CS204819B1 - Connection of the circuit for the control and regulation of the hoisting engine run - Google Patents

Description

It is an object of the invention to connect a circuit for controlling and controlling the movement of a hoisting machine in automatic and manual operation.

All systems used to date for driving and stopping of hoisting machines operate on the principle of separate control circuits, which are in some way superior to the own control circuits of the hoisting machine and control their operation. This solution always leads to an increase in the number of control circuits in the case of a requirement for increased safety, which, however, increases the probability of erroneous failure reporting. In essence, this method never makes it possible to exclude erroneous reporting of control circuit faults in case of malfunction.

The above-mentioned drawbacks are eliminated by the wiring of the steering circuit and the driving control of the inventive hoisting machine, which comprises at least three systems, each comprising a speed sensor, a speed integrator, a comparator, a sequence and combination logic block and an integration block. and quadrature. The output from the speed sensor of the first system is connected to the first input of the speed integrator, to the first input of the integration and decoder block, to the sixth input of the switch, and simultaneously to the fourth input of the control circuit. The outputs of speed sensors of other systems are connected to the seventh and eighth inputs of the switch and to the fifth and sixth inputs of the control circuit. The second inputs of the speed integrators of all systems are connected to the rectification switches, the second outputs of the speed integrators of each system are connected to the first, second and third inputs of the switch and simultaneously to the seventh, eighth and ninth inputs of the control circuit. the second input of which is connected the second output of the sequential and combinational logic block. The comparator output is coupled to the first sequential and combinational logic block input whose second, third, fourth and fifth inputs are connected to the first, second, third and fourth preselection switch contacts, the first output of the sequential and combinational logic block being connected to the second block input integration and decadrature, and the outputs of the integration and decadrature blocks of each system are connected to the ninth, tenth and eleventh switch inputs and to the first, second and third inputs of the control circuit, the first output of which is connected to the fifth switch input, the first output of which is the depth display and the second output of which is connected to the speed display input, is connected to the first speed controller input, and the third output of the switch is connected to the second input of the minimum value selection block, the first input of which is connected to and the maximum input, the first input of which is the speed reference output and the second input is connected to the contact selector.

The principle of the solution according to the invention is mutual control of individual blocks among themselves. The circuit provides several basic functions at the same time in the control of the mining machine in automatic and manual operation. With manual steering, they are. these functions:

1. Depth measurement

2. Range management

3. Continuous control of the range of the mining machine

4. Checking the maximum speed of the hoisting machine

5. Depth limit switch position reporting.

In automatic operation, these are the following features:

6. After positioning - range control

7. Continuous positioning control

8. Automatic transplanting

By connecting the driving control circuit of the excavating machine according to the invention, it is possible to concentrate the individual control circuits into a single unit *, which leads to a reduction in the number of roads. At the same time, the failure rate of the whole system decreases considerably.

The overall circuit assembly of the driving machine of the invention comprises three or more identical systems and common blocks.

For the sake of simplicity, only one of the three identical systems and common blocks are shown in the attached drawing. connection.

The system 1 consists of a speed sensor 7, a speed integrator 2, a comparator 3, a sequential and combinational logic block 4 and an integration and decodrature block 5, the output 1 of the speed sensor 11 being connected to the first input 2.1 of the speed integrator 2 *. _t to the first input 5.1 of the integration and decodrature block 5, to the sixth input 10.6 of the switch and to the fourth input 9.4 of the control circuit 2 *

On the seventh and eighth inputs 10,7 and 10.8 of the switch 10 and on the fifth and sixth inputs 9.5 and 9.6 of the control circuit 6 the outputs of the speed sensors 7 of the other systems and III and the second inputs 2.2 of the speed integrator 2 of all systems are connected to the rectification switches 1. 6. The second outputs 2.4 of the speed integrators 2 of the individual systems are connected to the first, second and third inputs 10.1, 10.2 and 10.3 of the switch 10 as well as to the seventh, eighth and ninth inputs 9.7, 9.8 and 9.9 of the control circuit 9.

