CN101229525B - Raymond mill crashing auto control method and equipment thereof - Google Patents
Raymond mill crashing auto control method and equipment thereof Download PDFInfo
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- CN101229525B CN101229525B CN2008100207923A CN200810020792A CN101229525B CN 101229525 B CN101229525 B CN 101229525B CN 2008100207923 A CN2008100207923 A CN 2008100207923A CN 200810020792 A CN200810020792 A CN 200810020792A CN 101229525 B CN101229525 B CN 101229525B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses an automatic control method of Raymond mill grinding. Equipment can be automatically adjusted so as to ensure that the Raymond mill runs at an optimum load condition. The invention also discloses an automatic control method and an automatic control device for implementing the Raymond mill grinding. The device not only can real-time monitor the operation condition of feeding, grinding, airflow rough separation in a Raymond mill workshop, but also can automatically adjust feeding and grinding according to the main engine load. Furthermore, the invention also can automatically adjust a blower on the basis of technical requirements, which realizes the automation of the airflow rough separation and overcomes the shortcomings of manual operation operated by workers. The invention adopts a self-adaptive control method to adjust and control and employ a programmable logic controller as a control core. No manual operation is needed in the whole production process, thus realizing the fully automatic adjustment of feeding, grinding and airflow rough separation, saving energy, greatly reducing equipment failure rate and increasing productive efficiency; through using a supervisory control computer witch can carry out a real-time monitor, the working parameter and index parameter of the PLC can be modified at any time so as to improve production efficiency.
Description
Technical field
The present invention relates to a kind of Raymond mill crashing auto control method and the device thereof that can realize Raymond mill vibrating feed, pulverizing, air-flow rough segmentation operating mode between crushing vehicle are monitored in real time, Automatic Optimal is controlled.
Background technology
Raymond mill is from a kind of powder process grinding machine that abroad imports into, and domestic production at present is more, and it is suitable for various breeze preparations, pulverized coal preparation, as the fine powder processing of materials such as raw material ore deposit, colliery, diamond, carborundum.Raymond mill is seen steel vessel setting of picture from profile, and air intake, air outlet are arranged, and there is charging aperture at the middle part.This machine structure mainly is made up of main frame, analyzer, air blast, finished product cyclone separator, micro mist cyclone separator and airduct.Wherein, main frame is made up of frame, air intake spiral case, perching knife, grinding roller, bull ring, case.
During work, electro-vibrating feeder will need in the feed hopper adding machine of the material slave case side of pulverizing, the Burnisher apparatus that is suspended on the main frame plum blossom frame revolves round the sun around vertical axis, own rotation simultaneously, because action of centrifugal force during rotation, grinding roller is outwards swung, and presses in bull ring, make perching knife scoop up material and deliver between grinding roller and the bull ring, reach the purpose of comminuting matter because of the rolling compaction of grinding roller.
Existing Raymond mill is pulverized the production line feed, size sorting all is by workman's manual operation.Because the feed controller has non-linear, hysteresis, the workman can't accurately control delivery rate in regulating the feed process.Delivery rate is slow excessively, and then production efficiency is low; Delivery rate is too fast, and then easy occluding device causes the fault of shutting down and burning motor, and influence is produced, and has increased maintenance cost greatly.Size sorting also by the workman operate air blast, analytical engine is regulated and is realized, control accuracy is not high, sharpness of separation is low, has increased the difficulty of subsequent treatment.
Summary of the invention
Primary and foremost purpose of the present invention provides a kind of Raymond mill crashing auto control method, and equipment is regulated automatically, makes Raymond mill be operated in the optimum load state.Another object of the present invention is to overcome the manually operated deficiency of workman, the automaton of implementing Raymond mill crashing auto control method is provided, this device can not only be monitored the operating mode of Raymond mill workshop feed, pulverizing, air-flow rough segmentation in real time, and can regulate feed, pulverizing automatically according to main unit load, can also regulate air blast automatically according to technological requirement, realize air-flow rough segmentation automation.When control device breaks down, can report to the police automatically or stop according to fault level with protection equipment.
