CN110963256B - Self-adaptive speed regulation control method for conveyor - Google Patents
Self-adaptive speed regulation control method for conveyor Download PDFInfo
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- CN110963256B CN110963256B CN201911150504.0A CN201911150504A CN110963256B CN 110963256 B CN110963256 B CN 110963256B CN 201911150504 A CN201911150504 A CN 201911150504A CN 110963256 B CN110963256 B CN 110963256B
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The invention discloses a self-adaptive speed regulation control method of a conveyor, which comprises the following steps: acquiring a no-load torque value Tk and a full-load torque value Tm of the variable frequency motor; acquiring the minimum rotating speed Smin and the maximum rotating speed Smax of the variable frequency motor, dividing 0-100% into n intervals from small to large, wherein each interval corresponds to one rotating speed; calculating the ratio of the difference value between the actual torque value Ts and the no-load torque value Tk in the interval Tk-Tm, and quantizing to obtain a torque quantized value Q; calculating a quantized value Y of the operating quantity according to the quantized value Q of the torque; and determining the interval of the transport quantity quantized value Y, and acquiring the rotating speed corresponding to the interval as the target rotating speed. The self-adaptive speed regulation control method of the conveyor utilizes the positive correlation between the torque value and the load weight and the rotating speed, and regulates the given speed of the frequency converter according to the torque value, so that the running speed of the motor is self-adaptively regulated according to the load weight, the invalid electric energy loss of equipment and the loss of the equipment can be reduced, and the energy conservation and consumption reduction requirements of the running of the equipment are realized.
Description
Technical Field
The invention belongs to the technical field of automatic control, and particularly relates to an adaptive speed regulation control method for a variable frequency conveyor.
Background
The belt conveyor is important bulk material conveying and loading and unloading equipment, can be widely used in the industrial fields of mines, metallurgy, building materials, chemical industry, electric power, food processing and the like, and the transfer conveyor is equipment for transferring coal from the scraper conveyor to the belt conveyor in coal mining and is key equipment in the transportation process after coal mining.
The conventional transshipment conveyor adopts a double-speed motor or a motor and hydraulic coupler driving mode, and when the two driving modes are started, electric impact and mechanical impact of different degrees exist, so that the service life of equipment is influenced.
With the development of frequency conversion technology, a plurality of transfer conveyors adopt frequency conversion driving at present. The variable frequency drive prolongs the starting acceleration process, and eliminates the electric impact and the mechanical impact during starting. However, the current frequency conversion driven transfer conveyor adopts frequency conversion driving, only uses the soft start function of a frequency converter, and can run at a constant speed after the conveyor is started, so that the conveyor runs at a constant speed no matter how much or few the load is, and the waste power consumption is caused.
Disclosure of Invention
The invention provides a self-adaptive speed regulation control method of a conveyor, aiming at the technical problem that the prior variable-frequency transfer conveyor runs at a constant speed to cause waste of power consumption, and the self-adaptive speed regulation control method can solve the problem.
In order to realize the purpose of the invention, the invention is realized by adopting the following technical scheme:
a self-adaptive speed regulation control method of a conveyor, wherein the conveyor is provided with a variable frequency motor, and the self-adaptive speed regulation control method comprises the following steps:
a pretreatment step comprising:
acquiring a no-load torque value Tk and a full-load torque value Tm of the variable frequency motor;
obtaining the minimum rotating speed Smin and the maximum rotating speed Smax of the variable frequency motor, dividing 0-100% into n intervals from small to large, wherein each interval corresponds to one rotating speed, the rotating speeds corresponding to the n intervals are set from small to large, the rotating speed of the ith interval is Si, the Smin is more than or equal to Si and less than or equal to Smax, and i is more than or equal to 1 and less than or equal to n;
a speed control step, comprising:
detecting an actual torque value Ts, calculating the ratio of the difference value between the actual torque value Ts and the no-load torque value Tk in the interval Tk-Tm, and quantizing to obtain a torque quantized value Q;
calculating a quantized value Y of the operating quantity according to the quantized value Q of the torque;
and determining the interval of the transport quantity quantized value Y, acquiring the rotating speed corresponding to the interval as a target rotating speed, and controlling the variable frequency motor to operate according to the target rotating speed.
