CN101776867B - Automatic material taking control device and method of material piling and taking machine - Google Patents
Automatic material taking control device and method of material piling and taking machine Download PDFInfo
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- CN101776867B CN101776867B CN2009100452879A CN200910045287A CN101776867B CN 101776867 B CN101776867 B CN 101776867B CN 2009100452879 A CN2009100452879 A CN 2009100452879A CN 200910045287 A CN200910045287 A CN 200910045287A CN 101776867 B CN101776867 B CN 101776867B
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Abstract
The invention discloses an automatic material taking control device and a method of a material piling and taking machine. Because the invention has a function of collecting the current of a motor of a bucket wheel, establishes a relational model between the current of the motor of the bucket wheel and the material taking amount of the bucket wheel, and establishes a relational model between the material taking amount of the bucket wheel and the frequency of a rotary motor of a cantilever, under the action of the relational models, the rotary speed of the cantilever can be determined by the frequency of the rotary motor of the cantilever and can be controlled by the current of the motor of the bucket wheel in the automatic material taking process, and the current of the motor of the bucket wheel can accurately and quickly reflect the material taking amount of the bucket wheel, thereby effectively forming a closed loop control process to well control the material taking amount of the bucket wheel. In addition, because the invention has a function of judging the material pile boundary, when each material taking process reaches the material pile boundary, the invention can carry out judgment automatically and adjust the position of the material piling and taking machine to carry out the rotary material taking process for the next time, and the processes are carried out repeatedly and circularly to automatically complete the material taking process of the whole material pile, thereby realizing unmanned operation.
Description
Technical field
The present invention relates to the stacker-reclaimer field, more particularly, relate to a kind of automatic material taking control device and method of stacker-reclaimer.
Background technology
In TECHNIQUE TO LARGE INTEGRATED STEEL WORKS and large-scale ore terminal, the heavy demand of raw material (ore, coal etc.) has been brought up huge stockyard, and this produces with regard to requiring the huge heap of quantity to get material equipment, need be equipped with a large amount of operation drivers simultaneously and operate these equipment.
At present, the stockyard mainly takes combination bucket-wheel stacker reclaimer to carry out windrow and material extracting operation both at home and abroad.The work synoptic diagram of existing combination bucket-wheel stacker reclaimer is as shown in Figure 1.In the stacker-reclaimer 10; Big mechanism of car 15 is equipped with slew gear 14, is equipped with cantilever 13 on the slew gear 14, and an end of cantilever 13 is equipped with bucket wheel 11; Bucket tooth 12 is arranged on bucket wheel 11; Slew gear 14 can be the center of circle with the axis, constantly carries out back and forth reciprocal rotation, and big mechanism of car 15 can make stacker-reclaimer 10 advance or retreat along orbital direction.Stacker-reclaimer 10 is got when material, and bucket wheel 11 rotates with the rotation of slew gear 14, and bucket wheel 11 itself is also in rotation, and each bucket tooth 12 takes material successively in stockpile 50, and along with the rotation of bucket wheel 11, material is put on the belt on the cantilever 13.
Utilize stacker-reclaimer 10 to carry out manual work to get in the mode of material above-mentioned; The operation driver must be at the pilothouse (not shown) that is positioned on the stacker-reclaimer 10; After starting bucket wheel 11 actions; Through the shape and the position of range estimation stockpile 50, need the control crank of operation slew gear 14 to rotate, to take material with driving rotational mechanism 14.Rotate to the border of stockpile 50 when bucket wheel 11 after, need the control crank of operation cart 15, control cart 15 segment distance of walking forward, and then the control crank of operation slew gear 14 is to the opposite spin campaign.Material is got in circulation like this, until the end of job.
Like this, this operating type has following shortcoming:
1, the driver is known the current material amount size of getting through the belt conveyer scale instantaneous delivery reading on naked-eye observation cantilever 13 belts, and with control cantilever 13 speed of gyration speeds, the material amount is got in adjustment.Because there are certain distance in belt conveyer scale installation site and bucket wheel 11, can't reflect the bucket wheel material amount of getting of moment in real time, cooperate the hysteresis quality that exists because of eye, hand in addition.So artificial automatic material taking control accuracy can't guarantee, relies on operating personnel's skill level fully.
