CN107544565A - A kind of reclaimer feeding flow control methods and feeding flow control system - Google Patents
A kind of reclaimer feeding flow control methods and feeding flow control system Download PDFInfo
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Abstract
A kind of reclaimer feeding flow control methods and feeding flow control system, the system include the belt conveyer scale being connected with arm support；Detect the detection transducing unit of motor of bucket-wheel active power or bucket wheel hydraulic motor pressure；Input-output unit；Control unit；Arm support revolution driving frequency converter；Real-time traffic is obtained according to motor active power or hydraulic motor pressure value；The flow value detected with belt conveyer scale obtains the relevant parameter of real-time traffic relational model to correct or correct according to motor active power or hydraulic motor pressure value, and control unit makes the relational model more level off to accurately by self study；Motor active power or hydraulic motor pressure value are calculated into current feeding flow by real-time traffic relational model, and PID control is carried out using the current feeding flow calculated as negative-feedback and given target flow, PID control object is arm support revolution driving frequency converter；Arm support rotational speed is adjusted by adjusting the given speed of frequency converter, realizes the control of feeding flow.
Description
Technical field
The present invention relates to reclaimer material extracting operation technical field, more particularly, to a kind of reclaimer feeding flow control methods
And reclaimer feeding flow control system.
Background technology
Reclaimer in material extracting operation, it is necessary to carry out feeding flow control, control device by setting stability of flow take
Material, so as to improve the operating efficiency of equipment, ensure not overload during feeding, extension device service life, reduce Maintenance and Repair
Cost.Prepare for thermal power generation fuel, Ferrous Metallurgy raw material prepares etc. in production process, it is necessary to by plurality of raw materials according to difference
Proportioning carries out mixture, and proportioning Operation control precision is higher, and economic benefit is more obvious.
CN105404318A disclosed a kind of reclaimer feeding flow control methods and device on 03 16th, 2016, should
Method includes：Actual instantaneous feeding flow is obtained according to bucket wheel electric current or bucket wheel pressure；By the acquired instantaneous feeding of reality
Flow is compared with the instantaneous feeding flow of target；And the suspending arm rotary speed of reclaimer is set according to comparative result.Should
Device includes：Actual instantaneous feeding flow acquisition module, for instantaneously being taken according to bucket wheel electric current or bucket wheel pressure to obtain reality
Stream amount；Comparison module, for by acquired actual instantaneous feeding flow compared with the instantaneous feeding flow of target；And
Suspending arm rotary speed setup module, for setting the suspending arm rotary speed of reclaimer according to comparative result.Pass through above-mentioned technology
Scheme, obtained due to reclaimer feeding flow control methods and device the foundation bucket wheel electric current according to the invention or bucket wheel pressure
Actual instantaneous feeding flow, by acquired actual instantaneous feeding flow with the instantaneous feeding flow of target compared with and foundation than
Relatively result sets the suspending arm rotary speed of reclaimer, therefore it can keep feeding stability of flow, improve operating efficiency, and subtract
The work load of small driver.
Control feeding flow mainly has two methods at present, and one kind is according to stacker-reclaimer arm support belt conveyer scale flow feedback value
It is controlled, another kind is controlled by bucket wheel motor electric current or bucket wheel pressure feedback value, and two ways respectively has excellent
Shortcoming.
Arm support belt conveyer scale mode：Can be very using the flow feedback value control material extracting operation according to the detection of arm support belt conveyer scale
The accurately mass flow on display arm support belt.In reclaiming process, arm support belt conveyer scale be located at bucket wheel in feeding flow (it is actual with
Expect heap contact material fetching mechanism) rear, so the instantaneous delivery that current belt scale is shown lags behind the actual feeding stream of bucket wheel
Amount, lag time is about 10~12 seconds according to the size and the belt feeder speed of service of equipment, and this hysteresis quality will lead to not
Real-time feeding flow control is realized, is extremely difficult to preferable metering characteristics.
