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 PDF

Info

Publication number
CN101776867B
CN101776867B CN 200910045287 CN200910045287A CN101776867B CN 101776867 B CN101776867 B CN 101776867B CN 200910045287 CN200910045287 CN 200910045287 CN 200910045287 A CN200910045287 A CN 200910045287A CN 101776867 B CN101776867 B CN 101776867B
Authority
CN
China
Prior art keywords
reclaimer
bucket wheel
motor
bucket
quantity
Prior art date
Application number
CN 200910045287
Other languages
Chinese (zh)
Other versions
CN101776867A (en
Inventor
伍文宇
吴刚
孔利明
张子才
恽继洪
肖苏
胡玉良
许映明
Original Assignee
宝山钢铁股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 宝山钢铁股份有限公司 filed Critical 宝山钢铁股份有限公司
Priority to CN 200910045287 priority Critical patent/CN101776867B/en
Publication of CN101776867A publication Critical patent/CN101776867A/en
Application granted granted Critical
Publication of CN101776867B publication Critical patent/CN101776867B/en

Links

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 bucketwheel 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

一种堆取料机的自动取料控制装置及方法 Having a bulk reclaimer apparatus and method for automatically controlling Reclaimer

技术领域 FIELD

[0001] 本发明涉及堆取料机领域,更具体地说,涉及一种堆取料机的自动取料控制装置及方法。 [0001] The present invention relates to a stacker reclaimer, and more particularly, to a reclaimer apparatus and method for automatically controlling reclaimer.

背景技术 Background technique

[0002] 在大型钢铁联合企业和大型矿石码头,原料(矿石、煤等)的大量需求造就了巨型的堆场,这就要求有数量庞大的堆取料设备来进行生产,同时需配备大量的操作司机来操作这些设备。 [0002] In a lot of the needs of large enterprises and large-scale iron and steel ore dock, raw materials (ores, coal, etc.) created a huge yard, which requires a huge number of stacker-reclaimer equipment for production, and be equipped with a large number of operation driver to operate these devices.

[0003] 目前,国内外堆场主要采取斗轮式堆取料机进行堆料和取料作业。 [0003] At present, the main yard at home and abroad to take bucket wheel stacker-reclaimer machine for stacking and reclaiming the job. 现有的斗轮式堆取料机的工作示意图如图1所示。 Conventional bucket wheel reclaimer operation is shown in Fig.1. 堆取料机10中,大车机构15置有回转机构14,回转机构14上置有悬臂13,悬臂13的一端置有斗轮11,在斗轮11上有斗齿12,回转机构14能够以中轴线为圆心,不断进行来回往复的旋转,而大车机构15能够使堆取料机10沿着轨道方向前进或后退。 Reclaimer 10, the cart mechanism 15 has opposite turning mechanism 14, 14 placed on the turning mechanism 13 has a cantilever, one end of the boom 13 has opposed bucket wheel 11 with the tooth 12 on the bucket wheel 11, the rotary mechanism 14 can to the central axis as the center, constantly rotating back and forth, and the mechanism 15 enables the cart reclaimer 10 forward or backward along the track direction. 堆取料机10取料时,斗轮11随回转机构14的旋转而旋转,斗轮11本身也在自转,各个斗齿12依次在料堆50中挖取物料,并随着斗轮11的旋转,将物料放到悬臂13上的皮带上。 When the stacker-reclaimer 10 reclaimer bucket wheel 11 with the rotation of the rotary mechanism 14 is rotated, the rotation of the bucket wheel itself is 11, the tooth 12 of each stack 50 are sequentially digging feed material, and with the bucket wheel 11 rotation, put the material on the belt 13 on the cantilever.

[0004] 在上述利用堆取料机10进行人工取料的方式中,操作司机必须在位于堆取料机10上的驾驶室(未图示)内,在启动斗轮11动作后,通过目测料堆50的形状及位置,需操作回转机构14的操纵手柄以驱动回转机构14作旋转运动,以挖取物料。 Embodiment [0004] In the reclaimer reclaimer using 10 manually, the operator must be located in the driver cab stacker 10 on the feeder (not shown), after starting operation of the bucket wheel 11, by visual inspection shape and position of the pile 50, the need to operate joystick mechanism 14 to drive the rotary mechanism 14 for rotating the rotary movement, to dig material. 当斗轮11旋转到料堆50的边界后,需操作大车15的操纵手柄,控制大车15向前行走一段距离,然后再操作回转机构14的操纵手柄向反方向旋转运动。 When the bucket wheel 11 is rotated to feed the stack boundary 50, the cart 15 needs to operate joystick control carts 15 forward walking some distance, and then the rotation mechanism 14 operate joystick rotational movement in the opposite direction. 这样循环取料,直至作业结束。 Reclaiming the cycle until the end of the job.

[0005] 这样,这种作业方式有以下几个缺点: [0005] Thus, this embodiment has the following disadvantages operation:

[0006] 1、司机通过肉眼观测悬臂13皮带上的皮带秤瞬时流量读数,获知当前取料量大小,以控制悬臂13回转速度快慢,调整取料量。 [0006] 1, the driver by visual observation on the belt weigher 13 cantilevered belt instantaneous flow readings taken quantity to know the current size, the boom 13 to control the rotational speed of the speed adjust quantity taken. 由于皮带秤安装位置与斗轮11存在一定距离,无法实时反映斗轮瞬间的取料量,另外因眼、手配合存在的滞后性。 Because there is a certain distance 11 belt scale installation position and bucket wheel, bucket wheel can not reflect real-time instantaneous quantity taken, the other because of eye-hand coordination lag exists. 所以人工自动取料控制精度无法保证,完全依赖操作人员的熟练程度。 So doing reclaimer automatic control accuracy can not be guaranteed, totally dependent on operator proficiency.

