CN114313890A - C-type stock yard stock bed dynamic simulation control system and method - Google Patents
C-type stock yard stock bed dynamic simulation control system and method Download PDFInfo
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Abstract
The invention belongs to the technical field of industrial computer real-time control, and particularly relates to a C-type stock yard stock bed dynamic simulation control system and a method. The invention calculates the real-time dynamic change parameters of the material layer in the storage bin according to the received state signals of each device, the position signals of the parking position switches and the flow signals of the belt weighers and by combining the user parameter setting and the optimization logic control algorithm, thereby realizing the dynamic simulation of the material layer in the storage bin in the material piling process.
Description
Technical Field
The invention belongs to the technical field of industrial computer real-time control, and particularly relates to a dynamic simulation control system and method for a stockpile layer of a C-shaped stock yard.
Background
Iron and steel plants use stockyards to stack materials such as iron ore powder, sintered ore, pellet ore, fuel ore, steel slag and the like for steel production. The traditional open-air stock ground has the characteristics of large dust emission, much material piling and flowing, serious material loss and the like, and can not meet the production requirements of modern steel plants. As one of long closed stock yards, the C-shaped stock yard mainly adopts the rail mechanized stacking and reclaiming equipment to operate, and a plurality of groups of material blocking partition walls are uniformly distributed in the universe range to divide the stock yard space into a plurality of sections of stock bins, and the stacking and reclaiming equipment can operate simultaneously in different stock bins. The C-shaped stock ground has the characteristics of small occupied area, large raw material storage capacity, intelligentized material stacking and taking processes and the like. The raw materials are transported from the outside of the stock yard to the inside of the stock yard through a rubber belt conveyor on a middle T-shaped table of the C-shaped stock yard, and are stacked into a stock bin through a movable discharging airplane arranged on the rubber belt conveyor; the raw materials of storing in the feed bin are got the material operation through the scraper blade reclaimer to carry out the ejection of compact off-site through the sealing-tape machine that sets up in the reclaimer downside. The distribution parameters of the material layer play a vital role in the C-type material field stacking and taking operation, and whether the material layer layout can be accurately analyzed determines whether the stacking and taking operation can be reasonably and efficiently carried out or not. With the popularization of unmanned stock yards, the traditional mode of manually observing the layout of a stockpile material layer is gradually eliminated, the mode wastes labor cost and reduces the working efficiency of piling and taking materials. The scanning precision of the emerging three-dimensional laser material layer scanning technology is greatly influenced by environmental factors, the deviation between material layer data analyzed in a complex environment and actual data is large, and meanwhile, the investment cost and the maintenance cost are high, and the yield is low.
Disclosure of Invention
The invention aims to provide a dynamic simulation control system and method for a C-type stock yard stockpile layer, which solve the technical problems in the prior art.
The purpose of the invention is realized by the following technical scheme:
the invention relates to a C-shaped stock yard stockpile layer dynamic simulation control system, which comprises a T-shaped table arranged in the middle along the extension direction of a stock yard, material blocking partition walls uniformly and transversely arranged along two sides of the T-shaped table, a feeding belt arranged at the top of the T-shaped table, and a discharging airplane moving device which is positioned above the feeding belt and can walk back and forth along the running direction of the belt, and is characterized in that a proximity switch is arranged at the bottom of the discharging airplane moving device, parking stall switches are uniformly arranged beside the track of the discharging airplane moving device, a belt scale is arranged at a feeding port at the head of the feeding belt, a discharging airplane belt is arranged at the top of the discharging airplane moving device, and the parking stall switches and the belt scale are connected with a controller,
the controller comprises a coordinate system establishing unit S1, a unit pile volume calculating unit S2, a fixed point pile material layer simulation calculating unit S3 and a moving pile material layer simulation calculating unit S4.
The running direction of the belt of the unloading aircraft is vertical to the running direction of the feeding belt.