Bucket wheel motor electric current or bucket wheel pressure mode：Bucket wheel is directly contacted with manipulating object material heap in material extracting operation
Executing agency, certain relation be present in bucket wheel motor electric current or bucket wheel pressure and feeding flow.Make in motor close to fully loaded
During industry, bucket wheel motor electric current or bucket wheel pressure can reflect current actual feeding flow, and control system can be according to this
Individual current of electric controls related Working mechanism motion to realize the control of feeding flow.But when motor operation is in 60% load
When below horizontal, due to the decline of power factor, current of electric enters inelastic region with feeding changes in flow rate relation, at this
In section, current of electric or bucket wheel pressure can not reflect feeding flow according to linear relationship, now with current of electric or bucket wheel
Pressure will produce larger error as control according to the control of feeding flow is carried out.
The content of the invention
The defects of in order to overcome prior art, present invention solves the technical problem that being：A kind of real-time response characteristic is provided
Well, control accuracy is high, and the reclaimer feeding control method and reclaimer that can fully meet the control actual demand of feeding flow take
Stream amount control system.
In order to solve the above-mentioned technical problem, on the one hand, the present invention provides a kind of reclaimer feeding flow control methods, foundation
The belt conveyer scale being connected with arm support；Detection bucket wheel motor active power or bucket wheel driving hydraulic motor pressure value are real-time to obtain
Flow；The flow value detected with the belt conveyer scale being connected with arm support, to correct or correct according to detection bucket wheel motor wattful power
Rate or bucket wheel driving hydraulic motor pressure value obtain the relevant parameter of real-time traffic relational model, and control unit is made by self study
The relational model more levels off to accurately；Bucket wheel motor active power or bucket wheel driving the hydraulic motor pressure value of detection are pressed
Real-time traffic relational model calculates current feeding flow, and regard the current feeding flow calculated as negative-feedback and given
Target flow carries out PID control, and PID control object is arm support revolution driving frequency converter；By adjusting arm support revolution driving frequency conversion
The given speed of device adjusts arm support rotational speed, so as to realizing the control of feeding flow.
As further improved technology scheme, reclaimer feeding flow control methods provided by the invention, the real-time streams
Magnitude relation model calculates feeding flow using following mathematic(al) representation 1；
F=K1*P1–B1Or F=K2*P2–B2Formula 1
F：Feeding flow, t/h；
P1:Bucket wheel motor active power, kW；
K1：The measure constant that feeding flow changes with bucket wheel motor active power；
B1：Bucket wheel is equivalent feeding flow when motor driving is unloaded；t/h
P2:Bucket wheel drives hydraulic motor operating pressure, kPa；
K2：Feeding flow drives the measure constant of hydraulic motor change of pressure with bucket wheel；
B2：Equivalent feeding flow when bucket wheel is fluid motor-driven zero load；t/h.