The present invention adopts following technical scheme:
A kind of Raymond mill crashing auto control method, it is characterized in that according to Adaptive Control Theory, feed controller with electro-vibrating feeder is an object, makes up the control model of band Smith Predictor, according to the Raymond mill main unit load, adopt the minimum variance control method, determine system dynamic model, the prediction regulated quantity is regulated automatically to equipment, make Raymond mill be operated in the optimum load state, described autocontrol method specifically comprises the steps:
Step 1: beginning, running parameter is set, comprise setting to the deviation allowable value of Raymond mill main frame optimum load current value and Raymond mill main frame electric current;
Step 2: gather Raymond mill main frame electric current, and conditioning filtering obtains main frame and finally detects current value;
Step 3: calculate the first current deviation value, the detection current value subtraction calculations that filtering in optimum load current value in the step 1 and the step 2 is obtained goes out the first current deviation value;
Step 4: the deviation allowable value of the Raymond mill main frame electric current of setting in first current deviation value that step 3 is obtained and the step 1 compares, if the first current deviation value less than deviation allowable value, then execution in step five, otherwise execution in step six;
Step 5: the feed controller keeps delivery rate constant, returns step 2;
Step 6: parameter estimation, estimate pid control parameter, adopt Smith's preestimating method to estimate pid control parameter according to the first current deviation value;
Step 7: adopt the minimum variance control algolithm to calculate output, adopt the minimum variance control algolithm to obtain through the step 6 parameter estimation the control parameter revise, calculate the output result;
Step 8: the output result that step 7 is obtained delivers to the feed controller;
Step 9: feed controller control electro-vibrating feeder increases or reduces delivery rate; Return step 2 then.
The present invention also provides the automaton of implementing described Raymond mill crashing auto control method, it is characterized in that described automaton comprises current transformer, current transducer, programmable logic controller (PLC) and supervisory control comuter; Described programmable logic controller (PLC) comprises analog quantity input module, CPU module, analog output module as core controller, and the input and output side of described CPU module connects the corresponding port of described analog quantity input module and analog output module respectively; Described supervisory control comuter is connected with described CPU module, the duty that is used to that the running parameter of programmable logic controller (PLC) is set and monitors Raymond mill in real time; The main frame power transmission line of described current transformer and Raymond mill is of coupled connections, its output connects the first input end of described analog quantity input module by described current transducer, is used to detect the main frame electric current and nurses one's health into the standard detection current signal by current transducer and send into the analog quantity input module for the CPU resume module; First control output end of described analog output module connects the feed controller, is used for the delivery rate according to the result control Raymond mill electro-vibrating feeder of CPU module.
Preferably, described automaton also comprises baroceptor, described baroceptor is placed in the Raymond mill plumbing installation, second input of the described analog quantity input module of its output termination, being used for the air pressure size conversion is that current signal is sent into the analog quantity input module for the CPU resume module, second control output end of described analog output module connects the blower variable frequency device, is used for the air quantity size according to the result control Raymond mill air blast of CPU module.
Further, described programmable logic controller (PLC) also contains the digital quantity output module, and first control output end of described digital quantity output module connects alarm.Second control output end of described digital quantity output module can also connect the relay of controlling emergency stop switch.
The present invention with programmable logic controller (PLC) as core controller, detect the main frame electric current by current transformer, nurse one's health into 4～20mA electric current of standard through current transducer, and behind filter filtering, send into programmable logic controller (PLC), programmable logic controller (PLC) calculates the deviate of sampled value and optimum load current setting value, carry out new parameter estimation according to the parameter of deviate and last time then, and adopt the minimum variance control algolithm to calculate output quantity, programmable logic controller (PLC) is delivered to the feed controller with output quantity, realization guarantees that to the automatic adjusting of electro-vibrating feeder delivery rate makes host work at the optimum load state; Simultaneously by the air pressure in the baroceptor detection ventilation shaft, send into programmable logic controller (PLC), adopt above-mentioned self-adaptive PID (ratio, integration, differential) algorithm to regulate by programmable logic controller (PLC), programmable logic controller (PLC) is delivered to the blower variable frequency device with output quantity, regulates the blower variable frequency device automatically air blast is operated near the optimum condition state.