Further, the method for obtaining the no-load torque value Tk and the full-load torque value Tm of the inverter motor comprises: and acquiring the minimum torque value and the maximum torque value of the conveyor within a period of operation time as the no-load torque value Tk and the full-load torque value Tm respectively.
Further, the calculation method of the traffic quantization value Y comprises:
detecting the current rotating speed Ss;
Y=Q×Ss/Smax。
further, the method for calculating the torque quantization value Q comprises the following steps:
Q=（Ts-Tk）×100%/（Tm-Tk）。
and further, when the current speed increasing process is judged, controlling the variable frequency motor to operate according to the target rotating speed.
And further, comparing the calculated target rotating speed with the current rotating speed Ss, and judging that the rotating speed is increased if the target rotating speed is greater than the current rotating speed Ss.
And further, when the current speed reduction process is judged, calculating the difference value between the lower limit value of the current interval and the transport capacity quantization value Y, and if the difference value is larger than a set value m, delaying t and controlling the variable frequency motor to operate according to the target rotating speed.
And further comparing the calculated target rotating speed with the current rotating speed, and if the target rotating speed is less than the current rotating speed, determining that the rotating speed is reduced.
Further, if the difference value is not greater than the set value m, the current rotating speed is kept running.
Further, the no-load torque value Tk, the full-load torque value Tm, the actual torque value Ts, and the current rotation speed are obtained from a frequency converter of the variable frequency motor.
Compared with the prior art, the invention has the advantages and positive effects that: the self-adaptive speed regulation control method of the conveyor utilizes the positive correlation between the torque value and the load weight and the rotating speed, and regulates the given speed of the frequency converter according to the torque value, so that the running speed of the motor is self-adaptively regulated according to the load weight, the invalid electric energy loss of equipment and the loss of the equipment can be reduced, and the energy conservation and consumption reduction requirements of the running of the equipment are realized. The variable frequency speed regulation operation can prolong the service life of the equipment and greatly reduce the use cost of the equipment. In addition, the control parameters can be obtained from a frequency converter of the variable frequency motor, auxiliary means such as a sensor are not needed, and the equipment cost is saved.
Other features and advantages of the present invention will become more apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a control flow chart of an embodiment of an adaptive speed control method for a conveyor according to the present invention;
fig. 2 is a timing flow chart of an embodiment of an adaptive speed regulation control method of a conveyor according to the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and examples.
A transfer conveyor is a device that transfers coal from a scraper conveyor to a belt conveyor in a coal mining process. Is key equipment in the transportation process after coal mining. The traditional transfer conveyor adopts a double-speed motor or a motor and hydraulic coupler driving mode, and when the two driving modes are started, electric impact and mechanical impact of different degrees exist, so that the service life of equipment is influenced.
With the development of frequency conversion technology, a plurality of transfer conveyors adopt frequency conversion driving at present. The variable frequency drive prolongs the starting acceleration process, and eliminates the electric impact and the mechanical impact during starting. Have received many user approvals. However, the current frequency conversion driven transfer conveyor basically does not realize automatic speed regulation operation. The frequency conversion driving is adopted, only the soft start function of the frequency converter is used, and the frequency conversion speed regulation function is not fully used.