2, whether be turned back to the border of stockpile 50 through visual inspection bucket wheel 11,, will have stopped the revolution action of slew gear 14, needed operation cart 15 to advance, got material to turn round next time if arrived the border of stockpile 50.
3, owing to the pollution of dust such as ore, raw material in the stock ground, occupational diseases such as pneumoconiosis as not noting protection, very easily take place in the personnel of work under this environment all the year round.
Summary of the invention
The object of the present invention is to provide a kind of automatic material taking control device and method of stacker-reclaimer, realize that the material amount is got in monitoring automatically and adjustment and nobody controls.
According to a first aspect of the invention, a kind of automatic material taking control method of stacker-reclaimer is provided, comprises:
Set up bucket wheel current of electric and bucket wheel and get the relational model of material amount, set up the relational model that bucket wheel is got material amount and cantilever turning motor frequency;
Set bucket wheel and get the material amount, and import the relational model that said bucket wheel is got material amount and cantilever turning motor frequency;
Current data on the bucket wheel motor of the said stacker-reclaimer of real-time collection; And be converted into real-time bucket wheel through the relational model that said bucket wheel current of electric and bucket wheel are got the material amount and get material amount data, import the relational model that said bucket wheel is got material amount and cantilever turning motor frequency;
The bucket wheel that more said real-time bucket wheel is got material amount data and said setting is got the material amount, and according to comparative result, said bucket wheel is got the relational model of material amount and cantilever turning motor frequency and exported cantilever turning motor frequency in real time;
Said cantilever turning motor is got material according to the said bucket wheel of cantilever turning motor frequency drives of said real-time output.
The relational model that said bucket wheel current of electric and bucket wheel are got the material amount is:
Q=K1*I, wherein, Q: bucket wheel is got the material amount; K1: scale-up factor; I: bucket wheel motor current value.
The relational model that said bucket wheel is got material amount and cantilever turning motor frequency is:
F
k=F
K-1+ K2* (Q
k-Q
K-1)/K1+Q
k/ T
i, wherein, F
k: cantilever turning motor frequency;
F
K-1: turning motor frequency last time; K2: scale-up factor; Q
k: bucket wheel is got the material amount; Q
K-1: last time bucket wheel was got the material amount; T
i: integral time.
Said bucket wheel current of electric and bucket wheel are got K2, Ti in the relational model that scale-up factor K1 and said bucket wheel in the relational model of material amount get material amount and cantilever turning motor frequency and are suitable for getting different values because of ore charge different.
Said automatic material taking control method also comprises the judgement on stockpile border, may further comprise the steps:
A, set up the stockpile database, the position coordinate data of storage stockpile, the position coordinate data of said stockpile is the real-time and dynamic data;
B, gather the position data of each mechanism of stacker-reclaimer in real time, set up the three-dimensional coordinate model of bucket wheel;
C, judge whether bucket wheel gets into the bounds of stockpile, if get into the size of current of then further judging the bucket wheel motor;
D, if it is zero that the electric current of bucket wheel motor less than predetermined value, is then controlled cantilever turning motor output frequency, the cart reach of stacker-reclaimer and circulation execution in step c, d.
The three-dimensional coordinate model of said bucket wheel is:
X＝X1+L*cosα，Y＝L*sinα，Z＝H-L*sinβ
X1 is the walking position of cart, and L is the length of cantilever, and H is the level height of cantilever, and α is the angle of revolution of slew gear, and β is the luffing angle of slew gear.
According to a second aspect of the invention, a kind of automatic material taking control device of stacker-reclaimer is provided, comprises:
Collecting unit is gathered the current signal of said bucket wheel motor in real time;
Control module; Input end connects said collecting unit; Said control module stores bucket wheel current of electric and bucket wheel and gets that relational model, the bucket wheel of material amount are got the relational model of material amount and cantilever turning motor frequency and the bucket wheel of setting is got the material amount, and the input bucket wheel is got the relational model of material amount and cantilever turning motor frequency; The relational model that the bucket wheel current of electric data of said stacker-reclaimer are got the material amount through said bucket wheel current of electric and bucket wheel is converted into real-time bucket wheel and gets material amount data, and the input bucket wheel is got the relational model of material amount and cantilever turning motor frequency; The bucket wheel that more said real-time bucket wheel is got material amount data and setting is got the material amount; According to comparative result; The said control module of relational model that said input bucket wheel is got material amount and cantilever turning motor frequency receives the current signal of said collection; Calculate through said two relational models, export cantilever turning motor frequency in real time;
Turning unit, input end is connected with said control module, and output terminal connects the cantilever turning motor of said stacker-reclaimer.