A control method of a C-shaped stock yard stockpile layer dynamic simulation control system is characterized by comprising the following steps:
(1) a coordinate system establishing unit S1, which establishes a three-dimensional coordinate system by taking each storage bin in the C-shaped stock yard as a range; the three-dimensional coordinate system comprises an X axis, a Y axis and a Z axis;
the X axis is parallel to the direction of the T-shaped table, and the running direction of the feeding belt is taken as the positive direction;
the Y axis is parallel to the material blocking partition wall and is the intersection line of the material blocking partition wall and the ground;
the Z axis is vertical to the X axis and the Y axis simultaneously, and the positive direction of the Z axis points to the ceiling from the ground;
each storage bin has a respective three-dimensional coordinate system and is independent of each other; the calculation function of the material layer simulation in each storage bin is established based on the coordinate system, and the system is arranged at intervals of TaUpdating the simulation data once in time to realize the effect of dynamic simulation of the stockpile material layer;
(2) the unit pile volume calculating unit S2 calculates the unit period T by the flow signal of the belt scale and the position signal of the parking space switchaThe calculation steps of the volume parameter of the raw material pile under the unloading airplane in time are as follows:
step 1: for eliminating signal interference, the discharge flow F is more accurately calculatedxThe system firstly monitors the flow F of the belt weigherpCarrying out median filtering processing; the system collects flow signals every 1 second and takes the middle of 5 data of 5 consecutive secondsThe value is taken as the current flow value Fq；
Step 2: calculating the length of a raw material walking path from the belt weigher to a belt outlet of the unloading airplane; the length of the belt scale is formed by two parts, one part is the length L from the belt scale to a belt feeding port of the unloading airplanecAnd a part is the belt length L of the unloading airplane beltd；
LcThe length is calculated according to the distance from a parking space switch where the unloading airplane moving device is located to the belt weigher,
wherein L ismnDistance from a certain parking position switch to belt scale, VfFor the travelling speed, T, of the moving means of the unloading aircraftfThe running time of the unloading airplane moving device after passing through the parking space switch is determined;
and step 3: calculating the time T required by the raw material to run from the belt weigher to the belt outlet of the unloading airplanecIn order to realize the purpose,
wherein VcFor the running speed of the feed belt, VdThe running speed of the belt of the unloading airplane;
and 4, step 4: discharge flow F of unloading aircraftxThen is TcFlow detection filtering value F of belt weigher before timeq，
Fx(T0)＝Fq(T0-Tc) (3)
Wherein, T0Is the current time;
and 5: the period is TaTotal unloading mass F of unloading aircraft in timeaIn order to realize the purpose,
step 6: the period is TaVolume V of pile formed by total discharge of unloading aircraft in timeaIn order to realize the purpose,
Va＝Fa/ρ (5)
wherein rho is the bulk density of the raw material;
(3) the fixed-point stockpile material layer simulation calculation unit S3 is used for performing fixed-point blanking on a fixed parking stall switch by a discharging airplane to form material layer simulation calculation, and comprises the following calculation steps:
step 1: calculating TaInfluence range S of material piling and material layer at fixed point in timea；
The range of influence SaRadius R ofaIn order to realize the purpose,
wherein alpha is the repose angle of the raw material; when the unloading aircraft unloads in the ith parking space switch, the unloading aircraft is at TaThe maximum range of the material layer which can be influenced in time is X on the X axisiPoint as center of circle, RaA circular interval of radius;
step 2: defect volume V for calculating function of material layer in last cycler；
Is provided with a TaPeriodic bed function of F0(x, y, z), if the cycle is the first cycle, then F is considered to be0(x, y, z) is a plane; setting the function at SaIn the range, the highest point of the Z axis is (xa, ya, za) and the lowest point of the Z axis is (xb, yb, zb), so that the deficiency volume V isrIn order to realize the purpose,