As further improved technology scheme, reclaimer feeding flow control methods provided by the invention, control unit is led to
Self study is crossed with the K in correction model1And B1, or K2And B2；
In certain sampling instant t, following numerical relationship model be present：
F (t+ Δs t)=K1(t)*P1(t)–B1Or F (t+ Δs t)=K (t)2(t)*P2(t)–B2(t) formula 2
t:Sampling instant, second；
Δt：Material is transported to the time needed for belt conveyer scale, second from bucket wheel；
F(t+Δt)：T+ time Δt belt conveyer scale flows, t/h；
P1(t):T bucket wheel motor active power, kW；
K1(t)：The measure constant that t feeding flow changes with bucket wheel motor active power；
B1(t)：Bucket wheel is the equivalent feeding flow of t when motor driving is unloaded；t/h
P2(t)：T bucket wheel drives hydraulic motor operating pressure, kPa
K2(t)：T feeding flow drives the measure constant of hydraulic motor change of pressure with bucket wheel；
B2(t)：The equivalent feeding flow of t when bucket wheel is fluid motor-driven zero load；t/h
As further improved technology scheme, reclaimer feeding flow control methods provided by the invention, control unit is certainly
Study includes procedure below：
Read the P of each moment point1Or P (t)2(t) and record；Reading the F of each moment point, (t+ Δ t) are simultaneously recorded；According to reading
Each moment point P1Or P (t)2(t) (t+ Δs t) calculates the K in the simultaneously numerical relationship model of recording 2 with F1Or K (t)2(t), and
B1Or B (t)2(t)；By all K of record1Or K (t)2, and B (t)1Or B (t)2(t) carry out mathematical statistics and seek arithmetic mean of instantaneous value, push away
Calculate the K in formula 11And B1, or K2And B2；By the P of each moment point of record1Or P (t)2(t) each moment point is calculated in substitution formula 1
Real-time feeding flow F (t)；Solve the P of each moment point1Or P (t)2(t) real-time feeding flow F (t) corresponding to and t+ time Δts
(t+ Δs t) deviation calculates whether average deviation is less than threshold value to belt conveyer scale flow F；Average deviation is less than threshold value, and control unit is certainly
Learning process terminates, and average deviation is not less than threshold value, and return restarts control unit self study process.
In order to solve the above-mentioned technical problem, on the other hand, the present invention provides a kind of reclaimer feeding flow control system, bag
Include the belt conveyer scale being connected with arm support；Detect the detection pick-up of bucket wheel motor active power or bucket wheel driving hydraulic motor pressure
Unit；Input-output unit；Control unit；Arm support revolution driving frequency converter；The input-output unit is by belt conveyer scale and detection
The real time data of the sensor collection of transducing unit passes to control unit, and described control unit is calculated into controlling value output
To arm support revolution driving frequency converter；Described control unit is responsible for the realization of control algolithm, and realizes and input-output unit
Data exchange.
Technical scheme provided by the invention, comprehensive arm support belt conveyer scale instantaneous delivery feedback and bucket wheel drive real-time wattful power
Rate or hydraulic motor hydraulic circuit real-time working pressure carry out feeding flow control.Using bucket wheel motor active power or bucket
Wheel drive hydraulic motor hydraulic circuit pressure the flow value detected with belt conveyer scale, comes school as feeding flow indirect controlled system
Just or amendment drives hydraulic motor pressure value to obtain real-time traffic relation according to detection bucket wheel motor active power or bucket wheel
The relevant parameter of model, control unit make the relational model more level off to accurately by self study；During material extracting operation, root
According to the relational model of verification, to calculate real-time feeding flow, and then relative motion mechanism is controlled, realize that feeding flow targets control
Stability and veracity.Be advantageous to eliminate different material characteristic, influence of the Different climate to relational model, improve flow control
Accuracy.
Embodiment
The reclaimer feeding flow control system that embodiment provides, including the belt conveyer scale being connected with arm support；Bucket wheel is detected to drive
The detection transducing unit of dynamic motor active power or bucket wheel driving hydraulic motor pressure；Input-output unit；Control unit；Arm support
Revolution driving frequency converter；The input-output unit passes the real time data that the sensor of belt conveyer scale and detection transducing unit gathers
Control unit is passed, and described control unit calculating controlling value is exported to arm support revolution driving frequency converter；The control is single
The realization of the responsible control algolithm of member, and realize the data exchange with input-output unit.