[0007] 2、通过肉眼观察斗轮11是否已经回转到了料堆50的边界,如果到了料堆50的边界,就要停止回转机构14的回转动作,需操作大车15前进,以进行下一次回转取料。 [0007] 2, by visual inspection of bucket wheel 11 is already back to the boundary of the pile 50, if to pile border 50, it is necessary to stop the turning mechanism turning operation 14, the required operation of the cart 15 proceeds to perform the next rotary reclaimer.

[0008] 3、由于料场内矿石、原料等粉尘的污染,长年在此环境下工作的人员,如不注意防护,极易发生尘肺等职业疾病。 [0008] 3, contamination due to dust field ore material, raw materials, personnel working for many years in this environment, such as pay attention protection, pneumoconiosis occupational disease prone.

[0009] 发明内容 [0009] SUMMARY OF THE INVENTION

[0010] 本发明的目的在于提供一种堆取料机的自动取料控制装置及方法,实现自动监测和调整取料量以及无人控制。 [0010] The object of the present invention to provide a quantity taken and no control device and method of reclaimer reclaimer automatic control, automatic monitoring and adjustment.

[0011] 根据本发明的第一方面,提供一种堆取料机的自动取料控制方法,包括: [0011] According to a first aspect of the present invention, there is provided a method for controlling automatic reclaimer reclaimer, comprising:

[0012] 建立斗轮电机电流与斗轮取料量的关系模型,建立斗轮取料量与悬臂回转电机频率的关系模型; [0012] Relationship between model motor current relationship model of bucket wheel and bucket wheel reclaimer quantity establishing bucket wheel reclaimer boom rotation quantity and frequency of the motor;

[0013] 设定斗轮取料量,并输入所述斗轮取料量与悬臂回转电机频率的关系模型;[0014] 实时采集所述堆取料机的斗轮电机上的电流数据,并通过所述斗轮电机电流与斗轮取料量的关系模型转化为实时的斗轮取料量数据,输入所述斗轮取料量与悬臂回转电机频率的关系模型; [0013] Bucket set quantity, and a model of the relationship between the input quantity and the bucket wheel reclaimer boom swing motor frequency; [0014] real-time collection of data on the stack and the current on the motor bucket wheel feeder, and the relationship model of the bucket wheel and bucket wheel reclaimer motor current quantity is converted into real-time data quantity bucket input quantity and the bucket wheel reclaimer boom swivel relation model motor frequency;

[0015] 比较所述实时的斗轮取料量数据和所述设定的斗轮取料量,根据比较结果,所述斗轮取料量与悬臂回转电机频率的关系模型实时输出悬臂回转电机频率; [0015] comparing the real-time data quantity of the bucket wheel reclaimer bucket wheel and take the set quantity, based on the comparison, the relational model of the bucket wheel reclaimer boom rotation quantity and the motor rotation frequency of the motor in real-time output of the boom frequency;

[0016] 所述悬臂回转电机根据所述实时输出的悬臂回转电机频率驱动所述斗轮进行取料。 The [0016] reclaimer boom slewing motor according to the real-time boom swing motor frequency output driving said bucket wheel.

[0017] 所述斗轮电机电流与斗轮取料量的关系模型为: [0017] The bucket wheel motor current relationship model and quantity of Bucket:

[0018] Q = K1*I,其中,Q :斗轮取料量;Kl :比例系数;I :斗轮电机电流值。 [0018] Q = K1 * I, where, Q: Bucket quantity; Kl: proportional coefficient; I: bucket wheel motor current value.

[0019] 所述斗轮取料量与悬臂回转电机频率的关系模型为: [0019] The relational model Bucket quantity cantilever swing motor frequency is:

[0020] Fk = Fh+K2* (A-QH)/Kl+Qk/Ti,其中,Fk :悬臂回转电机频率; [0020] Fk = Fh + K2 * (A-QH) / Kl + Qk / Ti, wherein, Fk: the motor rotation frequency of the cantilever;

[0021] Fk^1 :前次回转电机频率;K2 :比例系数;Qk :斗轮取料量^lri :前次斗轮取料量; Ti :积分时间。 [0021] Fk ^ 1: previous motor rotation frequency; K2: proportional coefficient; Qk: Bucket quantity ^ lri: Bucket previous quantity; Ti: integration time.

[0022] 所述斗轮电机电流与斗轮取料量的关系模型中的比例系数Kl以及所述斗轮取料量与悬臂回转电机频率的关系模型中的K2、Ti适于因矿石料的不同而取不同的值。 [0022] The coefficients Kl proportional relationship model and the bucket wheel motor current bucket wheel reclaimer and quantity of the bucket wheel reclaimer boom rotation quantity and the relationship model of the motor frequency K2, Ti ore is adapted by different values ​​differ.

[0023] 所述自动取料控制方法还包括料堆边界的判断,包括以下步骤: [0023] The automatic control method further comprises a reclaimer pile determining the boundary, comprising the steps of:

[0024] a、建立料堆数据库,存储料堆的位置坐标数据,所述料堆的位置坐标数据是实时动态的数据; [0024] a, the establishment of a database of the pile, the material storage location coordinate data stack, the position coordinate data of the stockpile is a real-time dynamic data;

[0025] b、实时采集堆取料机各机构的位置数据,建立斗轮的三维坐标模型; [0025] b, real-time acquisition reclaimer position data of each mechanism, to establish three-dimensional coordinates of the model of bucket wheel;

[0026] C、判断斗轮是否进入料堆的边界范围,若进入则进一步判断斗轮电机的电流大小; [0026] C, determines whether to enter the bucket wheel bounds windrow, it is further determined if the magnitude of the current into the bucket wheel of the motor;

[0027] d、若斗轮电机的电流小于预定值,则控制悬臂回转电机输出频率为零,堆取料机的大车前移并循环执行步骤C、d。 [0027] d, the bucket wheel of the motor when the current is less than the predetermined value, the boom swing control motor output frequency is zero, stacker-reclaimer and the cart forward loop step C, d.

