wheel machine set reads historical data of operation in the area last time, and determines the operation mode of the time by comparing current state data of the bucket wheel machine set, and the operation mode of the bucket wheel machine set specifically includes material stacking and material taking.
9. The unmanned intelligent system for the bucket wheel machine according to claim 1, wherein the monitoring module comprises a network high-definition camera device, the monitoring video module comprises a large monitoring display screen, and the network high-definition camera device transmits monitored real-time image information of the working area to the large monitoring display screen through the local control communication integrated switch.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114590605A (en) * | 2022-03-15 | 2022-06-07 | 内蒙古京宁热电有限责任公司 | Intelligent unmanned control system for bucket-wheel stacker reclaimer |
| CN114803391A (en) * | 2022-05-12 | 2022-07-29 | 北京华能新锐控制技术有限公司 | Unattended automatic material taking method for bucket wheel machine of intelligent fuel system |
| CN115576360A (en) * | 2022-10-12 | 2023-01-06 | 华能南京金陵发电有限公司 | Anti-collision control method for bucket wheel machine |
| CN115676412A (en) * | 2022-10-28 | 2023-02-03 | 北京京能电力股份有限公司 | Monitoring and early warning method and system for operating state of bucket wheel machine |
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| CN114803391B (en) * | 2022-05-12 | 2023-11-03 | 北京华能新锐控制技术有限公司 | Unmanned automatic material taking method for bucket wheel machine of intelligent fuel system |
| CN115576360A (en) * | 2022-10-12 | 2023-01-06 | 华能南京金陵发电有限公司 | Anti-collision control method for bucket wheel machine |
| CN115576360B (en) * | 2022-10-12 | 2023-11-07 | 华能南京金陵发电有限公司 | Anti-collision control method for bucket wheel machine |
| CN115676412A (en) * | 2022-10-28 | 2023-02-03 | 北京京能电力股份有限公司 | Monitoring and early warning method and system for operating state of bucket wheel machine |
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