and step 3: when deficiency volume VrGreater than VaWhen the material pile is filled, the material pile is filled and calculated;
calculating a filling volume V from the lowest point (xb, yb, zb) by taking the height deltah as a step lengthn1，
After calculation, the function minimum point becomes (xb + Δ h, yb + Δ h, zb + Δ h), and the previous calculation is repeated until the filling volume V is obtainedniSo that
The material layer function is F0(x, y, Z) is filled in the range of Z axis (zb-zb + delta h.i), and the filled function F (x, y, Z) is the current TaSimulating a periodic stockpile material layer;
and 4, step 4: when deficiency volume VrLess than VaFirstly, performing stock pile filling calculation, and then performing plane stock pile calculation;
firstly, function F is processed according to step 30The (x, y, z) lowest point is raised to (xa, ya, za), forming a new plane function G0(x, y, z); re-calculating the newly formed pile to have a radius RjConical stockpile RjIn order to realize the purpose,
the height H of the new conejIn order to realize the purpose,
Hj=Rj·tanα (10)
can generate a conic function of Y0(x, y, z), then current TaThe simulation function F (x, y, z) of the periodic stock layer is,
F(x，y，z)＝G0(x，y，z)+Y0(x，y，z) (11)
(4) the moving stockpile material layer simulation calculation unit S4 is used for calculating the material layer simulation formed in the moving blanking process of the unloading aircraft between the parking switches, and comprises the following calculation steps:
step 1: calculating the feeding amount of the unloading airplane in unit walking length;
let the walking step length of the unloading airplane be deltalb, the walking speed of the unloading airplane is VbThe time T taken to walk through the stepbIn order to realize the purpose,
Tb＝Δlb/Vb (12)
then TbIn time, the unloading amount F of the unloading planebIn order to realize the purpose,
step 2: a calculation period of TaVolume V of pile formed by total discharge of unloading aircraft in timebIn order to realize the purpose,
Vb＝Fb/ρ (14)
and step 3: calculating TbMoving the influence range S of the material piling layer in timeb；
The range of influence SbWidth D of the pilebIn order to realize the purpose,
the range of the material layer influenced by the moving blanking of the discharging aircraft under the distance of the step length delta lb is delta lb and the width DbA rectangular area of (a);
and 4, step 4: calculating a material layer function of unit walking length;
Tbwithin time, the cloth height HbIn order to realize the purpose,
from this height, the function F of the distance Δ lb of the subjacent layer is obtainedlb(x，y，z)；
And 5: calculating a material layer function of the total walking length;
and a material layer function F (x, y, z) formed by the walking and blanking of the unloading airplane between the parking space switches is spliced and fitted with the material layer function in each step length.
The invention has the advantages that:
according to the C-type stock yard stockpile material layer dynamic simulation control system and the method, real-time dynamic change parameters of a material layer in a stock bin are calculated according to state signals of all devices, position signals of a parking position switch and flow signals of a belt scale and by combining with a user parameter setting and optimizing logic control algorithm, so that dynamic simulation of the material layer in the stock bin in the stockpile process is realized; the system has the advantages of small deviation between the simulation calculation result and the actual material layer parameter, low investment and maintenance cost and high yield, lays a foundation for realizing fine control of stacking and taking materials, and has wide market prospect.
Drawings
FIG. 1 is a schematic view of the C-type material yard material layer dynamic simulation control system of the invention.
FIG. 2 is a schematic side view of a C-type yard material layer dynamic simulation control system according to the present invention.
FIG. 3 is a schematic diagram of the logic algorithm structure of the controller of the present invention.
FIG. 4 is a schematic diagram of a dynamic simulation coordinate system of a C-type material yard and a material layer.
Detailed Description
The following further describes the embodiments of the present invention with reference to the drawings.