In a first embodiment, the present invention provides a method for controlling adaptive speed regulation of a conveyor, where the conveyor is configured with a variable frequency motor, and includes a preprocessing step and a speed control step, where the preprocessing step includes:
acquiring a no-load torque value Tk and a full-load torque value Tm of the variable frequency motor;
obtaining the minimum rotating speed Smin and the maximum rotating speed Smax of the variable frequency motor, dividing 0-100% into n intervals from small to large, wherein each interval corresponds to one rotating speed, the rotating speeds corresponding to the n intervals are set from small to large, the rotating speed of the ith interval is Si, the Smin is more than or equal to Si and less than or equal to Smax, and i is more than or equal to 1 and less than or equal to n;
a speed control step, comprising:
detecting an actual torque value Ts, calculating the ratio of the difference value between the actual torque value Ts and the no-load torque value Tk in the interval Tk-Tm, and quantizing to obtain a torque quantized value Q;
calculating a quantized value Y of the operating quantity according to the quantized value Q of the torque;
and determining the interval of the transport quantity quantized value Y, acquiring the rotating speed corresponding to the interval as a target rotating speed, and controlling the variable frequency motor to operate according to the target rotating speed.
The self-adaptive speed regulation control method for the conveyor utilizes the positive correlation between the torque value and the load weight and the rotating speed, and regulates the given speed of the frequency converter according to the torque value, so that the running speed of the motor is self-adaptively regulated according to the load weight, the invalid power consumption of equipment and the loss of the equipment can be reduced, and the energy conservation and consumption reduction requirements of the running of the equipment are realized. The variable frequency speed regulation operation can prolong the service life of the equipment and greatly reduce the use cost of the equipment. In addition, the control parameters can be obtained from a frequency converter of the variable frequency motor, auxiliary means such as a sensor are not needed, and the equipment cost is saved.
Current transfer conveyors generally have the following characteristics: the length is fixed, the length of the transfer conveyor is generally between 40 and 70 meters, and once the equipment is determined, the length is fixed and unchanged. The control torque of the transfer conveyor is fixed, the idle load torque of the transfer conveyor after running-in is generally between 20% and 40%, and after the power of a driving motor and the length of the transfer conveyor are determined, the idle load torque value is a certain determined value. Moreover, the transfer conveyor generally has only one drive motor.
The frequency converter of the transfer conveyor may record the torque value as well as the rotational speed, so that the idling torque value Tk, the full torque value Tm, the actual torque value Ts, and the current rotational speed are obtained from the frequency converter of the variable frequency motor.
The method for acquiring the no-load torque value Tk and the full-load torque value Tm of the variable frequency motor comprises the following steps: and acquiring the minimum torque value and the maximum torque value of the conveyor within a period of operation time as the no-load torque value Tk and the full-load torque value Tm respectively.
The aforementioned obtaining of the minimum torque value and the maximum torque value of the conveyor within a period of operation time may be the minimum torque value and the maximum torque value of one or more days or any set period time before that, the frequency converter may generate a torque value curve by recording the operation data of the transshipment conveyor, the selected period of time is determined, and the corresponding minimum torque value and the maximum torque value are determined values respectively corresponding to the empty load torque value and the full load torque value. The unloaded torque value represents the torque value at which the motor operates without load, and the fully loaded torque value represents the torque value corresponding to the maximum load carried during the selected time period. The minimum torque value and the maximum torque value can be obtained by observing a torque value curve and are manually input into software. Or can be read directly from the frequency converter.
And quantizing the torque data into a torque quantization value Q between 0% and 100% according to the no-load torque value Tk, the full-load torque value Tm and the current actual torque value Ts.
The calculation formula is as follows: q = (Ts-Tk) × 100%/(Tm-Tk).
For example, when a scraper conveyor is operated, the load torque is 2000, the load torque is 9000, and when the actual torque is 5000, the torque quantization value Q is about 42.9%.
0-100% is divided into n intervals from small to large, and the intervals can be divided equally or non-equally, and the average division is described in the embodiment. The first interval is 0 to (100/n)%, the second interval is (100/n)% -2 x (100/n)%, and so on. For example, when n =4, the first interval is 0-25%; the second interval is 25% -50%; the third interval is 50-75%, and the fourth interval is 75-100%.
The rotating speeds corresponding to the n intervals are set from small to large, namely, the interval with larger value correspondingly reflects that the larger the transportation quantity is, the larger the corresponding rotating speed is.