In reclaimer feeding flow control process, including herein below：Control unit is according to the belt conveyer scale being connected with arm support；
Detection bucket wheel motor active power or bucket wheel drive hydraulic motor pressure value to obtain real-time traffic；Control unit is used and arm
The flow value of the belt conveyer scale detection of frame connection, to correct or correct according to detection bucket wheel motor active power or bucket wheel driving
Hydraulic motor pressure value obtains the relevant parameter of real-time traffic relational model, and control unit makes the relational model more by self study
It is accurate to level off to；Bucket wheel motor active power or bucket wheel driving the hydraulic motor pressure value of detection are pressed into real-time traffic relation
Model calculates current feeding flow, and is carried out the current feeding flow calculated as negative-feedback and given target flow
PID control, PID control object are arm support revolution driving frequency converter；By the given speed for adjusting arm support revolution driving frequency converter
To adjust arm support rotational speed, so as to realize the control of feeding flow.
Optional scheme, the real-time traffic relational model calculate feeding flow using following mathematic(al) representation 1；
F=K1*P1–B1Or F=K2*P2–B2Formula 1
F：Feeding flow, t/h；
P1:Bucket wheel motor active power, kW；
K1：The measure constant that feeding flow changes with bucket wheel motor active power；
B1：Equivalent feeding flow of the bucket wheel for motor driving when unloaded, t/h；
P2:Bucket wheel drives hydraulic motor operating pressure, kPa；
K2：Feeding flow drives the measure constant of hydraulic motor change of pressure with bucket wheel；
B2：Equivalent feeding flow when bucket wheel is fluid motor-driven zero load, t/h.
Optional scheme, control unit is by self study with the K in correction model1And B1, or K2And B2；When certain is sampled
T is carved, following numerical relationship model be present：
F (t+ Δs t)=K1(t)*P1(t)–B1Or F (t+ Δs t)=K (t)2(t)*P2(t)–B2(t) formula 2
t:Sampling instant, second；
Δt：Material is transported to the time needed for belt conveyer scale, second from bucket wheel；
F(t+Δt)：T+ time Δt belt conveyer scale flows, t/h；
P1(t):T bucket wheel motor active power, kW；
K1(t)：The measure constant that t feeding flow changes with bucket wheel motor active power；
B1(t)：The equivalent feeding flow of t, t/h when bucket wheel drives unloaded for motor；
P2(t)：T bucket wheel drives hydraulic motor operating pressure, kPa
K2(t)：T feeding flow drives the measure constant of hydraulic motor change of pressure with bucket wheel；
B2(t)：The equivalent feeding flow of t when bucket wheel is fluid motor-driven zero load.
Optional scheme, control unit self study include procedure below：
Read the P of each moment point1Or P (t)2(t) and record；Reading the F of each moment point, (t+ Δ t) are simultaneously recorded；According to reading
Each moment point P1Or P (t)2(t) (t+ Δs t) calculates the K in the simultaneously numerical relationship model of recording 2 with F1Or K (t)2(t), and
B1Or B (t)2(t)；By all K of record1Or K (t)2, and B (t)1Or B (t)2(t) carry out mathematical statistics and seek arithmetic mean of instantaneous value, push away
Calculate the K in formula 11And B1, or K2And B2；By the P of each moment point of record1Or P (t)2(t) each moment point is calculated in substitution formula 1
Real-time feeding flow F (t)；Solve the P of each moment point1Or P (t)2(t) real-time feeding flow F (t) corresponding to and t+ time Δts
(t+ Δs t) deviation calculates whether average deviation is less than threshold value to belt conveyer scale flow F；Average deviation is less than threshold value, and control unit is certainly
Learning process terminates, and average deviation is not less than threshold value, and return restarts control unit self study process.
It is clear that the invention is not restricted to above preferred embodiment, can also be limited in the claims in the present invention and specification
In spirit, the conversion and improvement of diversified forms are carried out, can solve same technical problem, and technique effect expected from acquirement, therefore
Do not repeat.One of ordinary skill in the art can from present disclosure directly or all schemes for associating, if
Within the spirit that claim limits, protection scope of the present invention is fallen within.