[0028] 所述斗轮的三维坐标模型为: Three-dimensional coordinates of the model [0028] The bucket wheel is:

[0029] X = Xl+L*cos α,Y = L*sin α,Z = HL^sin β [0029] X = Xl + L * cos α, Y = L * sin α, Z = HL ^ sin β

[0030] Xl为大车的行走位置,L为悬臂的长度,H为悬臂的水平高度,α为回转机构的回转角度,β为回转机构的俯仰角度。 [0030] Xl is carts travel position, L is the length of the cantilever, H is the height of the horizontal boom, α is the rotation angle of the rotation mechanism, β is the pitch angle of the turning mechanism.

[0031] 根据本发明的第二方面,提供一种堆取料机的自动取料控制装置,包括: [0031] According to a second aspect of the present invention, there is provided a stacker-reclaimer Reclaimer automatic control device, comprising:

[0032] 采集单元,实时采集所述斗轮电机的电流信号; [0032] acquiring unit, a current signal of the real-time acquisition of bucket wheel motor;

[0033] 控制单元,输入端连接所述采集单元,所述控制单元存储有斗轮电机电流与斗轮取料量的关系模型、斗轮取料量与悬臂回转电机频率的关系模型以及设定的斗轮取料量, 并输入斗轮取料量与悬臂回转电机频率的关系模型;将所述堆取料机的斗轮电机电流数据通过所述斗轮电机电流与斗轮取料量的关系模型转化为实时的斗轮取料量数据,输入斗轮取料量与悬臂回转电机频率的关系模型;比较所述实时的斗轮取料量数据和设定的斗轮取料量,根据比较结果,所述输入斗轮取料量与悬臂回转电机频率的关系模型所述控制单元接收所述采集的电流信号,经所述两个关系模型计算,实时输出悬臂回转电机频率; [0033] The control unit, an input terminal connected to the acquisition unit, the control unit stores the relationship between the motor current and the bucket wheel model Bucket quantity, the bucket wheel reclaimer boom relationship model and quantity of the rotary motor frequency and setting bucket wheel reclaimer quantity, quantity and type bucket wheel reclaimer boom relationship model and the motor rotation frequency; bucket wheel motor current data to the reclaimer bucket wheel by the motor current and the quantity of the bucket wheel reclaimer relationship data model into a real quantity takes the bucket wheel, the relationship between model inputs bucket quantity and frequency of the boom slewing motor; comparing the real-time data quantity and the bucket wheel reclaimer bucket wheel reclaimer set quantity, in accordance with comparison result, the model is the relationship between the input quantity and the bucket wheel reclaimer boom rotation frequency of said motor current control unit receives the signal acquisition, the two relational model by calculating, in real-time output of the motor rotation frequency of the cantilever;

[0034] 回转单元,输入端与所述控制单元连接,输出端连接所述堆取料机的悬臂回转电机。 [0034] The rotary unit, an input terminal connected with the control unit, connected to the output terminal of the reclaimer boom rotary motor.

[0035] 所述斗轮电机电流与斗轮取料量的关系模型为:[0036] Q = K1*I,其中,Q :斗轮取料量;Kl :比例系数;I :斗轮电机电流值。 Relational model [0035] The motor current bucket wheel and bucket wheel reclaimer quantity of: [0036] Q = K1 * I, where, Q: Bucket quantity; Kl: proportional coefficient; I: bucket wheel motor current value.

[0037] 所述斗轮取料量与悬臂回转电机频率的关系模型为: [0037] The relational model Bucket quantity cantilever swing motor frequency is:

[0038] Fk = Fh+K2* (A-QH)/Kl+Qk/Ti,其中,Fk :悬臂回转电机频率; [0038] Fk = Fh + K2 * (A-QH) / Kl + Qk / Ti, wherein, Fk: the motor rotation frequency of the cantilever;

[0039] Fk^1 :前次回转电机频率;K2 :比例系数;Qk :斗轮取料量^lri :前次斗轮取料量; Ti :积分时间。 [0039] Fk ^ 1: previous motor rotation frequency; K2: proportional coefficient; Qk: Bucket quantity ^ lri: Bucket previous quantity; Ti: integration time.

[0040] 所述斗轮电机电流与斗轮取料量的关系模型中的比例系数Kl以及所述斗轮取料量与悬臂回转电机频率的关系模型中的K2、Ti适于因矿石料的不同而取不同的值。 [0040] The coefficients Kl proportional relationship model and the bucket wheel motor current bucket wheel reclaimer and quantity of the bucket wheel reclaimer boom rotation quantity and the relationship model of the motor frequency K2, Ti ore is adapted by different values ​​differ.

[0041] 所述自动取料控制装置还包括位置判断单元,包括: [0041] The automatic control means further comprises a reclaimer position determining means, comprising:

[0042] 料堆数据库,存储料堆的位置坐标数据,所述料堆的位置坐标数据是实时动态的数据; [0042] windrows database, storing the position coordinate data of the stockpile, the position coordinate data of the stockpile is a real-time dynamic data;

[0043] 采集模块,实时采集堆取料机各机构的位置数据; [0043] The acquisition module, real-time acquisition reclaimer position data of each mechanism;

[0044] 控制模块,连接所述料堆数据库和采集模块,存储所述斗轮的三维坐标模型,实时判断斗轮的位置并输出控制信号。 [0044] The control module, and a database connected to said pile acquisition module, model storing three-dimensional coordinates of the bucket wheel, the position of the bucket wheel is determined in real time and outputs a control signal.