The relational model that said bucket wheel current of electric and bucket wheel are got the material amount is:
Q=K1*I, wherein, Q: bucket wheel is got the material amount; K1: scale-up factor; I: bucket wheel motor current value.
The relational model that said bucket wheel is got material amount and cantilever turning motor frequency is:
F
k=F
K-1+ K2* (Q
k-Q
K-1)/K1+Q
k/ T
i, wherein, F
k: cantilever turning motor frequency;
F
K-1: turning motor frequency last time; K2: scale-up factor; Q
k: bucket wheel is got the material amount; Q
K-1: last time bucket wheel was got the material amount; T
i: integral time.
Said bucket wheel current of electric and bucket wheel are got K2, Ti in the relational model that scale-up factor K1 and said bucket wheel in the relational model of material amount get material amount and cantilever turning motor frequency and are suitable for getting different values because of ore charge different.
Said automatic material taking control device also comprises the position judgment unit, comprising:
The stockpile database, the position coordinate data of storage stockpile, the position coordinate data of said stockpile is the real-time and dynamic data;
Acquisition module is gathered the position data of each mechanism of stacker-reclaimer in real time;
Control module connects said stockpile database and acquisition module, stores the three-dimensional coordinate model of said bucket wheel, and control signal is also exported in the position of real-time judge bucket wheel.
The three-dimensional coordinate model of said bucket wheel is:
X＝X1+L*cosα，Y＝L*sinα，Z＝H-L*sinβ
X1 is the walking position of cart, and L is the length of cantilever, and H is the level height of cantilever, and α is the angle of revolution of slew gear, and β is the luffing angle of slew gear 14.
Said control module judges at first whether bucket wheel gets into the bounds of stockpile, if get into the size of current of then further judging the bucket wheel motor;
If the electric current of bucket wheel motor is less than predetermined value, then control module control cantilever turning motor frequency is zero, and the cart reach of control stacker-reclaimer and the above step that circulates.
Said collecting unit comprises current transformer and connected signal interface board and bucket wheel drive variable frequency device, and said signal interface board connects said bucket wheel drive variable frequency device, and said bucket wheel drive variable frequency device connects said bucket wheel motor.
Said control module is a Programmable Logic Controller; Said turning unit comprises the revolution frequency converter; Said Programmable Logic Controller input end connects the 1st interface card of said bucket wheel drive variable frequency device; Output terminal connects said cantilever turning motor, the said cantilever turning motor of said revolution Frequency Converter Control through the revolution frequency converter.
Adopt the automatic material taking control device and the method for a kind of stacker-reclaimer of the present invention; Because the present invention has the acquisition function of bucket wheel current of electric; And set up bucket wheel current of electric and bucket wheel and got the relational model and the bucket wheel of material amount and get the relational model of material amount and cantilever turning motor frequency, like this under the effect of these relational models, the cantilever speed of gyration during automatic material taking (by the decision of cantilever turning motor frequency); Can control by the bucket wheel current of electric of getting when material; Get the material amount and the bucket wheel current of electric can accurately, promptly reflect bucket wheel,, can well control bucket wheel and get the material amount so can effectively form a closed-loop control process.In addition owing to have a stockpile border arbitration functions, when get at every turn expect reach the stockpile border after, can judge automatically; And adjustment stacker-reclaimer position, get into revolution next time and get material, circulation so repeatedly; Automatically accomplish the material process of getting of whole stockpile, realize unattended.
Description of drawings
Fig. 1 is the principle schematic of described stacker-reclaimer;
Fig. 2 is the principle schematic of an embodiment of automatic material taking control device of the present invention;
Fig. 3 is the workflow synoptic diagram of automatic material taking control method of the present invention;
Fig. 4 is the logic relation picture of bucket wheel current of electric of the present invention and cantilever turning motor frequency.
Embodiment
Further specify technical scheme of the present invention below in conjunction with accompanying drawing and embodiment.