The monitoring software of supervisory control comuter adopts the iFix configuration software, and relevant technological parameter, index can be set, and realizes generating in real time, functions such as historical data curve and form.Programmable logic controller (PLC) is optimized processing according to the size indicator of monitoring software setting, regulates air blast when producing the different grain size grade products automatically.
Beneficial effect of the present invention is: adopting self-adaptation control method to regulate and control, is the control core with PLC, and whole process of production need not manually-operated, realized the full-automatic regulation of feed, pulverizing, air-flow rough segmentation, save energy consumption, significantly reduced equipment failure rate, increased productivity effect; Monitor in real time by supervisory control comuter, can revise running parameter, the index parameter of PLC at any time, improved production efficiency.Simultaneously, control device of the present invention is the control core with PLC, by the powerful expanded function of PLC, can realize the automatic control to many Raymond mill production processes simultaneously, has improved production efficiency greatly, has enlarged range of application.The present invention helps reducing the expense of enterprise development enlarging, maintenance and renewal, has improved economic benefit, has avoided the workman in abominable production scene manual adjustment simultaneously, greatly reduces working strength of workers, has improved work situation.
Description of drawings
The invention will be further elaborated below in conjunction with the drawings and specific embodiments.
Fig. 1 is Raymond mill and corollary equipment schematic diagram thereof;
Fig. 2 is the Raymond mill crashing auto control method flow chart;
Fig. 3 is that Raymond mill is pulverized the automaton structured flowchart;
Fig. 4 is the line schematic diagram of each module of PLC.
Among Fig. 1: 1, jaw crusher; 2, winnowing pan elevator; 3, electro-vibrating feeder; 4, transmission device; 5, main frame; 6, analytical engine; 7, plumbing installation; 8, air blast; 9, storage bin hopper; 10, willy-willy gatherer; 11, backwind tube; 12, flour extraction pipe
The specific embodiment
In Fig. 1, be crushed to through jaw crusher 1 a certain size granularity lump material through shaping,
The granularity sand that obtains behind washing, oven dry, the iron removal by magnetic separation (diameter＜20mm), by winnowing pan elevator 2 with the material vertical transport to storage bin hopper 9, send into granularity sand in the main frame 5 quantitatively, evenly, continuously by electro-vibrating feeder 3 again, grind, powder after the grinding is bloated by air blast 8, and the analytical engine 6 through placing main frame 5 tops carries out classification.The powder that fineness meets the specification flows to the wind into willy-willy gatherer 10, collects after flour extraction pipe 12 is discharged and is finished product.Distinguished and admirable backwind tube 11 by willy-willy gatherer 10 upper ends is got back to air blast 8, whole air path system be sealing and circulating and in the negative pressure state current downflow.