As shown in fig. 1-4, the dynamic simulation control system for the stockpile layer in the C-shaped stockpile field of the invention comprises a T-shaped table 1 arranged in the middle along the extending direction of the stockpile field, material blocking partition walls 8 uniformly and transversely arranged along two sides of the T-shaped table 1, a feeding belt 3 arranged on the top of the T-shaped table 1, and a discharging airplane moving device 4 which is positioned above the feeding belt 3 and can move forwards and backwards along the running direction of the belt, and is characterized in that a proximity switch 6 is arranged at the bottom of the discharging airplane moving device 4, a parking space switch 7 is uniformly arranged beside the track of the discharging airplane moving device 4, a belt scale 9 is arranged at a feeding opening at the head of the feeding belt 3, a discharging airplane belt 5 is arranged on the top of the discharging airplane moving device 4, and the parking space switch 7 and the belt scale 9 are both connected with a controller 10,
the controller 10 includes a coordinate system establishing unit S1, a unit pile volume calculating unit S2, a fixed point pile bed simulation calculating unit S3, and a moving pile bed simulation calculating unit S4.
The running direction of the unloading airplane belt 5 is vertical to the running direction of the feeding belt 3.
Fig. 1 is a schematic view of the throwing surface of the C-type stock yard stock bed dynamic simulation control system of the invention, fig. 2 is a schematic view of the side surface of the C-type stock yard stock bed dynamic simulation control system of the invention, and as shown in fig. 1 and fig. 2, the system comprises a T-shaped table 1, a stock pile 2, a feeding belt 3, a discharging airplane moving device 4, a discharging airplane belt 5, a proximity switch 6, a parking space switch 7, a material blocking partition wall 8, a belt scale 9 and a controller 10. The T-shaped platform 1 is arranged in the middle along the extension direction of a stock ground, the material blocking partition walls 8 are evenly and transversely arranged along two sides of the T-shaped platform 1, the adjacent material blocking partition walls 8 and the ground between the adjacent material blocking partition walls form a storage bin, the material pile 2 is stored in each storage bin, the feeding belt 3 is positioned at the top of the T-shaped platform 1, the unloading aircraft moving device 4 is positioned above the feeding belt 3 and can walk back and forth along the belt running direction, the proximity switch 6 is positioned at the bottom of the unloading aircraft moving device 4, the parking stall switches 7 are evenly arranged beside the track of the unloading aircraft moving device 4, when the unloading aircraft moving device 4 moves and the proximity switch 6 is close to the parking stall switch 7, the parking stall switch 7 sends a signal to the controller 10 to indicate that the unloading position of the unloading aircraft is positioned at the parking stall switch 7, the unloading aircraft belt 5 is positioned at the top of the unloading aircraft moving device 4, and the belt running direction is perpendicular to the feeding belt 3, the belt weigher 9 is positioned at a feeding port at the head of the feeding belt 3 and used for detecting the feeding flow in real time, the controller 10 receives state signals of all devices, position signals of the parking space switch 7 and flow signals of the belt weigher 9, and real-time dynamic change parameters of a material layer in the storage bin are calculated by combining user parameter setting and an optimized logic control algorithm, so that dynamic simulation of the material layer in the storage bin is realized.
Fig. 3 is a schematic diagram of the logical algorithm structure of the controller according to the present invention. As shown in fig. 3, the logic algorithm in the controller 10 includes a coordinate system establishing unit S1, a unit pile volume calculating unit S2, a fixed point windrow layer simulation calculating unit S3, and a moving windrow layer simulation calculating unit S4.