[0045] 所述斗轮的三维坐标模型为: Three-dimensional coordinates of the model [0045] The bucket wheel is:

[0046] X = Xl+L*cos α,Y = L*sin α,Z = HL^sin β [0046] X = Xl + L * cos α, Y = L * sin α, Z = HL ^ sin β

[0047] Xl为大车的行走位置,L为悬臂的长度,H为悬臂的水平高度,α为回转机构的回转角度,β为回转机构14的俯仰角度。 [0047] Xl is carts travel position, L is the length of the cantilever, H is the height of the horizontal boom, α is the rotation angle of the rotation mechanism, β is the pitch angle 14 of the rotating mechanism.

[0048] 所述控制模块首先判断斗轮是否进入料堆的边界范围,若进入则进一步判断斗轮电机的电流大小; [0048] The first control module determines whether the bucket wheel into the boundaries of the pile, it is further determined if the magnitude of the current into the bucket wheel of the motor;

[0049] 若斗轮电机的电流小于预定值,则控制模块控制悬臂回转电机频率为零,并控制堆取料机的大车前移并循环以上步骤。 [0049] If the current bucket wheel motor is smaller than the predetermined value, the control module controls the boom slewing motor frequency is zero, and the step of controlling reclaimer above the cart forward and recycled.

[0050] 所述采集单元包括电流互感器和与其连接的信号接口板以及斗轮驱动变频器,所述信号接口板连接所述斗轮驱动变频器,所述斗轮驱动变频器连接所述斗轮电机。 [0050] The acquisition means includes a current transformer and a signal interface board connected thereto, and the bucket wheel drive inverter, the signal interface board is connected to the frequency converter for driving the bucket wheel, the drive wheel connected to the drive of said bucket bucket wheel motor.

[0051] 所述控制单元为可编程控制器,所述回转单元包括回转变频器,所述可编程控制器输入端连接所述斗轮驱动变频器的第1接口卡,输出端通过回转变频器连接所述悬臂回转电机,所述回转变频器控制所述悬臂回转电机。 [0051] The control unit is a programmable controller, said rotating means comprises a rotary drive, said programmable controller connected to the input terminal of the bucket wheel drive inverter first interface card, the output of the inverter by turning the rotary motor connected to the boom, the boom rotation drive control of the rotary motor.

[0052] 采用本发明所述的一种堆取料机的自动取料控制装置及方法,由于本发明具有斗轮电机电流的采集功能,并建立了斗轮电机电流与斗轮取料量的关系模型以及斗轮取料量与悬臂回转电机频率的关系模型,这样在这些关系模型的作用下,自动取料时的悬臂回转速度(由悬臂回转电机频率决定),可由取料时的斗轮电机电流来控制,而斗轮电机电流又可准确、迅速地反映斗轮取料量,所以可有效形成一个闭环控制过程,可以很好的控制斗轮取料量。 [0052] The present invention uses a reclaimer automatic stacker reclaimer apparatus and method for controlling, since the present invention has the function of collecting bucket wheel motor current, and the establishment of the bucket wheel and the motor current quantity of the bucket wheel reclaimer relationship model relational model and bucket wheel reclaimer boom rotation quantity and frequency of the motor, so that under the effect of the relational model, the automatic boom revolution speed (the motor rotation frequency is determined by the boom), by reclaiming the time when the bucket wheel reclaimer controlling the motor current, the motor current but also the bucket wheel accurately and quickly reflect bucket quantity, it is effective to form a closed-loop control process, it can be well controlled bucket quantity. 另外由于具有料堆边界判断功能,当每次取料到达料堆边界后,能够自动进行判断,并调整堆取料机位置,进入下次回转取料,如此反复循环,自动完成整个料堆的取料过程,实现无人操作。 Further since the boundary determining function having a pile, when the pile reaches the reclaimer each boundary determination can be performed automatically, and to adjust the position of stacker reclaimer, reclaimer into the next revolution, and so forth cycle, to automate the entire windrow reclaimer process, unmanned operation.

附图说明 BRIEF DESCRIPTION

[0053] 图1为所述的堆取料机的原理示意图; [0053] FIG. 1 is a schematic of the stacker-reclaimer schematic;

[0054] 图2为本发明所述的自动取料控制装置的一实施例的原理示意图; [0054] FIG. 2 of the automatic take a simplified schematic embodiment of a control apparatus of the present invention, material;

[0055] 图3为本发明所述的自动取料控制方法的工作流程示意图;[0056] 图4为本发明所述的斗轮电机电流与悬臂回转电机频率的逻辑关系图。 [0056] FIG. 4 logic diagram and the bucket wheel boom swing motor current motor according to the present invention, a frequency; a schematic view of the work process automation reclaimer control method according to [0055] FIG. 3 of the present invention.

具体实施方式 Detailed ways

[0057] 下面结合附图和实施例进一步说明本发明的技术方案。 [0057] The following examples further illustrate and aspect of the present invention in conjunction with the accompanying drawings.

[0058] 参考图1,堆取料机10取料作业时,斗轮11本身的旋转速度是不变的,而回转机构14的速度可调,其回转速度越快,则斗轮11取料量越高。 [0058] Referring to FIG 1, when the stacker and reclaimer reclaimer operation 10, the rotational speed of the bucket wheel itself 11 is constant, the rotation speed adjustable mechanism 14, the faster the rotation, the bucket wheel reclaimer 11 The higher the amount. 而取料量越高,驱动斗轮11自身旋转的斗轮电机的电流就越大。 The higher quantity taken, the current driving bucket wheel 11 itself rotating bucket wheel motor becomes.