As shown in Figure 2, a kind of Raymond mill crashing auto control method, it is characterized in that according to Adaptive Control Theory, feed controller with electro-vibrating feeder is an object, make up the control model of band Smith Predictor, according to the Raymond mill main unit load, adopt the minimum variance control method, determine system dynamic model, the prediction regulated quantity is regulated automatically to equipment, make Raymond mill be operated in the optimum load state, wherein, described electro-vibrating feeder is used for and will waits to pulverize the amount of anticipating, evenly, send into continuously in the main frame of Raymond mill, described autocontrol method specifically comprises the steps:
Step 1: beginning, running parameter is set, comprise setting to the deviation allowable value of Raymond mill main frame optimum load current value and Raymond mill main frame electric current;
Step 2: gather Raymond mill main frame electric current, and conditioning filtering obtains main frame and finally detects current value;
Step 3: calculate the first current deviation value I1, the detection current value subtraction calculations that filtering in optimum load current value in the step 1 and the step 2 is obtained goes out the first current deviation value I1;
Step 4: the deviation allowable value of the Raymond mill main frame electric current of setting in first current deviation value I1 that step 3 is obtained and the step 1 compares, if the first current deviation value I1 less than deviation allowable value, then execution in step five, otherwise execution in step six;
Step 5: the feed controller keeps delivery rate constant, returns step 2;
Step 6: parameter estimation, estimate pid control parameter, adopt Smith's preestimating method to estimate pid control parameter according to the first current deviation value I1;
Step 7: adopt the minimum variance control algolithm to calculate output, adopt the minimum variance control algolithm to obtain through the step 6 parameter estimation the control parameter revise, calculate the output result;
Step 8: the output result that step 7 is obtained delivers to the feed controller;
Step 9: feed controller control electro-vibrating feeder increases or reduces delivery rate; Return step 2 then.
As shown in Figure 3, Raymond mill pulverizing automaton comprises current transformer, current transducer, baroceptor, PLC and supervisory control comuter.PLC comprises analog quantity input module SM331, CPU module, analog output module SM332 as core controller, and the input and output side of CPU module connects the corresponding port of analog quantity input module SM331 and analog output module SM332 respectively.Supervisory control comuter is connected with the CPU module, the duty that is used to set the running parameter of PLC and monitors Raymond mill in real time.The PLC running parameter of setting comprises the setting of the deviation allowable value of Raymond mill main frame optimum load current value and Raymond mill main frame electric current.Main frame 5 power lines of Raymond mill are of coupled connections among current transformer and Fig. 1, its output connects the first input end of analog quantity input module SM331 by current transducer, is used to detect the main frame electric current and nurses one's health into the standard detection current signal by current transducer that (4～20mA) send into analog quantity input module SM331 for the CPU resume module.The processing procedure of CPU module is as follows:
The first step: the main frame standard detection current signal after the conditioning is carried out filtering obtain main frame and finally detect current value;
Second step: the Raymond mill main frame optimum load current value that configures and this main frame are finally detected the current value subtraction calculations go out the first current deviation value I1;
The 3rd step: the deviation allowable value of the Raymond mill main frame electric current of the first current deviation value I1 and setting is compared, if the first current deviation value I1 then enters next processing cycle, to new inspection less than deviation allowable value
Survey and nurse one's health the main frame standard detection current signal that obtains restart to carry out backward, otherwise entered for the 4th step from the above-mentioned first step;
The 4th step: parameter estimation, adopt Smith's preestimating method to estimate pid control parameter according to the first current deviation value I1;
The 5th step: adopt the minimum variance control algolithm to the 4th step obtain the control parameter revise, calculate the output result;
The 6th step: the output result that will calculate delivers to analog output module SM332, is used to change the delivery rate of feed controller.
Baroceptor is placed among Fig. 1 in the Raymond mill plumbing installation 7, second input of its output termination analog quantity input module SM331, and being used for the air pressure size conversion is that (4～20mA) pass to analog quantity input module SM331 for the CPU resume module to current signal.First control output end of analog output module SM332 connects the feed controller, its second control output end connects the blower variable frequency device, is used for distinguishing the delivery rate of control chart 1 Raymond mill electro-vibrating feeder 3 and the air quantity size of Raymond mill air blast 8 according to the result of CPU module.PLC also contains digital quantity output module SM322, and first control output end of digital quantity output module SM322 connects alarm.When there is mistake in the detected input signal of PLC, sends control signals to digital quantity output module SM322 and make alarm equipment alarm.Second control output end of digital quantity output module SM322 connects the relay of control emergency stop switch, and after warning continued for some time, PLC sent control signals to digital quantity output module SM322, and control relay disconnects emergency stop switch, and Raymond mill is out of service.
The control method of Raymond mill air blast air-flow size also is to adopt self-adaptive PID algorithm to regulate by PLC, and principle is identical with the control principle of aforementioned feed controller, is not repeated.