A control method of a C-shaped stock yard stockpile layer dynamic simulation control system is characterized by comprising the following steps:
(1) a coordinate system establishing unit S1, which establishes a three-dimensional coordinate system by taking each storage bin in the C-shaped stock yard as a range; the three-dimensional coordinate system comprises an X axis, a Y axis and a Z axis; FIG. 4 is a schematic diagram of a dynamic simulation coordinate system of a material layer of a C-type material yard;
the X axis is parallel to the direction of the T-shaped table 1, and the running direction of the feeding belt 3 is taken as the positive direction; the X-axis position is a straight line connected with the intersection point of a parabola formed by outward discharging of the discharging airplane belt 5 and the ground in the process of stacking at each position of the T-shaped table 1. The starting point and the ending point on the X axis are the positions of two adjacent material blocking partition walls 8. The corresponding blanking midpoint position of the parking space switch 7 in the range from 1 to n of each storage bin on the T-shaped table 1 on the X axis is X1，X2……Xn。
The Y axis is parallel to the material blocking partition wall 8 and is the intersection line of the material blocking partition wall 8 and the ground; the positive direction of the Y axis is vertical to the T-shaped table 2 and points to the outer side of the storage bin.
The Z axis is vertical to the X axis and the Y axis simultaneously, and the positive direction of the Z axis points to the ceiling from the ground;
the origin O, the point where the X-axis origin and the Y-axis and the Z-axis intersect, is the intersection point of the material blocking partition wall 8, the T-shaped table 1 and the ground.
And the end point D is the intersection point of the material blocking partition wall 8, the T-shaped table 1 and the ground, and the point where the X-axis end point intersects with the Y-axis and the Z-axis.
Each storage bin has a respective three-dimensional coordinate system and is independent of each other; the calculation function of the material layer simulation in each storage bin is established based on the coordinate system, and the system is arranged at intervals of TaUpdating the simulation data once in time to realize the effect of dynamic simulation of the stockpile material layer;
(2) the unit pile volume calculating unit S2 calculates the unit period T by the system according to the flow signal of the belt scale 9 and the position signal of the parking space switch 7aThe calculation steps of the volume parameter of the raw material pile under the unloading airplane in time are as follows:
step 1: for eliminating signal interference, the discharge flow F is more accurately calculatedxThe system firstly monitors the flow F of the belt scale 9pCarrying out median filtering processing; the system collects flow signals every 1 secondAnd taking the middle value of 5 data of continuous 5 seconds as the current flow value Fq；
Step 2: calculating the length of a raw material walking path from a belt scale 9 to an outlet of a belt 5 of the unloading airplane; the length is formed by two parts, one part is the length L from the belt scale 9 to the feeding hole of the belt 5 of the unloading airplanecA part of the belt length L of the belt 5 of the tripper aircraftd；
LcThe length is calculated according to the distance from the parking space switch 7 where the tripper moving device 4 is located to the belt weigher 9,
wherein L ismnDistance V from a certain parking position switch 7 to a belt scale 9fFor the travelling speed, T, of the tripper moving device 4fThe running time of the unloading airplane moving device 4 after passing through the parking space switch 7 is determined;
and step 3: calculating the time T required by the raw material to run from the belt scale 9 to the belt 5 outlet of the unloading airplanecIn order to realize the purpose,
wherein VcFor the running speed of the feed belt 3, VdIs the running speed of the unloading airplane belt 5;
and 4, step 4: discharge flow F of unloading aircraftxThen is TcFlow detection filtering value F of belt scale 9 before timeq，
Fx(T0)=Fq(T0-Tc) (3)
Wherein, T0Is the current time;
and 5: the period is TaTotal unloading mass F of unloading aircraft in timeaIn order to realize the purpose,
step 6: the period is TaVolume V of pile formed by total discharge of unloading aircraft in timeaIn order to realize the purpose,
Va＝Fa/ρ (5)
wherein rho is the bulk density of the raw material;
(3) the fixed-point stockpile material layer simulation calculation unit S3 is used for performing fixed-point blanking on the fixed parking space switch 7 by the unloading aircraft to form material layer simulation calculation, and comprises the following calculation steps:
step 1: calculating TaInfluence range S of material piling and material layer at fixed point in timea；
The range of influence SaRadius R ofaIn order to realize the purpose,
wherein alpha is the repose angle of the raw material; when the unloading aircraft unloads at the ith parking space switch 7, the unloading aircraft unloads at TaThe maximum range of the material layer which can be influenced in time is X on the X axisiPoint as center of circle, RaA circular interval of radius;
step 2: defect volume V for calculating function of material layer in last cycler；
Is provided with a TaPeriodic bed function of F0(x, y, z), if the cycle is the first cycle, then F is considered to be0(x, y, z) is a plane; setting the function at SaIn the range, the highest point of the Z axis is (xa, ya, za) and the lowest point of the Z axis is (xb, yb, zb), so that the deficiency volume V isrIn order to realize the purpose,
and step 3: when deficiency volume VrGreater than VaWhen the material pile is filled, the material pile is filled and calculated;
calculating a filling volume V from the lowest point (xb, yb, zb) by taking the height deltah as a step lengthn1，
After calculation, the function minimum point becomes (xb + Δ h, yb + Δ h, zb + Δ h), and the previous calculation is repeated until the filling volume V is obtainedniSo that
The material layer function is F0(x, y, Z) is filled in the range of Z axis (zb-zb + delta h.i), and the filled function F (x, y, Z) is the current TaSimulating a periodic stockpile material layer;
and 4, step 4: when deficiency volume VrLess than VaFirstly, performing stock pile filling calculation, and then performing plane stock pile calculation;
firstly, function F is processed according to step 30The (x, y, z) lowest point is raised to (xa, ya, za), forming a new plane function G0(x, y, z); re-calculating the newly formed pile to have a radius RjConical stockpile RjIn order to realize the purpose,
the height H of the new conejIn order to realize the purpose,
Hj＝Rj·tanα (10)
can generate a conic function of Y0(x, y, z), then current TaThe simulation function F (x, y, z) of the periodic stock layer is,
F(x，y，z)＝G0(x，y，z)+Y0(x，y，z) (11)
(4) the moving stockpile material layer simulation calculation unit S4 is used for calculating the material layer simulation formed in the moving blanking process of the unloading aircraft between the parking switches 7, and comprises the following calculation steps:
step 1: calculating the feeding amount of the unloading airplane in unit walking length;
the walking step length of the unloading airplane is set to be delta lb, and the walking speed of the unloading airplane is set to be VbThe time T taken to walk through the stepbIn order to realize the purpose,
Tb＝Δlb/Vb (12)
then TbIn time, the unloading amount F of the unloading planebIn order to realize the purpose,
step 2: a calculation period of TaVolume V of pile formed by total discharge of unloading aircraft in timebIn order to realize the purpose,
Vb＝Fb/ρ (14)
and step 3: calculating TbMoving the influence range S of the material piling layer in timeb；
The range of influence SbWidth D of the pilebIn order to realize the purpose,
the range of the material layer influenced by the moving blanking of the discharging aircraft under the distance of the step length delta lb is delta lb and the width DbA rectangular area of (a);
and 4, step 4: calculating a material layer function of unit walking length;
Tbwithin time, the cloth height HbIn order to realize the purpose,
from this height, the function F of the distance Δ lb of the subjacent layer is obtainedlb(x，y，z)；
And 5: calculating a material layer function of the total walking length;
the material layer function F (x, y, z) formed by the unloading aircraft walking and unloading between the parking space switches 7 is the splicing fitting of the material layer function in each step length.
The invention relates to a C-type stock yard stockpile bed dynamic simulation control system and a method, which are used for calculating real-time dynamic change parameters of a bed in a stock bin according to state signals of all devices, position signals of a parking position switch 7 and flow signals of a belt scale 9 and by combining with a user parameter setting and optimizing logic control algorithm, so that the dynamic simulation of the bed in the stock bin in the stockpile process is realized. The system has the advantages of small deviation between the simulation calculation result and the actual material layer parameter, low investment and maintenance cost and high yield, lays a foundation for realizing fine control of stacking and taking materials, and has wide market prospect.