With reference to figure 1, during stacker-reclaimer 10 material extracting operations, the rotational speeies of bucket wheel 11 itself are constant, and the adjustable-speed of slew gear 14, and its speed of gyration is fast more, and then to get the material amount high more for bucket wheel 11.And it is high more to get the material amount, and the electric current of bucket wheel motor that drives bucket wheel 11 self rotation is just big more.
The present invention is the current value of bucket wheel motor through sampling stacker-reclaimer 10, and gets the turning motor frequency and the corresponding funtcional relationship of speed foundation of material amount and 14 rotations of driving rotational mechanism with actual bucket wheel.In control, as negative-feedback signal, regulate driving rotational mechanism 14 rotational speeies (rotational speed of cantilever 13) when getting material with the bucket wheel current of electric automatically, get the purpose of material amount to reach control.
Referring to Fig. 1 and Fig. 2, automatic material taking control device 20 of the present invention comprises with lower component:
Collecting unit is installed on the associated components of bucket wheel motor of said stacker-reclaimer, gathers the current signal of said bucket wheel motor in real time; As an embodiment; Said collecting unit comprises current transformer 23 and connected signal interface board 24 and bucket wheel drive variable frequency device 22, referring to Fig. 2, and bucket wheel motor (MD1) 21; Be connected with the bucket wheel 11 of stacker-reclaimer 10; Drive bucket wheel 11, to excavate the material of stockpile 50, present embodiment adopts phase asynchronous variable-frequency motor.Bucket wheel drive variable frequency device (INV1) 22; Be connected with bucket wheel motor (MD1) 21, drive controlling bucket wheel motor (MD1) 21, present embodiment are selected the SIMOVERT MASTERDRIVES series of products of SIEMENS company for use; Model is 6SE7037-0TJ60-Z; (DP1 ProfibusDP) 222 connects to form this bucket wheel drive variable frequency device 22, and the model that the 1st master control borad 221 adopts in the present embodiment is 6SE7090-0XX84-0AB0 by the 1st master control borad (MCB1) 221 and the 1st interface card; The model that the 1st interface card 222 adopts is 6SE7090-0XX84-0FF5.To the output cable of bucket wheel motor 21, install current transformer (CT) 23 at bucket wheel frequency converter 22, current transformer (CT) 23 connects signal interface board (IVI) 24, the 1st master control borad 221 of signal interface board (IVI) 24 connection bucket wheel drive frequency converters (INV1) 22.Said current transformer 23 is gathered the current value of bucket wheel motor 21; And in 1000/0.2 ratio; Actual current value is converted into a less current signal; Send into signal interface board (IVI) 24, signal interface board (IVI) 24 converts current signal into level signal, sends into the 1st master control borad (MCB1) 221 of bucket wheel frequency converter 22.The 1st master control borad 221 can be realized functions such as external signal collection, calculation process and data communication.The model that current transformer in the present embodiment (CT) 23 adopts is 6SY7000-0AB40, and its no-load voltage ratio is 1000/0.2.The model that interface board in the present embodiment (IVI) 24 adopts is 6SE7038-6GL84-1BG2.In the 1st master control borad 221, current value is made as parameter K 22, sends into bucket wheel frequency converter 22 and send in the data set, encode, packing data with the communication of Programmable Logic Controller 25.By the 1st interface card (DP1) 222, be connected to the communication interface (DP3) 252 of Programmable Logic Controller 25 through the DP cable then.
Control module; Input end connects said collecting unit; Said control module stores bucket wheel current of electric and bucket wheel and gets that relational model, the bucket wheel of material amount are got the relational model of material amount and cantilever turning motor frequency and the bucket wheel of setting is got material amount (said model hereinafter will be introduced); Said control module receives the current signal of said collection, calculates through said two relational models, exports cantilever turning motor frequency in real time.As an embodiment; Said control module is a Programmable Logic Controller 25; Said Programmable Logic Controller 25 input ends connect the 1st interface card 222 of said bucket wheel drive variable frequency device 22; Output terminal connects said cantilever turning motor 27 through revolution frequency converter 26, the said cantilever turning motor 27 of said revolution frequency converter 26 controls.Programmable Logic Controller (PLC) 25 is connected with the 1st interface card 222 of bucket wheel drive variable frequency device (INV1) 22, forms by carrying ProfibusDP communication interface (DP3) 252 on the cpu motherboard 251, and the port numbers of communication interface (DP3) 252 is X2.Present embodiment Programmable Logic Controller (PLC) 25 is selected the S7-414-2 product of SIEMENS company for use.