[0059] 本发明是通过采样堆取料机10的斗轮电机的电流值,并与实际斗轮取料量以及驱动回转机构14旋转的回转电机频率和速度建立对应的函数关系。 [0059] The present invention is a sample stack by taking a current value of the motor bucket wheel feeder 10, and the actual quantity Bucket rotary motor and a driving frequency and speed of rotation of the rotary mechanism 14 to establish a corresponding function. 在控制中,以斗轮电机电流作为负反馈信号,自动调节取料时的驱动回转机构14旋转速度(悬臂13的旋转速度),以达到控制取料量的目的。 In the control, to the bucket wheel motor currents as a negative feedback signal to automatically adjust the rotational speed of the driving rotation mechanism 14 when reclaiming (the rotational speed of the boom 13), in order to control the quantity taken.

[0060] 参见图1和图2,本发明的自动取料控制装置20包括以下部件: [0060] Referring to Figures 1 and 2, the present invention automatically control reclaimer apparatus 20 comprises the following components:

[0061] 采集单元,安装在所述堆取料机的斗轮电机的相关部件上,实时采集所述斗轮电机的电流信号;作为一实施例,所述采集单元包括电流互感器23和与其连接的信号接口板M以及斗轮驱动变频器22,参见图2,斗轮电机(MD1)21,与堆取料机10的斗轮11 连接,驱动斗轮11,以挖掘料堆50的物料,本实施例采用三相异步变频电机。 [0061] acquiring unit, mounted on the associated member of the reclaimer bucket wheel motor current signal of the real-time acquisition of bucket wheel motor; As an embodiment, the acquisition unit 23 includes a current transformer and its M signal interface board connected to the drive and driven bucket wheel 22, see FIG. 2, the motor bucket wheel (MD1) 21, and the bucket wheel reclaimer 1110 is connected to the driving bucket wheel 11, to tap 50 of the windrow material , the present embodiment employs a three-phase variable frequency induction motor. 斗轮驱动变频器(INVl) 22,与斗轮电机(MD1)21连接,驱动控制斗轮电机(MDl) 21,本实施例选用SIEMENS 公司的SIMOVERT MASTERDRIVES 系列产品,型号为6SE7037-0TJ60-Z,该斗轮驱动变频器22由第1主控板(MCBl) 221及第1接口卡(DPI,ibusDP) 222连接组成,本实施例中第1主控板221采用的型号为6SE7090-0XX84-0AB0 ;第1接口卡222采用的型号为6SE7090-0XX84-0FF5。 Bucket wheel drive inverter (INVl) 22, and the bucket wheel motor (MD1) 21 connected to the motor drive control bucket wheel (MDl) 21, selects SIEMENS Corporation Example SIMOVERT MASTERDRIVES products present embodiment, model 6SE7037-0TJ60-Z, the bucket wheel 22 driven by the first drive control board (MCBL) 221 and the first interface card (DPI, ibusDP) connected to form 222, the first model in Example 1 using the main control board 221 of the present embodiment is 6SE7090-0XX84-0AB0 ; first interface card 222 uses model 6SE7090-0XX84-0FF5. 在斗轮变频器22到斗轮电机21的输出电缆上装设电流互感器(CT) 23,电流互感器(CT) 23连接信号接口板(IVI) 24,信号接口板(IVI)M连接斗轮驱动变频器(INVl) 22的第1主控板221。 Mounting a current transformer (CT) on the output cable 22 to the bucket wheel drive motors 21 of the bucket wheel 23, a current transformer (CT) 23 connected to a signal interface board (IVI) 24, a signal interface board (IVI) M connecting the bucket wheel drive inverter (INVL) of the first master plate 221 is 22. 所述流互感器23采集斗轮电机21的电流值,并按1000/0. 2的比例,将实际电流值转化为一个较小的电流信号,送入信号接口板(IVI)24, 信号接口板(IVI)M将电流信号转换为电平信号,送入斗轮变频器22的第1主控板(MCBl) 221。 The current transformer 23 current collecting bucket wheel motor 21, and scaled 1000/0. 2, the actual current values ​​into a smaller current signal into a signal interface board (IVI) 24, signal interface plate (IVI) M current level signal into an electrical signal, fed to the bucket wheel of the first drive control board 22 (MCBl) 221. 该第1主控板221可实现外部信号采集、运算处理及数据通讯等功能。 The first control board 221 may be implemented external signal acquisition, arithmetic processing and data communication functions. 本实施例中电流互感器(0023采用的型号为65¥7000-(^840,它的变比为1000/0.2。本实施例中接口板(IVI)M采用的型号为6SE7038-6GL84-1BG2。在第1主控板221内将电流值设为参数K22,送入斗轮变频器22与可编程控制器25的通讯发送数据组内,进行编码、数据打包。 然后由第1接口卡(DP1)222,经DP电缆连至可编程控制器25的通讯接口(DP3)252。 Embodiment of the present embodiment a current transformer (model 0023 uses 65 ¥ 7000 - (^ 840, its ratio is 1000 / 0.2 Example model interface board (IVI) M is used in embodiment 6SE7038-6GL84-1BG2.. in the first control board 221 is set to the current value of the parameter K22, 22 into communication with the programmable controller 25 sets the transmission data of the bucket wheel drive, encoding, packetizing. then the first interface card (DP1 ) 222, the DP controller cable 25 is connected to the programmable communication interface (DP3) 252.