The first output 2.3 of the integrator is coupled to the first input 3 ♦ 1 of the comparator 3, to the second input 3 of which the second output 4.7 of the sequential and combinational logic block 4 is connected, the output 3.3 of the comparator 3 is connected to the first input 4.1 of the sequential and combinational block. logic. The second, third, fourth and fifth inputs 4.2, 4.3, 4.4 and 4.5 of sequence 4 and combination logic block 4 are connected to the first, second, third and fourth contacts 17.1, 17.2, 17.3 and

17.4 preselection switches 17, wherein the first output 4.6 of the 4th sequence and combinational logic block is connected to the second input 5.2 of the integration and decodrature block 5 and the outputs

5.3 the blocks 5 of integration and decadrature of the individual systems 1 ^ II, III are connected to the ninth, tenth and 11th inputs 10.9, 10.10 and 10.11 of the switch 10 and to the first, second F third inputs 9.1, 9.2 and 9.3 of the control circuit whose first output 9.11 The second output 9, 12 of the control circuit 9 is coupled to the input of the fault reporting block 13.

The first output 10.4 of the switch 10 is connected to the input 11.1 of the depth display 11 and the second output 10.12 of the switch 10 is connected to the input 12.1 of the speed display 12 and is connected to the first input 14.1 of the speed controller 14. connected to the second input 8.2 of the minimum value selection block $ 3, the first input 8.1 of which is coupled to the output of the 7th slope and maximum limiter 7.3, the first input 7.1 of which is connected to the speed reference value output; the maximum is connected to the contact selector 18. The output 8.3 of the minimum value selection block 8 is connected to the second input 14.2 of the speed controller 14.

The function of connecting the circuit for driving and controlling the movement of the mining machine according to the invention is as follows:

The signal from output 1.1 of the speed sensor 1, indicating the actual value of the speed, is applied to the first input 2.1 of the speed integrator 2 so that at its second output

2.4 is the cage depth signal. At the first output 2.3 of the speed integrator 2 is also a depth signal in a modification suitable for the comparator 3. At the second entrance

2.2 of the speed integrator 2, a signal is provided from the rectification switches 16, by which the value in the speed integrator 2 is rectified according to the actual position of the cage.

The cage setpoint signal from the second output 4.7 of the sequential and combinational logic block 4 is applied to the second input 3.2 of the comparator. The moment of reaching the desired position of the cage is reported from the output 3.3 of the comparator 3 to the first input 4.1 of the block 4 of the sequential and combinational logic. The value of the desired depth is determined from the first contact 17.1 of the preselection switch 17 at the second input 4 ' of the sequential and combinational logic 4 block.

Likewise, the number of offsets from the second contact 17.2 to the third input is determined

4.3 and the mode of operation manually / automatically / from the third contact 17.3 of the pre-selection switch 17 to the fourth input 4.4 of the sequential and combinational logic block 4, to whose fifth input

4.5, the start of the machine is started from the fourth contact 17.4 of the selector switch 17.

Block 5 of integration and decadrature performs the following mathematical operation on the actual velocity signal applied to its first input 5.1 from output 1.1 of the velocity sensor h ^V 1 ^{= Sg} {[ ^{/ / v, dt /} ] ^_c }

- where vj is the speed reference at the output 5.3 of the 5 * integration block and the decimal decoder

- Sg ξ sign integral of Jv.ït integral, which can take values -1 -v z actual velocity value

- C = constant

The sequential and combinational logic block 4 controls the operation of the entire system by releasing, at the start command from the fourth contact 17.4 of the selector switch 17, a signal from the first output 4.6 to the second input 5.2 of the integration and quadrature block 5 so that it increases with constant acceleration up to reaching the nominal value. The sequential and combinational logic block 4 then sets the second output 4.7 to the value of the desired cage / exit floor position determined from the first contact 17.1 of the selector switch 17 / lowered by the coast.

Reaching this point is reported by the output

3.3 Comparator 3 ^ The sequence and combinational logic block reacts to this information at the first input 4.1 by issuing at the first output 4.6 a command to reduce the speed reference signal at the output

5.3 according to the above described function of the integration and quadrature block 5, and at the same time enters the following setpoint value at the second output 4.7 of the sequence and combination logic block 4 determined from the first contact 17.1 of the selector switch 17 reduced by the positioning path. In order to achieve this new depth setpoint, a state is reported to block 4 of the external and combinational logic as described above, and it reacts by adjusting the coasting speed in block 4 of the integration and the quadrature.

From this point on, this block operates as a position controller when automatic mode is selected. If auto mode is not selected, it remains on its output

5.3. The so-called exit speed value. Outputs 1.1 from speed sensors, second outputs 2.4 from integrated speed 2 and outputs

5.3 of the blocks 5 of the individual systems I, II, III are connected both to the inputs of the switch 10 and to the inputs of the control circuit 9. The control circuit 9 compares the values at the inputs 9.1, 9.2, 9.3 or 9.4, 9.5, 9.6 or 9.7, 9.8, 9.9.