Fig. 4 illustrates the line schematic diagram of each module of PLC among the present invention.Wherein, PLC expands to two analog quantity input module SM331, two analog output module SM332 and two digital quantity output module SM322, simultaneously the production process of six Raymond mills (being made as 1～No. 6) is controlled automatically with realization.
Fig. 4 (a) is first analog quantity input module SM331, and 22, No. 23 passages are connected to the current transducer of No. 1 main frame, and 24, No. 25 passages are connected to the baroceptor of No. 1 pipeline; 26,27 passages are connected to the current transducer of No. 2 main frames, and 28, No. 29 passages are connected to the baroceptor of No. 2 pipelines; 32, No. 33 passages are connected to the current transducer of No. 3 main frames, and 34, No. 35 passages are connected to the baroceptor of No. 3 pipelines; 36, No. 37 passages are connected to the current transducer of No. 4 main frames, and 38, No. 39 passages are connected to the baroceptor of No. 4 pipelines.
Fig. 4 (b) is second analog quantity input module SM331, and 22, No. 23 passages are connected to the current transducer of No. 5 main frames, and 24, No. 25 passages are connected to the baroceptor of No. 5 pipelines; 26,27 passages are connected to the current transducer of No. 6 main frames, and 28, No. 29 passages are connected to the baroceptor of No. 6 pipelines; All the other are reserved passageway.
Fig. 4 (c) is first analog output module SM332, and its No. 1 passage connects 24 volts of dc sources, and No. 20 passage connects direct current ground; 3, No. 6 passages connect the batcher controller No. 1, and 7, No. 10 passages connect the blower variable frequency device No. 1; 11, No. 14 passages connect the batcher controller No. 2, and 15, No. 18 passages connect the blower variable frequency device No. 2; 23, No. 26 passages connect the batcher controller No. 3, and 27, No. 30 passages connect the blower variable frequency device No. 3; 31, No. 34 passages connect the batcher controller No. 4, and 35, No. 38 passages connect the blower variable frequency device No. 4.
Fig. 4 (d) is second analog output module SM332, and its No. 1 passage connects 24 volts of dc sources, and No. 20 passage connects direct current ground; 3, No. 6 passages connect the batcher controller No. 5, and 7, No. 10 passages connect the blower variable frequency device No. 5; 11, No. 14 passages connect the batcher controller No. 6, and 15, No. 18 passages connect the blower variable frequency device No. 6; All the other are reserved passageway.
Fig. 4 (e) is first digit amount output module SM322, and 1, No. 11 passages connect 24 volts of dc sources, and 10, No. 20 passage connects direct current ground; Its No. 2 passages connect the main frame run indicator No. 1; Its No. 3 passages connect the main frame run indicator No. 2; Its No. 4 passages connect the main frame run indicator No. 3; Its No. 5 passages connect the main frame run indicator No. 4; Its No. 6 passages connect the main frame run indicator No. 5; Its No. 7 passages connect the main frame run indicator No. 6; Its No. 12 passages connect the main frame alarm lamp No. 1; Its No. 13 passages connect the main frame alarm lamp No. 2; Its No. 14 passages connect the main frame alarm lamp No. 3; Its No. 15 passages connect the main frame alarm lamp No. 4; Its No. 16 passages connect the main frame alarm lamp No. 5; Its No. 17 passages connect the main frame alarm lamp No. 6; All the other are reserved passageway.
Fig. 4 (f) is second digit amount output module SM322, and 1, No. 11 passages connect 24 volts of dc sources, and 10, No. 20 passage connects direct current ground; Its No. 2 passages connect the main frame emergency stop switch No. 1; Its No. 3 passages connect the main frame emergency stop switch No. 2; Its No. 4 passages connect the main frame emergency stop switch No. 3; Its No. 5 passages connect the main frame emergency stop switch No. 4; Its No. 6 passages connect the main frame emergency stop switch No. 5; All the other are reserved passageway.