[0062] 控制单元,输入端连接所述采集单元,所述控制单元存储有斗轮电机电流与斗轮取料量的关系模型、斗轮取料量与悬臂回转电机频率的关系模型以及设定的斗轮取料量(所述模型下文将介绍),所述控制单元接收所述采集的电流信号,经所述两个关系模型计算,实时输出悬臂回转电机频率。 [0062] The control unit, an input terminal connected to the acquisition unit, the control unit stores the relationship between the motor current and the bucket wheel model Bucket quantity, the bucket wheel reclaimer boom relationship model and quantity of the rotary motor frequency and setting bucket wheel of quantity (the model will be described hereinafter), the control unit receives a signal of the current collected by the two calculating the relational model, real-time boom slewing motor output frequency. 作为一个实施例,所述控制单元为可编程控制器25,所述可编程控制器25输入端连接所述斗轮驱动变频器22的第1接口卡222,输出端通过回转变频器26连接所述悬臂回转电机27,所述回转变频器沈控制所述悬臂回转电机27。 As an example, the control unit 25 is a programmable controller, the programmable controller 25 connected to an input terminal 222, the output of the frequency converter for driving bucket wheel first interface card 22 by the rotation of the drive connection 26 said boom swing motor 27, the rotation drive control of the boom slewing motor sink 27. 可编程控制器(PLC) 25,与斗轮驱动变频器(INVl) 22的第1接口卡222连接,由CPU主板251上自带ibusDP通讯接口(DP3) 252组成,通讯接口(DP3) 252的端口号为X2。 Programmable logic controller (PLC) 25, and the bucket wheel drive inverter (INVL) first interface 222 is connected to card 22, the CPU board carrying the communication interface 251 ibusDP (DP3) 252 composed of, communication interface (DP3) 252 of port number is X2. 本实施例可编程控制器(PLC) 25选用SIEMENS公司的S7-414-2产品。 Example programmable logic controller (PLC) 25 selects SIEMENS Corporation S7-414-2 products present embodiment. [0063] 可编程控制器25收到斗轮变频器22发来的数据后,进行解码,取出斗轮电机21 的电流值数据。 After [0063] The programmable controller 25 receives the data sent from the bucket wheel of the drive 22, decoding the extracted current value data bucket wheel motor 21. 经过本发明的关系模型(下文介绍),得出回转电机频率控制值,送入发送数据组内,进行编码。 After the relationship model of the present invention (hereinafter described), a motor rotation frequency control value obtained, into the transmission data group, it is encoded. 再由通讯接口(DP3) 252发出,经DP电缆,送入回转变频器(INV2)沈的ProfibusDP 第2 接口卡(DP2) 262。 Then issued by the communication interface (DP3) 252, via DP cable, fed to the rotary inverter (INV2) sink ProfibusDP second interface card (DP2) 262.

[0064] 回转单元,包括回转变频器沈,斗轮回转变频器(INV206,与可编程控制器(PLC) 25连接,该斗轮回转变频器沈由第2主控板(MCB2)261及第2接口卡(DP2, ftx)fibusDP)262连接组成,本实施例中斗轮回转变频器(INV2)25选用SIEMENS公司的SIMOVERT MASTERDRIVES 系列产品,型号为6SE7(^6_0TD61_Z,其中,第2 主控板(MCB2061 采用的型号为6SE7090-0XX84-0AB0 ;第2接口卡262采用的型号为6SE7090-0XX84-0FF5。 回转电机(MD2) 27,与斗轮回转变频器(INV206连接,其输出端与堆取料机10的回转机构14连接,驱动斗轮11回转,本实施例采用三相异步变频电机。回转变频器(INV206的第2 接口卡262收到数据后,传入它的第2主控板(MCB》沈1,第2主控板沈1收到数据后,进行相应的解码,取出频率控制值,即可控制回转电机(MD2) 27,按照给定的频率进行运转。当回转电机(MD》27以给定频率运转时,即 [0064] The rotary unit includes a rotary drive sink, bucket Slewing inverter (INV206, connected to the programmable logic controller (PLC) 25, the hopper drive Slewing sink by the second control board (MCB2) 261 second 2 interface card (DP2, ftx) fibusDP) 262 connected to form, bucket embodiment Slewing inverter (INV2) 25 selects SIEMENS Corporation SIMOVERT MASTERDRIVES products present embodiment, model 6SE7 (^ 6_0TD61_Z, wherein the second control board (MCB2061 model used 6SE7090-0XX84-0AB0; second interface card 262 uses 6SE7090-0XX84-0FF5 rotary motor model (MD2) 27, and the bucket slewing inverter (INV206 is connected to its output terminal stacker. feeder 14 is connected to the turning mechanism 10, the rotary driving bucket wheel 11, the present embodiment employs a variable frequency three-phase asynchronous motors. after rotary drive (INV206 the second interface card 262 receives the data, it is passed to the second control board (MCB "sink 1, the second control board 1 after receiving the data sink, a corresponding decoding, extraction frequency control value, can control the rotary motor (MD2) 27, to be operated according to a given frequency. when the rotary electric machine ( MD "27 operating at a given frequency, namely 精确调节斗轮11的取料量的大小,取代人工操作驱动回转电机运动的功能。 Bucket wheel precise adjustment of the quantity of size 11, replace manually operated rotary driving motion of the motor function.

[0065] 另外,所述自动取料控制装置还包括位置判断单元,进一步包括: [0065] Further, the automatic control device further comprises a reclaimer position determining means further comprises:

[0066] 料堆数据库,存储料堆的位置坐标数据,所述料堆的位置坐标数据是实时动态的数据;这些数据包含了料堆各个关键点的三维绝对值坐标,而且是根据取料过程中料堆形状的变化而实时、动态刷新的。 [0066] windrows database that stores position coordinate data of the stockpile, the position coordinate data of the stockpile is a real-time dynamic data; such data includes key points of the pile of the absolute value of the three-dimensional coordinates, but in accordance with the process of reclaiming changing the shape of the stockpile of real-time, dynamic refresh.