If one of the inputs differs by more than the allowed deviation from the other two, the system to which the respective input is connected is considered defective. The control circuit 9 responds to this condition so that when the system is selected as the control by switch 10, the control circuit 9 at the first output 9.11 sends a command to switch the switch 10 to the next system.

If there is a disagreement between the other two systems), in the fault report block 13, an emergency condition is reported from the second output 9.12 of the control circuit j). Likewise, an emergency state is detected and the control circuit 9 is detected ^on two of the three maximum speed exceedances 9.4, 9.5, 9.6.

At the first output 10.4 of the switch 10 there is a cage depth indication signal that is applied to the input 11.1 of the cage depth display 11. Second output 10.12

Claims (4)

SUBJECT Circuit Control and Control Circuit Connection consisting of Speed Setpoint Control, Slope and Maximum Limiter, Minimum Value Block, Switch, Control Circuit, Depth Display, Speed Display, Failure Message Block, Speed Controller, Rectifier Switches, Switches preselection and contact selector, characterized in that it comprises at least three systems (1, II, III), each comprising a speed sensor (1), a speed integrator (1) 2 /, comparator / 3) of the sequential and combinational logic block (4) and the integration and decodrature block (5), wherein the output (1.1) of the speed sensor (1) of the first system (1) is connected to the first input (2.1) of the speed integrator (2); to the first input (5.1) / block (5) of the integration and the quadrature, to the sixth input (10.6) of the switch (10) and simultaneously to the fourth input (9.4) of the control circuit (9), (10) and the outputs (1.1) of speed sensors (1) of other systems (II and III) are connected to the fifth and sixth inputs (9.5) and (9.6) of the control circuit (9) and to the second inputs (2.2.2) of the speed integrators 2) all systems are connected with rectification switches (16), the second outputs (2.4) of speed integrators (2) of individual systems are connected to the first, second and third inputs (10.1, 10.2 and 10.3) of the switch (10) and to the seventh, the eighth and ninth inputs (9.7, 9.8 and 9.9) of the control circuit (9) and the first output (2.3) integ The speed controller (2) communicates with the first switch 10 to transmit the actual speed value signal to the first input 14.1 of the speed controller 14, which is also connected to the input 12.1 of the speed display 12. The actual speed value is the signal used for the speed control loop. At the third output 10.15 of the switch 10, a velocity reference signal is processed according to the permissible velocity value by the cage position. This signal is applied to the second input 8.2 of the minimum value selection block 11, to whose first input -8.1 a velocity reference signal is input, manually entered or, in the case of automatic operation, a fixed value. This signal is supplied from the output 7 ♦ 3 of the steepness limiter 7 and the maximum. The maximum limitation value is set by the contact selector 18 to the second input 7.2 of the rise and peak limiter 7, to which the first input 7.1 is then supplied with a speed reference signal manually entered by the controller. it is connected to the second input 14.2 of the speed controller 14. The described configuration can be extended to more than three systems, while the probability of false fault reporting does not increase due to mutual monitoring. The whole assembly is capable of working properly with at least two systems, which increases uptime. By comparing the output signals from different system blocks, it is possible to perform partial localization of the system failure. In accordance with the input (3.1) of the comparator (3), the second input (3.2) of which is connected the second output (4.7) of the block / 4 / sequence and combinational logic, the output of the comparator (3) being connected to the first input / sequential and combinational logic whose second, third, fourth and fifth input /4.2, 4.3, 4.4 and.4.5 / is connected to the first, second, third and fourth contacts /17.1, 17.2, 17.3 and 17.4 / preset switches / 17 /, wherein the first output (4.6) of the block (4) of the sequential and combinational logic is connected to the second input (5.2) of the block / 5 / integration and decodrature and outputs /5.3/ of the blocks / 5 / integration and decadrature of individual systems (1, II, III) are connected to the ninth, tenth and eleventh inputs /10.9, 10.10 and 10.11 / switches / 10 / and to the first, second and third inputs /9.1, 9.2 and 9.3 / of the control circuit (9), whose first output (9.11) is connected to the fifth input (10.5) of the switch (10), whose first output (10.4) is connected to the input (11.1) of the depth display, and whose second output (10.12) is firstly connected to input (12.1) of speed display (12), secondly connected to first input (14.1) of speed regulator (14) and third output (10.15) of switch (10) is connected to second input (8.2) of block / 8 / selecting the minimum value whose first input /8.1/ is connected to output /7.3/ a slope and maximum limiter (7) on whose first input (7.1) the output of the cruise control actuator (6) is connected and whose second input (7.2) is connected to the contact selector (18).