Claims (3)
1. A C-shaped stock yard stockpile bed dynamic simulation control system comprises a T-shaped table arranged in the middle along the extension direction of a stock yard, material blocking partition walls evenly and transversely arranged along two sides of the T-shaped table, a feeding belt arranged at the top of the T-shaped table, and a discharging airplane moving device which is positioned above the feeding belt and can walk back and forth along the running direction of the belt, and is characterized in that a proximity switch is arranged at the bottom of the discharging airplane moving device, parking stall switches are evenly arranged beside the track of the discharging airplane moving device, a belt scale is arranged at a feeding port at the head of the feeding belt, a discharging airplane belt is arranged at the top of the discharging airplane moving device, the parking stall switches and the belt scale are both connected with a controller,
the controller comprises a coordinate system establishing unit S1, a unit pile volume calculating unit S2, a fixed point pile material layer simulation calculating unit S3 and a moving pile material layer simulation calculating unit S4.
2. The system according to claim 1, wherein the belt running direction of the unloading aircraft is perpendicular to the belt running direction.
3. A control method of a C-shaped stock yard stockpile layer dynamic simulation control system is characterized by comprising the following steps:
(1) a coordinate system establishing unit S1, which establishes a three-dimensional coordinate system by taking each storage bin in the C-shaped stock yard as a range; the three-dimensional coordinate system comprises an X axis, a Y axis and a Z axis;
the X axis is parallel to the direction of the T-shaped table, and the running direction of the feeding belt is taken as the positive direction;
the Y axis is parallel to the material blocking partition wall and is the intersection line of the material blocking partition wall and the ground;
the Z axis is vertical to the X axis and the Y axis simultaneously, and the positive direction of the Z axis points to the ceiling from the ground;
each storage bin has a respective three-dimensional coordinate system and is independent of each other; the calculation function of the material layer simulation in each storage bin is established based on the coordinate system, and the system is arranged at intervals of TaUpdating the simulation data once in time to realize the effect of dynamic simulation of the stockpile material layer;
(2) the unit pile volume calculating unit S2 calculates the unit period T by the flow signal of the belt scale and the position signal of the parking space switchaThe calculation steps of the volume parameter of the raw material pile under the unloading airplane in time are as follows:
step 1: for eliminating signal interference, the discharge flow F is more accurately calculatedxThe system firstly monitors the flow F of the belt weigherpCarrying out median filtering processing; the system collects flow signals every 1 second, and takes the intermediate value of 5 continuous data in 5 seconds as the current flow value Fq；
Step 2: calculating the length of a raw material walking path from the belt weigher to a belt outlet of the unloading airplane; the length of the belt scale is formed by two parts, one part is the length L from the belt scale to a belt feeding port of the unloading airplanecAnd a part is the belt length L of the unloading airplane beltd；
LcThe length is calculated according to the distance from a parking space switch where the unloading airplane moving device is located to the belt weigher,
wherein L ismnDistance from a certain parking position switch to belt scale, VfFor the travelling speed, T, of the moving means of the unloading aircraftfFor moving the unloading aircraftThe running time of the device after the parking space switch;
and step 3: calculating the time T required by the raw material to run from the belt weigher to the belt outlet of the unloading airplanecIn order to realize the purpose,
wherein VcFor the running speed of the feed belt, VdThe running speed of the belt of the unloading airplane;
and 4, step 4: discharge flow F of unloading aircraftxThen is TcFlow detection filtering value F of belt weigher before timeq，
Fx(T0)＝Fq(T0-Tc) (3)
Wherein, T0Is the current time;
and 5: the period is TaTotal unloading mass F of unloading aircraft in timeaIn order to realize the purpose,