Turning unit; Comprise revolution frequency converter 26, bucket wheel revolution frequency converter (INV2) 26 is connected with Programmable Logic Controller (PLC) 25; This bucket wheel revolution frequency converter 26 is by the 2nd master control borad (MCB2) 261 and the 2nd interface card (DP2; ProfibusDP) 262 connect to form, bucket wheel revolution frequency converter (INV2) 25 is selected the SIMOVERT MASTERDRIVES series of products of SIEMENS company for use in the present embodiment, and model is 6SE7026-0TD61-Z; Wherein, the model of the 2nd master control borad (MCB2) 261 employings is 6SE7090-0XX84-0AB0; The model that the 2nd interface card 262 adopts is 6SE7090-0XX84-0FF5.Turning motor (MD2) 27 is connected with bucket wheel revolution frequency converter (INV2) 26, and its output terminal is connected with the slew gear 14 of stacker-reclaimer 10, drives bucket wheel 11 revolutions, and present embodiment adopts phase asynchronous variable-frequency motor.After revolution frequency converter (INV2) 26 the 2nd interface card 262 is received data, after the 2nd master control borad (MCB2) 261, the 2 master control borads 261 that import it into are received data; Decode accordingly; Take out the frequency control value, promptly may command turning motor (MD2) 27 turns round according to given frequency.As turning motor (MD2) 27 during with given frequency run, the size of getting the material amount that can accurately regulate bucket wheel 11 replaces the function of manually-operated driving rotational motor movement.
In addition, said automatic material taking control device also comprises the position judgment unit, further comprises:
The stockpile database, the position coordinate data of storage stockpile, the position coordinate data of said stockpile is the real-time and dynamic data; These data have comprised the three-dimensional absolute value coordinate of each key point of stockpile, and be according to getting stockpile shape variation in the material process and in real time, dynamic refresh.
Acquisition module is gathered the position data of each mechanism of stacker-reclaimer in real time; The current location and the size that comprise each works of stacker-reclaimer, for example: the length of cantilever 13 etc.Adopt absolute value encoder to gather in real time, such as: large vehicle walking position, angle of revolution, luffing angle.
Control module connects said stockpile database and acquisition module, stores the three-dimensional coordinate model of said bucket wheel, and control signal is also exported in the position of real-time judge bucket wheel.In one embodiment, said control module can be served as by said Programmable Logic Controller (PLC) 25.
According to the current location of each works, in conjunction with the mechanical dimension of stacker-reclaimer, can calculate the actual three-dimensional coordinate of bucket wheel, the three-dimensional coordinate model of said bucket wheel is:
X＝X1+L*cosα，Y＝L*sinα，Z＝H-L*sinβ
X1 is the walking position of cart, and L is the length of cantilever, and H is the level height of cantilever, and α is the angle of revolution of slew gear, and β is the luffing angle of slew gear 14.
The actual three-dimensional coordinate position of bucket wheel and the three-dimensional data on stockpile border are compared; If judge the bounds that bucket wheel has got into stockpile, just compare the bucket wheel current of electric this moment again, if electric current is less than predetermined value; Can judge clearly that then bucket wheel has taken to the stockpile border; The output of control module control gyrofrequency is forced to zero, and cart moves forward, and circulates next time.
Introduce relevant relational model below:
1, bucket wheel current of electric and bucket wheel are got the relational model of material amount;
Stacker-reclaimer bucket wheel when getting material is rotated with constant speed, can adjust the cantilever speed of gyration and regulate the materials flow amount of getting.At actual current value and the arm belt scale flow of gathering the bucket wheel motor in the material process of getting; Both correspondences can obtain the corresponding relation of current value and belt conveyer scale flow, and current value is big more, and it is high more then to get the materials flow amount; Both can confirm as proportional relationship basically, specifically formula as follows:
Q=K1*I, wherein, Q: bucket wheel is got the material amount; K1: scale-up factor; I: bucket wheel motor current value.Said bucket wheel current of electric and bucket wheel are got scale-up factor K1 in the relational model of material amount and are suitable for getting different values because of ore charge different.