The rotating speeds corresponding to the n intervals range from Smin to Smax. When the lengths of the sections are equal, the corresponding rotating speed value can also divide Smax-Smin into n-1 equal parts, wherein the first section corresponds to Smin, and the nth section corresponds to Smax.
The method of the embodiment adjusts the rotating speed of the variable frequency motor in a mode of simulating the actual carrying capacity of the transshipment conveyor, the actual carrying capacity of the transshipment conveyor is not only related to the output torque value, but also related to the actual rotating speed, and the product of the torque quantized value and the speed quantized value can be equivalent to the quantized value of the carrying capacity.
Therefore, the calculation method of the traffic quantization value Y is as follows:
detecting the current rotating speed Ss;
Y=Q×Ss/Smax。
the maximum operating speed of the transfer conveyor is a fixed value known on site, and the current rotational speed Ss can be read directly by the frequency converter.
The quantified value Y of the transportation volume obtained by the steps is also data between 0% and 100%.
Although the general trend of the transshipment conveyor can be calculated during operation, the instantaneous torque during operation is constantly changed, if the transportation quantity is directly used as negative feedback regulation speed, stepless speed regulation is realized, and actually, the speed is constantly changed, and the operation stability is poor. In the scheme, by adopting a method of speed regulation in different regions, the quantized value Y of the transport capacity corresponds to a certain fixed speed in one stage, the speed cannot be changed frequently, and the running stability is high.
And when the current speed increasing process is judged, controlling the variable frequency motor to operate according to the target rotating speed. In the speed increasing process, once the quantitative value Y of the transportation amount is larger than the minimum value of the next interval, the speed is switched to the speed corresponding to the next interval, and the phenomenon that the speed is increased slowly to cause the rotation blockage of the transshipment conveyor is prevented.
The method also comprises a step of comparing the calculated target rotating speed with the current rotating speed Ss, and if the target rotating speed is greater than the current rotating speed Ss, the speed is judged to be increased.
And when the current speed reduction process is judged, calculating the difference value between the lower limit value of the current interval and the operation quantity quantized value Y, and if the difference value is larger than a set value m, delaying t and controlling the variable frequency motor to operate according to the target rotating speed. And the speed reduction control is that the difference value of the transport quantity quantized value Y and the lower limit value of the current interval is larger than a set value m, and the speed is reduced after a certain time delay t. The speed reduction process is slow, and frequent gear skipping of the speed caused by torque fluctuation in the speed regulation process is prevented.
The method also comprises a step of comparing the calculated target rotating speed with the current rotating speed, and if the target rotating speed is less than the current rotating speed, the speed is judged to be reduced.
And when the current speed reduction process is judged, if the difference value is not greater than the set value m, keeping the current rotating speed to operate. And frequent speed skip caused by torque fluctuation in the speed regulation process is prevented.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (9)
1. A self-adaptive speed regulation control method of a conveyor, wherein the conveyor is provided with a variable frequency motor, is characterized by comprising the following steps:
a pretreatment step comprising:
acquiring a no-load torque value Tk and a full-load torque value Tm of the variable frequency motor;
obtaining the minimum rotating speed Smin and the maximum rotating speed Smax of the variable frequency motor, dividing 0-100% into n intervals from small to large, wherein each interval corresponds to one rotating speed, the rotating speeds corresponding to the n intervals are set from small to large, the rotating speed of the ith interval is Si, the Smin is not less than Si and not more than Smax are met, i is not less than 1 and not more than n, and n is a natural number greater than 1;
a speed control step, comprising:
detecting an actual torque value Ts, calculating the ratio of the difference value between the actual torque value Ts and the no-load torque value Tk in the interval Tk-Tm, and quantizing to obtain a torque quantized value Q;
and calculating an operation quantitative value Y according to the torque quantitative value Q, wherein the calculation method of the operation quantitative value Y comprises the following steps:
detecting the current rotating speed Ss of the variable frequency motor;
Y=Q×Ss/Smax；
and determining the interval of the transport quantity quantized value Y, acquiring the rotating speed corresponding to the interval as a target rotating speed, and controlling the variable frequency motor to operate according to the target rotating speed.