Claims (5)
1. a kind of reclaimer feeding flow control methods, it is characterised in that according to the belt conveyer scale being connected with arm support；Bucket wheel is detected to drive
Dynamic motor active power or bucket wheel drive hydraulic motor pressure value to obtain real-time traffic；Detected with the belt conveyer scale being connected with arm support
Flow value, obtained to correct or correct according to detection bucket wheel motor active power or bucket wheel driving hydraulic motor pressure value
The relevant parameter of real-time traffic relational model, control unit make the relational model more level off to accurately by self study；Will detection
Bucket wheel motor active power or bucket wheel driving hydraulic motor pressure value calculate by real-time traffic relational model and currently take
Stream amount, and carry out PID control, PID control using the current feeding flow calculated as negative-feedback and given target flow
Object is arm support revolution driving frequency converter；Arm support revolution speed is adjusted by adjusting the given speed of arm support revolution driving frequency converter
Degree, so as to realize the control of feeding flow.
2. reclaimer feeding flow control system according to claim 1, it is characterised in that the real-time traffic relation mould
Type calculates feeding flow using following mathematic(al) representation 1；
F=K1*P1–B1Or F=K2*P2–B2Formula 1
F：Feeding flow, t/h；
P1:Bucket wheel motor active power, kW；
K1：The measure constant that feeding flow changes with bucket wheel motor active power；
B1：Bucket wheel is equivalent feeding flow when motor driving is unloaded；t/h
P2:Bucket wheel drives hydraulic motor operating pressure, kPa；
K2：Feeding flow drives the measure constant of hydraulic motor change of pressure with bucket wheel；
B2：Equivalent feeding flow when bucket wheel is fluid motor-driven zero load；t/h.
3. reclaimer feeding flow control system according to claim 2, it is characterised in that control unit passes through self study
With the K in correction model1And B1, or K2And B2；
In certain sampling instant t, following numerical relationship model be present：
F (t+ Δs t)=K1(t)*P1(t)–B1Or F (t+ Δs t)=K (t)2(t)*P2(t)–B2(t) formula 2
t:Sampling instant, second；
Δt：Material is transported to the time needed for belt conveyer scale, second from bucket wheel；
F(t+Δt)：T+ time Δt belt conveyer scale flows, t/h；
P1(t):T bucket wheel motor active power, kW；
K1(t)：The measure constant that t feeding flow changes with bucket wheel motor active power；
B1(t)：Bucket wheel is the equivalent feeding flow of t when motor driving is unloaded；t/h
P2(t)：T bucket wheel drives hydraulic motor operating pressure, kPa
K2(t)：T feeding flow drives the measure constant of hydraulic motor change of pressure with bucket wheel；
B2(t)：The equivalent feeding flow of t when bucket wheel is fluid motor-driven zero load；t/h.
4. reclaimer feeding flow control system according to claim 3, it is characterised in that control unit self study includes
Procedure below：
Read the P of each moment point1Or P (t)2(t) and record；Reading the F of each moment point, (t+ Δ t) are simultaneously recorded；According to each of reading
The P of moment point1Or P (t)2(t) (t+ Δs t) calculates the K in the simultaneously numerical relationship model of recording 2 with F1Or K (t)2, and B (t)1(t)
Or B2(t)；By all K of record1Or K (t)2, and B (t)1Or B (t)2(t) carry out mathematical statistics and seek arithmetic mean of instantaneous value, extrapolate
K in formula 11And B1, or K2And B2；By the P of each moment point of record1Or P (t)2(t) reality of each moment point is calculated in substitution formula 1
When feeding flow F (t)；Solve the P of each moment point1Or P (t)2(t) real-time feeding flow F (t) corresponding to and t+ time Δt belts
(t+ Δs t) deviation calculates whether average deviation is less than threshold value to scale flow F；Average deviation is less than threshold value, control unit self study
Process terminates, and average deviation is not less than threshold value, and return restarts control unit self study process.