The CPU module is connected by the core bus of intermodule with above-mentioned analog quantity input module, analog output module, digital quantity output module.
Claims (5)
1. Raymond mill crashing auto control method, it is characterized in that according to Adaptive Control Theory, feed controller with electro-vibrating feeder is an object, makes up the control model of band Smith Predictor, according to the Raymond mill main unit load, adopt the minimum variance control method, determine system dynamic model, the prediction regulated quantity is regulated automatically to equipment, make Raymond mill be operated in the optimum load state, described autocontrol method specifically comprises the steps:
Step 1: beginning, running parameter is set, comprise setting to the deviation allowable value of Raymond mill main frame optimum load current value and Raymond mill main frame electric current;
Step 2: gather Raymond mill main frame electric current, and conditioning filtering obtains main frame and finally detects current value;
Step 3: calculate the first current deviation value (I1), the detection current value subtraction calculations that filtering in optimum load current value in the step 1 and the step 2 is obtained goes out the first current deviation value (I1);
Step 4: the deviation allowable value of the Raymond mill main frame electric current of setting in the first current deviation value (I1) that step 3 is obtained and the step 1 compares, if the first current deviation value (I1) less than deviation allowable value, then execution in step five, otherwise execution in step six;
Step 5: the feed controller keeps delivery rate constant, returns step 2;
Step 6: parameter estimation, estimate pid control parameter, adopt Smith's preestimating method to estimate pid control parameter according to the first current deviation value (I1);
Step 7: adopt the minimum variance control algolithm to calculate output, adopt the minimum variance control algolithm that the control parameter that obtains through the step 6 parameter estimation is revised, calculate the output result;
Step 8: the output result that step 7 is obtained delivers to the feed controller;
Step 9: feed controller control electro-vibrating feeder increases or reduces delivery rate; Return step 2 then.
2. implement the automaton of the described Raymond mill crashing auto control method of claim 1, it is characterized in that described automaton comprises current transformer, current transducer, programmable logic controller (PLC) and supervisory control comuter, described programmable logic controller (PLC) is as core controller, comprise analog quantity input module, CPU module, analog output module, the input and output side of described CPU module connects the corresponding port of described analog quantity input module and analog output module respectively; Described supervisory control comuter is connected with described CPU module, and the I that is used to be provided with programmable logic controller (PLC) makes the parameter and the duty of monitoring Raymond mill in real time; The main frame power transmission line of described current transformer and Raymond mill is of coupled connections, its output connects the first input end of described analog quantity input module by described current transducer, is used to detect the main frame electric current and nurses one's health into the standard detection current signal by current transducer and send into the analog quantity input module for the CPU resume module; First control output end of described analog output module connects the feed controller, is used for the delivery rate according to the result control Raymond mill electro-vibrating feeder of CPU module.
3. automaton as claimed in claim 2, it is characterized in that described automaton also comprises baroceptor, described baroceptor is placed in the Raymond mill plumbing installation, second input of the described analog quantity input module of its output termination, being used for the air pressure size conversion is that current signal is sent into the analog quantity input module for the CPU resume module, second control output end of described analog output module connects the blower variable frequency device, is used for the air quantity size according to the result control Raymond mill air blast of CPU module.
4. as claim 2 or 3 described automatons, it is characterized in that described programmable logic controller (PLC) also contains the digital quantity output module, first control output end of described digital quantity output module connects alarm.
5. automaton as claimed in claim 4 is characterized in that second control output end of described digital quantity output module connects the relay of control emergency stop switch.
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| CN2008100207923A CN101229525B (en) | 2008-02-27 | 2008-02-27 | Raymond mill crashing auto control method and equipment thereof |
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| CN2008100207923A CN101229525B (en) | 2008-02-27 | 2008-02-27 | Raymond mill crashing auto control method and equipment thereof |
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| TWI563356B (en) * | 2014-10-09 | 2016-12-21 | Mitsubishi Electric Corp | Control device and control method |
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| CN101229525A (en) | 2008-07-30 |
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