2. The adaptive speed regulation control method of a conveyor according to claim 1, wherein the idle load torque value Tk and the full load torque value Tm of the inverter motor are obtained by: and acquiring the minimum torque value and the maximum torque value of the conveyor within a period of operation time as the no-load torque value Tk and the full-load torque value Tm respectively.
3. The adaptive speed control method of a conveyor according to claim 1, wherein the quantized torque value Q is calculated by:
Q=（Ts-Tk）×100%/（Tm-Tk）。
4. the adaptive speed-adjusting control method of a conveyor according to any one of claims 1 to 3, further comprising controlling the inverter motor to operate at the target rotational speed when it is determined that the speed-up process is currently performed.
5. The adaptive speed adjustment control method of a conveyor according to claim 4, wherein the step of comparing the calculated target rotation speed with the current rotation speed Ss determines an increase in speed if the target rotation speed is greater than the current rotation speed Ss.
6. The adaptive speed regulation and control method of a conveyor according to claim 4, further comprising calculating a difference between a lower limit value of a current section and a quantized value Y of the traffic volume when it is determined that the speed reduction process is currently performed, and controlling the variable frequency motor to operate at the target rotational speed after a delay t if the difference is greater than a set value m.
7. The adaptive speed adjustment control method of a conveyor according to claim 6, wherein the step of comparing the calculated target rotational speed with the current rotational speed determines a speed reduction if the target rotational speed is less than the current rotational speed.
8. The adaptive speed control method of a conveyor according to claim 6, wherein if the difference is not more than a set value m, the current rotational speed is kept running.
9. A conveyor adaptive speed regulation control method according to any one of claims 1-3, characterized in that the no-load torque value Tk, the full-load torque value Tm, the actual torque value Ts, and the current rotation speed are obtained from an inverter of an inverter motor.
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| CN111689170B (en) * | 2020-06-17 | 2021-11-30 | 青岛中加特电气股份有限公司 | Scraper conveyor and self-adaptive speed regulation method thereof |
| CN111689171B (en) * | 2020-06-17 | 2021-11-09 | 青岛中加特电气股份有限公司 | Automatic speed regulation method of lower-level conveyor based on variable-frequency output torque of upper-level conveyor |
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| CN201592898U (en) * | 2010-01-29 | 2010-09-29 | 国投新登郑州煤业有限公司 | Variable-frequent mining belt conveying system based on current closed loop control |
| CN101898681B (en) * | 2010-08-20 | 2012-04-18 | 上海电器科学研究所（集团）有限公司 | Method for load predicative control of belt conveyor |
| CN201857103U (en) * | 2010-10-27 | 2011-06-08 | 三一重工股份有限公司 | Control system for belt conveying device and belt conveying device |
| CN202729271U (en) * | 2012-05-25 | 2013-02-13 | 杜明芳 | Belt conveyer self-adaptive energy-saving control device |
| CN102969972A (en) * | 2012-11-05 | 2013-03-13 | 无锡新大力电机有限公司 | Variable-frequency speed control system of motor |
| CN104773465B (en) * | 2014-01-14 | 2017-02-15 | 深圳市汇拓新邦科技有限公司 | Large-scale transmission master-slave control equipment of belt conveyer and operation method thereof |
| US20150353283A1 (en) * | 2014-06-04 | 2015-12-10 | Goodrich Corporation | Torque control cargo loading systems and methods |
| CN104555343B (en) * | 2014-09-30 | 2016-06-15 | 宁夏天地奔牛实业集团有限公司 | A kind of underground coal mine coal-face self-adapting intelligent drag conveyor |
| EP3412604A1 (en) * | 2017-06-06 | 2018-12-12 | Siemens Aktiengesellschaft | Drive system for a belt conveyor, method for driving a belt conveyor, belt conveyor, control device and computer program product |
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