step 6: the period is TaVolume V of pile formed by total discharge of unloading aircraft in timeaIn order to realize the purpose,
Va＝Fa/ρ (5)
wherein rho is the bulk density of the raw material;
(3) the fixed-point stockpile material layer simulation calculation unit S3 is used for performing fixed-point blanking on a fixed parking stall switch by a discharging airplane to form material layer simulation calculation, and comprises the following calculation steps:
step 1: calculating TaInfluence range S of material piling and material layer at fixed point in timea；
The range of influence SaRadius R ofaIn order to realize the purpose,
wherein alpha is the repose angle of the raw material; when the unloading aircraft unloads in the ith parking space switch, the unloading aircraft is at TaThe maximum range of the material layer which can be influenced in time is X on the X axisiPoint as center of circle, RaA circular interval of radius;
step 2: defect volume V for calculating function of material layer in last cycler；
Is provided with a TaPeriodic bed function of F0(x, y, z), if the cycle is the first cycle, then F is considered to be0(x, y, z) is a plane; setting the function at SaIn the range, the highest point of the Z axis is (xa, ya, za) and the lowest point of the Z axis is (xb, yb, zb), so that the deficiency volume V isrIn order to realize the purpose,
and step 3: when deficiency volume VrGreater than VaWhen the material pile is filled, the material pile is filled and calculated;
calculating a filling volume V from the lowest point (xb, yb, zb) by taking the height deltah as a step lengthn1，
After calculation, the function minimum point becomes (xb + Δ h, yb + Δ h, zb + Δ h), and the previous calculation is repeated until the filling volume V is obtainedniSo that
The material layer function is F0(x, y, Z) is filled in the range of Z axis (zb-zb + delta h.i), and the filled function F (x, y, Z) is the current TaSimulating a periodic stockpile material layer;
and 4, step 4: when deficiency volume VrLess than VaWhen it is used, firstlyPerforming material pile filling calculation, and then performing plane material pile calculation;
firstly, function F is processed according to step 30The (x, y, z) lowest point is raised to (xa, ya, za), forming a new plane function G0(x, y, z); re-calculating the newly formed pile to have a radius RjConical stockpile RjIn order to realize the purpose,
the height H of the new conejIn order to realize the purpose,
Hj＝Rj·tanα (10)
can generate a conic function of Y0(x, y, z), then current TaThe simulation function F (x, y, z) of the periodic stock layer is,
F(x，y，z)＝G0(x，y，z)+Y0(x，y，z) (11)
(4) the moving stockpile material layer simulation calculation unit S4 is used for calculating the material layer simulation formed in the moving blanking process of the unloading aircraft between the parking switches, and comprises the following calculation steps:
step 1: calculating the feeding amount of the unloading airplane in unit walking length;
the walking step length of the unloading airplane is set to be delta lb, and the walking speed of the unloading airplane is set to be VbThe time T taken to walk through the stepbIn order to realize the purpose,
Tb＝Δlb/Vb (12)
then TbIn time, the unloading amount F of the unloading planebIn order to realize the purpose,
step 2: a calculation period of TaVolume V of pile formed by total discharge of unloading aircraft in timebIn order to realize the purpose,
Vb＝Fb/ρ (14)
and step 3: calculating TbMoving the influence range S of the material piling layer in timeb；
The range of influence SbWidth D of the pilebIn order to realize the purpose,
the range of the material layer influenced by the moving blanking of the discharging aircraft under the distance of the step length delta lb is delta lb and the width DbA rectangular area of (a);
and 4, step 4: calculating a material layer function of unit walking length;
Tbwithin time, the cloth height HbIn order to realize the purpose,
from this height, the function F of the distance Δ lb of the subjacent layer is obtainedlb(x，y，z)；
And 5: calculating a material layer function of the total walking length;
and a material layer function F (x, y, z) formed by the walking and blanking of the unloading airplane between the parking space switches is spliced and fitted with the material layer function in each step length.
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| CN114148706A (en) * | 2022-01-06 | 2022-03-08 | 中冶北方（大连）工程技术有限公司 | C-type material field moving and stacking control system and method |
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