2, the relational model of bucket wheel current of electric and cantilever turning motor frequency;
In material extracting operation, after bucket wheel was got material with constant speed rotation, if the cantilever speed of gyration is fast more, it was high more then to get the material amount, and the bucket wheel current of electric is big more.So, as negative-feedback signal, suitably control the cantilever speed of gyration with the bucket wheel motor current value, promptly may command bucket wheel current of electric also just can play the purpose that the material amount is got in control.Referring to Fig. 4, by Fig. 4, regulate control principle according to PI, obtain following formula:
F
k=F
K-1+ K2 (I
k-I
K-1)+I
k/ T
iWherein, F
k: cantilever turning motor frequency;
F
K-1: turning motor frequency last time; K2: scale-up factor; T
k: bucket wheel is got the material amount; T
K-1: last time bucket wheel was got the material amount; T
i: integral time.Said K2, Ti are suitable for getting different values because of the difference of ore charge.
3, bucket wheel is got the relational model of material amount and cantilever turning motor frequency;
Two relational models by above can obtain following formula:
F
k=F
K-1+ K2* (Q
k-Q
K-1)/K1+Q
k/ T
i, wherein, F
k: cantilever turning motor frequency;
F
K-1: turning motor frequency last time; K2: scale-up factor; Q
k: bucket wheel is got the material amount; Q
K-1: last time bucket wheel was got the material amount; T
i: integral time.
On the other hand; The present invention also provides the automatic material taking control method; The principle that the automatic material taking control method realizes is identical with process and be similar to said automatic material taking control device 20, through the process flow diagram of Fig. 3 the course of work of automatic material taking control method and device once is described below:
Referring to 1,2,3 steps among Fig. 3.On the computer operation picture of operating personnel in the central control system of goods stock ground, set the material amount of getting that this subjob of stacker-reclaimer need be set, and select the concrete ore kind of this subjob, begin the automatic material taking operation then.After operation began, the electric current of bucket wheel motor 21 was gathered through the current transformer 23 on bucket wheel drive variable frequency device 22 output cables.
Referring to 6,7 steps among Fig. 3; Current value according to the bucket wheel motor 21 of real-time collection; Set up the electric current of bucket wheel motor 21 and get the relational model of material amount: Q=K1*I, according to this model, the material amount of the getting instantaneous value that just can obtain simulating through the current value of bucket wheel motor 21.
Referring to 9 steps among Fig. 3, select according to the ore kind of 3 steps, set up experience database.
In the actual production operation in goods stock ground, various ore goods are different because of kind, and density is different, and bulk density also has nothing in common with each other.If adopt single controlling models, will cause the not high defective of control accuracy, even cause process out of control.So need set up an experience database according to the ore kind, when producing different ores, according to selected ore kind, control program can call Different control and regulate parameter.Can better meet the control accuracy requirement like this.Comprised different ore kinds in this database, pairing scale-up factor K1, K2, Ti.These data must record according to the repetition test at scene.For example:
| The mineral code | K1 | K2 | Ti |
| OBN-N | 13.35 | 3.1 | 0.12 |
| OBD-S | 16.67 | 2.6 | 0.15 |
Referring to 4,5,10,11,12 steps among Fig. 3, carry out the stockpile border and judge, concrete preceding text are narrated.
Referring to 8,13 steps among Fig. 3, set up the relational model that bucket wheel is got material amount and cantilever turning motor frequency:
F
k=F
K-1+ K2* (Q
k-Q
K-1)/K1+Q
k/ T
i, wherein, F
k: cantilever turning motor frequency;
F
K-1: turning motor frequency last time; K2: scale-up factor; Q
k: bucket wheel is got the material amount; Q
K-1: last time bucket wheel was got the material amount; T
i: integral time.