[0067] 采集模块,实时采集堆取料机各机构的位置数据;包括堆取料机的各运转机构的当前位置以及尺寸,例如:悬臂13的长度等。 [0067] The acquisition module, the position data of real-time acquisition Stacker feeder agencies; each operation mechanism comprises a feed stacker machine and the size of the current position, for example: length of the boom 13. 采用绝对值编码器进行实时采集,比如:大车行走位置,回转角度,俯仰角度。 Absolute encoder for real-time gathering, such as: carts travel position, rotation angle, pitch angle.

[0068] 控制模块,连接所述料堆数据库和采集模块,存储所述斗轮的三维坐标模型,实时判断斗轮的位置并输出控制信号。 [0068] The control module, and a database connected to said pile acquisition module, model storing three-dimensional coordinates of the bucket wheel, the position of the bucket wheel is determined in real time and outputs a control signal. 在一实施例中,所述控制模块可由所述可编程控制器(PLC) 25 担任。 In one embodiment, the control module by said programmable controller (PLC) 25 as.

[0069] 根据各运转机构的当前位置,结合堆取料机的机械尺寸,即可算出斗轮的实际三维坐标,所述斗轮的三维坐标模型为: [0069] The current position of each operation mechanism, binding reclaimer mechanical dimensions, can calculate the actual three-dimensional coordinates of the bucket wheel, the bucket wheel model of the three-dimensional coordinates is:

[0070] X = Xl+L*cos α,Y = L*sin α,Z = HL^sin β [0070] X = Xl + L * cos α, Y = L * sin α, Z = HL ^ sin β

[0071] Xl为大车的行走位置,L为悬臂的长度,H为悬臂的水平高度,α为回转机构的回转角度,β为回转机构14的俯仰角度。 [0071] Xl is carts travel position, L is the length of the cantilever, H is the height of the horizontal boom, α is the rotation angle of the rotation mechanism, β is the pitch angle 14 of the rotating mechanism.

[0072] 将斗轮的实际三维坐标位置与料堆边界的三维数据进行对比,如果判断出斗轮已进入料堆的边界范围,此时就再比较斗轮电机电流,若电流小于预定值,则可明确判断斗轮已挖取到料堆边界,控制模块控制回转频率输出强制为零,大车向前移动,进行下一次循环。 [0072] The actual three-dimensional bucket wheel coordinate position compared with the three-dimensional data of the stockpile boundary, if it is determined that the bucket wheel has entered the boundaries of the pile, this time to then compare the bucket wheel of the motor current, if the current is less than the predetermined value, bucket wheel can be clearly determined to have windrow pick boundary, the control module controls the rotational frequency output is forced to zero, the cart is moved forward for the next cycle.

[0073] 下面介绍一下相关的关系模型: [0073] Here are some related relational model:

[0074] 1、斗轮电机电流与斗轮取料量的关系模型; [0074] 1, the relationship between the motor current and the bucket wheel model Bucket feeding amount;

[0075] 堆取料机在取料时斗轮以恒定速度进行旋转,可调整悬臂回转速度来调节取料流量。 [0075] reclaimer bucket wheel is rotating at a constant speed reclaimer adjusted to adjust the rotational speed of the boom flow reclaimer. 在实际取料过程中采集斗轮电机的电流值和悬臂皮带秤流量,两者对应可得到电流值与皮带秤流量的对应关系,电流值越大,则取料流量越高,两者基本可确定为正比例关系,具体见下式: In actual collected reclaimer boom and the current values ​​during belt weigher bucket wheel motor traffic, both the corresponding current value and the corresponding relationship obtained belt scale flow rate, the larger the current value, the higher the reclaimer flow, both may be substantially determined to be proportional relationship, specifically see the following formula:

[0076] Q = K1*I,其中,Q :斗轮取料量;Kl :比例系数;I :斗轮电机电流值。 [0076] Q = K1 * I, where, Q: Bucket quantity; Kl: proportional coefficient; I: bucket wheel motor current value. 所述斗轮电机电流与斗轮取料量的关系模型中的比例系数Kl适于因矿石料的不同而取不同的值。 Scale factor relationship model and the bucket wheel motor current Bucket quantity in Kl adapted to vary the charge of ore and different values.

[0077] 2、斗轮电机电流与悬臂回转电机频率的关系模型; [0077] 2, the boom and bucket wheel motor current relationship model motor rotation frequency;

[0078] 在取料作业中,当斗轮以恒定速度旋转取料后,若悬臂回转速度越快,则取料量越高,斗轮电机电流越大。 [0078] In reclaiming operation, when the bucket wheel reclaimer rotates at constant speed, when the boom rotation faster, the higher the quantity taken, the greater the bucket wheel motor current. 所以,以斗轮电机电流值作为负反馈信号,适当控制悬臂回转速度,即可控制斗轮电机电流,也就能起到控制取料量的目的。 Therefore, the current value to the motor bucket wheel as a negative feedback signal, appropriately controls the boom swing speed, motor current to control the bucket wheel, will also be able to serve the purpose of quantity control takes. 参见图4,由图4,根据PI调节控制原理,得到下式: Referring to FIG. 4, FIG. 4, according to the PI regulator control principle, to give the formula:

[0079] Fk = Fh+K2 (Ik-Ilri)+VTi 其中,Fk :悬臂回转电机频率; [0079] Fk = Fh + K2 (Ik-Ilri) + VTi wherein, Fk: the motor rotation frequency of the cantilever;

[0080] Fk^1 :前次回转电机频率;K2 :比例系数;Tk :斗轮取料量Jlri :前次斗轮取料量; Ti :积分时间。 [0080] Fk ^ 1: previous motor rotation frequency; K2: proportional coefficient; Tk: Bucket quantity Jlri: Bucket previous quantity; Ti: integration time. 所述K2、Ti适于因矿石料的不同而取不同的值。 The K2, Ti is adapted to vary the charge of ore and different values.