5. a kind of reclaimer feeding flow control system, it is characterised in that including the belt conveyer scale being connected with arm support；Bucket wheel is detected to drive
The detection transducing unit of dynamic motor active power or bucket wheel driving hydraulic motor pressure；Input-output unit；Control unit；Arm support
Revolution driving frequency converter；The input-output unit passes the real time data that the sensor of belt conveyer scale and detection transducing unit gathers
Control unit is passed, and described control unit calculating controlling value is exported to arm support revolution driving frequency converter；The control is single
The realization of the responsible control algolithm of member, and realize the data exchange with input-output unit.
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| CN108319213A (en) * | 2018-01-31 | 2018-07-24 | 秦皇岛港股份有限公司 | More reclaimer coal blending control methods and system based on principal and subordinate's reclaimer two close cycles |
| CN108328354A (en) * | 2018-01-12 | 2018-07-27 | 中国神华能源股份有限公司 | The method and device of control feeding amount for bucket wheel reclaimer |
| CN110255210A (en) * | 2019-04-17 | 2019-09-20 | 曹妃甸港矿石码头股份有限公司 | A kind of control method of bucket wheel reclaimer feeding mixture operation |
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| CN108328354B (en) * | 2018-01-12 | 2019-09-13 | 中国神华能源股份有限公司 | The method and device of control feeding amount for bucket wheel reclaimer |
| CN108319213A (en) * | 2018-01-31 | 2018-07-24 | 秦皇岛港股份有限公司 | More reclaimer coal blending control methods and system based on principal and subordinate's reclaimer two close cycles |
| CN108319213B (en) * | 2018-01-31 | 2019-11-26 | 秦皇岛港股份有限公司 | More reclaimer coal blending control methods and system based on principal and subordinate's reclaimer two close cycles |
| CN110255210A (en) * | 2019-04-17 | 2019-09-20 | 曹妃甸港矿石码头股份有限公司 | A kind of control method of bucket wheel reclaimer feeding mixture operation |
| CN110255210B (en) * | 2019-04-17 | 2020-11-13 | 曹妃甸港矿石码头股份有限公司 | Control method for material taking and mixing operation of bucket wheel reclaimer |
| CN112462639B (en) * | 2019-09-08 | 2023-01-20 | 南京宝地梅山产城发展有限公司 | Automatic intelligent material taking control device of inch advance regulation |
| CN112462639A (en) * | 2019-09-08 | 2021-03-09 | 南京宝地梅山产城发展有限公司 | Automatic intelligent material taking control device of inch advance regulation |
| CN112506193A (en) * | 2020-11-27 | 2021-03-16 | 华能国际电力股份有限公司上海石洞口第二电厂 | Automatic monitoring protection system of cantilever type bucket wheel machine |
| CN112506193B (en) * | 2020-11-27 | 2021-10-12 | 华能国际电力股份有限公司上海石洞口第二电厂 | Automatic monitoring protection system of cantilever type bucket wheel machine |
| CN112850191A (en) * | 2020-12-30 | 2021-05-28 | 华电重工股份有限公司 | Reclaimer, reclaiming flow control method and device of reclaimer and storage medium |
| CN112850191B (en) * | 2020-12-30 | 2022-08-23 | 华电重工股份有限公司 | Reclaimer, reclaiming flow control method and device of reclaimer and storage medium |
| CN113233210A (en) * | 2021-05-25 | 2021-08-10 | 中冶南方工程技术有限公司 | Constant-flow automatic material taking method and system of bucket-wheel material taking machine |
| CN117205815A (en) * | 2023-11-08 | 2023-12-12 | 四川信特农牧科技有限公司 | Feed production control method |
| CN117205815B (en) * | 2023-11-08 | 2024-01-23 | 四川信特农牧科技有限公司 | Feed production control method |
| CN117289640A (en) * | 2023-11-24 | 2023-12-26 | 华能吉林发电有限公司长春热电厂 | Data driving control method and device for constant-current coal taking of gate bucket wheel machine |
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