Convert above all relational models into behind Programmable Logic Controller (PLC) programming language input Programmable Logic Controller 25.The relational model of getting the material amount through said bucket wheel current of electric and bucket wheel is converted into real-time bucket wheel with the bucket wheel current of electric of gathering and gets material amount data, imports the relational model that said bucket wheel is got material amount and cantilever turning motor frequency; The bucket wheel that more said real-time bucket wheel is got material amount data and said setting is got the material amount, and according to comparative result, said bucket wheel is got the relational model of material amount and cantilever turning motor frequency and exported cantilever turning motor frequency in real time; The frequency control value of the turning motor 27 that computing draws according to model generalization; Send into the revolution frequency converter (INV2) 26 of turning motor 27 with the Profibus communications protocol; The speed of gyration of the cantilever 13 during automatic material taking then, the electric current of bucket wheel motor 21 that can be when getting material is controlled.And the electric current of bucket wheel motor 21 can be accurately, reflection promptly gets the material amount, so can effectively form a closed-loop control process.Get in addition at every turn expect reach stockpile 50 borders after, can judge automatically, and adjustment stacker-reclaimer position, get into revolution next time and get material.Circulation so repeatedly.Then can accomplish the material process of getting of whole stockpile automatically.
Those of ordinary skill in the art will be appreciated that; Above embodiment is used for explaining the present invention; And be not to be used as qualification of the present invention; As long as in connotation scope of the present invention, all will drop in claims scope of the present invention variation, the modification of above embodiment.
Claims (15)
1. the automatic material taking control method of a stacker-reclaimer is characterized in that, comprising:
Set up bucket wheel current of electric and bucket wheel and get the relational model of material amount, set up the relational model that bucket wheel is got material amount and cantilever turning motor frequency;
Set bucket wheel and get the material amount, and import the relational model that said bucket wheel is got material amount and cantilever turning motor frequency;
Current data on the bucket wheel motor of the said stacker-reclaimer of real-time collection; And be converted into real-time bucket wheel through the relational model that said bucket wheel current of electric and bucket wheel are got the material amount and get material amount data, import the relational model that said bucket wheel is got material amount and cantilever turning motor frequency;
The bucket wheel that more said real-time bucket wheel is got material amount data and said setting is got the material amount, and according to comparative result, said bucket wheel is got the relational model of material amount and cantilever turning motor frequency and exported cantilever turning motor frequency in real time;
Said cantilever turning motor is got material according to the said bucket wheel of cantilever turning motor frequency drives of said real-time output.
2. automatic material taking control method as claimed in claim 1 is characterized in that, the relational model that said bucket wheel current of electric and bucket wheel are got the material amount is:
Q=K1*I, wherein, Q: bucket wheel is got the material amount; K1: scale-up factor; I: bucket wheel motor current value;
Wherein scale-up factor K1 is suitable for getting different values because of the difference of ore charge.
3. automatic material taking control method as claimed in claim 1 is characterized in that, the relational model that said bucket wheel is got material amount and cantilever turning motor frequency is:
F
k=F
K-1+ K2* (Q
k-Q
K-1)/K1+Q
k/ T
i, wherein, F
k: cantilever turning motor frequency;
Wherein, F
K-1: turning motor frequency last time; K2: scale-up factor; Q
k: bucket wheel is got the material amount; Q
K-1: last time bucket wheel was got the material amount; T
i: integral time.
4. automatic material taking control method as claimed in claim 3 is characterized in that, said bucket wheel is got K2, Ti in the relational model of material amount and cantilever turning motor frequency and is suitable for getting different values because of ore charge different.
5. automatic material taking control method as claimed in claim 1 is characterized in that, said automatic material taking control method also comprises the judgement on stockpile border, may further comprise the steps:
A, set up the stockpile database, the position coordinate data of storage stockpile, the position coordinate data of said stockpile is the real-time and dynamic data;
B, gather the position data of each mechanism of stacker-reclaimer in real time, set up the three-dimensional coordinate model of bucket wheel;
C, judge whether bucket wheel gets into the bounds of stockpile, if get into the size of current of then further judging the bucket wheel motor;
D, if it is zero that the electric current of bucket wheel motor less than predetermined value, is then controlled cantilever turning motor output frequency, the cart reach of stacker-reclaimer and circulation execution in step c, d.
6. automatic material taking control method as claimed in claim 5 is characterized in that, the three-dimensional coordinate model of said bucket wheel is:
X＝X1+L*cosα，Y＝L*sinα，Z＝H-L*sinβ
X1 is the walking position of cart, and L is the length of cantilever, and H is the level height of cantilever, and α is the angle of revolution of slew gear, and β is the luffing angle of slew gear.
7. the automatic material taking control device of a stacker-reclaimer is characterized in that, comprising:
Collecting unit is gathered the current signal of said bucket wheel motor in real time;
Control module, input end connect said collecting unit, and said control module stores the bucket wheel of setting and gets the material amount, and the input bucket wheel is got the relational model of material amount and cantilever turning motor frequency; The relational model that the bucket wheel current of electric data of said stacker-reclaimer are got the material amount through said bucket wheel current of electric and bucket wheel is converted into real-time bucket wheel and gets material amount data, and the input bucket wheel is got the relational model of material amount and cantilever turning motor frequency; The bucket wheel that more said real-time bucket wheel is got material amount data and setting is got the material amount, and according to comparative result, said input bucket wheel is got the relational model of material amount and cantilever turning motor frequency and exported cantilever turning motor frequency in real time;
Turning unit, input end is connected with said control module, and output terminal connects the cantilever turning motor of said stacker-reclaimer.
8. automatic material taking control device as claimed in claim 7 is characterized in that, the relational model that said bucket wheel current of electric and bucket wheel are got the material amount is:
Q=K1*I, wherein, Q: bucket wheel is got the material amount; K1: scale-up factor; I: bucket wheel motor current value;
Wherein scale-up factor K1 is suitable for getting different values because of the difference of ore charge.
9. automatic material taking control device as claimed in claim 7 is characterized in that, the relational model that said bucket wheel is got material amount and cantilever turning motor frequency is:
F
k=F
K-1+ K2* (Q
k-Q
K-1)/K1+Q
k/ T
i, wherein, F
k: cantilever turning motor frequency;
F
K-1: turning motor frequency last time; K2: scale-up factor; Q
k: bucket wheel is got the material amount; Q
K-1: last time bucket wheel was got the material amount; T
i: be worth integral time.
10. automatic material taking control device as claimed in claim 9 is characterized in that, said bucket wheel is got K2, Ti in the relational model of material amount and cantilever turning motor frequency and is suitable for getting different values because of ore charge different.
11. automatic material taking control device as claimed in claim 7 is characterized in that, said automatic material taking control device also comprises the position judgment unit, comprising:
The stockpile database, the position coordinate data of storage stockpile, the position coordinate data of said stockpile is the real-time and dynamic data;
Acquisition module is gathered the position data of each mechanism of stacker-reclaimer in real time;
Control module connects said stockpile database and acquisition module, stores the three-dimensional coordinate model of said bucket wheel, and control signal is also exported in the position of real-time judge bucket wheel.
12. automatic material taking control device as claimed in claim 11 is characterized in that, the three-dimensional coordinate model of said bucket wheel is:
X＝X1+L*cosα，Y＝L*sinα，Z＝H-L*sinβ
X1 is the walking position of cart, and L is the length of cantilever, and H is the level height of cantilever, and α is the angle of revolution of slew gear, and β is the luffing angle of slew gear.
13. automatic material taking control device as claimed in claim 11 is characterized in that, said control module judges at first whether bucket wheel gets into the bounds of stockpile, if get into the size of current of then further judging the bucket wheel motor;
If the electric current of bucket wheel motor is less than predetermined value, then control module control cantilever turning motor frequency is zero, and the cart reach of control stacker-reclaimer and the above step that circulates.
14. automatic material taking control device as claimed in claim 7; It is characterized in that; Said collecting unit comprises current transformer and connected signal interface board and bucket wheel drive variable frequency device; Said signal interface board connects said bucket wheel drive variable frequency device, and said bucket wheel drive variable frequency device connects said bucket wheel motor.
15. automatic material taking control device as claimed in claim 14; It is characterized in that; Said control module is a Programmable Logic Controller, and said turning unit comprises the revolution frequency converter, and said Programmable Logic Controller input end connects the 1st interface card of said bucket wheel drive variable frequency device; Output terminal connects said cantilever turning motor, the said cantilever turning motor of said revolution Frequency Converter Control through the revolution frequency converter.
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| CN2009100452879A CN101776867B (en) | 2009-01-14 | 2009-01-14 | Automatic material taking control device and method of material piling and taking machine |
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| CN2009100452879A CN101776867B (en) | 2009-01-14 | 2009-01-14 | Automatic material taking control device and method of material piling and taking machine |
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