[0081] 3、斗轮取料量与悬臂回转电机频率的关系模型; [0081] 3, bucket wheel reclaimer boom rotation quantity of the motor model of the relationship between frequency;

[0082] 由以上的两个关系模型,可以得到下式: [0082] From the above two relational model, the following equation can be obtained:

[0083] Fk = Fh+K2* (A-QH)/Kl+Qk/Ti,其中,Fk :悬臂回转电机频率; [0083] Fk = Fh + K2 * (A-QH) / Kl + Qk / Ti, wherein, Fk: the motor rotation frequency of the cantilever;

[0084] Fk^1 :前次回转电机频率;K2 :比例系数;Qk :斗轮取料量^lri :前次斗轮取料量; Ti :积分时间。 [0084] Fk ^ 1: previous motor rotation frequency; K2: proportional coefficient; Qk: Bucket quantity ^ lri: Bucket previous quantity; Ti: integration time.

[0085] 另一方面,本发明还提供了自动取料控制方法,自动取料控制方法实现的原理和过程相同和类似于所述自动取料控制装置20,下面通过图3的流程图来说明一下自动取料控制方法和装置的工作过程: [0085] another aspect, the present invention also provides a method for controlling automatic reclaimer, the same principle to achieve automatic control method reclaimer and process is similar to the automatic pick-and control device 20, described below with the flowchart of FIG. 3 automatic reclaimer about the work process control method and apparatus:

[0086] 参见图3中1、2、3步骤。 [0086] Referring to FIG. 1, 2, Step 3. 操作人员在货料场中央控制系统内的计算机操作画面上,设定堆取料机本次作业需要设定的取料量,并选择本次作业的具体矿石品种,然后开始自动取料作业。 The operator operating on a computer screen in the goods yard central control system to set quantity reclaimer take this job requires a set, and selecting a specific mineral species for this job, then start automatic reclaiming operation. 作业开始后,斗轮电机21的电流通过斗轮驱动变频器22输出电缆上的电流互感器23进行采集。 When the job starts, the current bucket wheel motor driving current transformer 21 on the inverter output cable 22 by the bucket wheel 23 is collected.

[0087] 参见图3中6、7步骤,根据实时采集的斗轮电机21的电流值,建立斗轮电机21的电流与取料量的关系模型:Q = K1*I,根据该模型,就可通过斗轮电机21的电流值得到模拟的取料量瞬时值。 [0087] Referring to FIG. 6, 7 step 3, the current value of the real-time collection bucket wheel motor 21, the relational model and the bucket wheel and the motor current is taken in the quantity of 21: Q = K1 * I, according to the model, it 21 current may be worth to analog quantity by the bucket wheel takes the instantaneous value of the motor.

[0088] 参见图3中9步骤,根据3步骤的矿石品种选择,建立经验数据库。 [0088] Referring to FIG. 9, step 3, select species of ore according to step 3, the establishment of a database experience.

[0089] 在货料场的实际生产作业中,各种矿石货物因品种不同,密度不同,堆比重也各不相同。 [0089] In the actual production operations yard goods, the goods of various minerals because of different species, different density, bulk specific gravity also different. 若采用单一的控制模型,必将造成控制精度不高的缺陷,甚至导致过程失控。 If using a single control model, will inevitably lead to defects in the control accuracy is not high, and even lead to loss of process control. 所以需要建立一个依据矿石品种的经验数据库,在生产不同的矿石时,根据选定的矿石品种,控制程序能够调用不同的控制调节参数。 So it is necessary to establish a database based on the experience of ore species, in the production of different minerals, ores based on the selected varieties, the control program can call different control adjustment parameters. 这样能够更好的满足控制精度要求。 Such control precision to better meet the requirements. 该数据库中包括了不同的矿石品种,所对应的比例系数K1、K2、Ti。 The database comprises different mineral species, the corresponding scale factor K1, K2, Ti. 这些数据必须根据现场的反复试验测得。 These data must be measured according to the test site repeatedly. 例如: E.g:

[0090] [0090]

Figure CN101776867BD00091

[0091] 参见图3中4、5、10、11、12步骤,进行料堆边界判断,具体上文已经叙述。 [0091] Referring to FIG. 3 4,5,10,11,12 step of performing the edge determination pile, has been described specifically above.

[0092] 参见图3中8、13步骤,建立斗轮取料量与悬臂回转电机频率的关系模型: [0092] Referring to FIG. 8 and 13 in step 3, the relationship between model Bucket quantity of the boom swing motor frequency:

[0093] Fk = Fh+K2* (A-QH)/Kl+Qk/Ti,其中,Fk :悬臂回转电机频率;[0094] Flri :前次回转电机频率;K2 :比例系数;Qk :斗轮取料量^lri :前次斗轮取料量; Ti :积分时间。 [0093] Fk = Fh + K2 * (A-QH) / Kl + Qk / Ti, wherein, Fk: the boom slewing motor frequency; [0094] Flri: previous motor rotation frequency; K2: proportional coefficient; Qk: bucket wheel take quantity ^ lri: bucket previous quantity; Ti: integration time.

[0095] 将以上所有关系模型转换为可编程控制器(PLC)编程语言后输入可编程控制器25。 [0095] All the above relationship model into the programmable controller input after the programmable controller 25 (PLC) programming language. 通过所述斗轮电机电流与斗轮取料量的关系模型将采集的斗轮电机电流转化为实时的斗轮取料量数据,输入所述斗轮取料量与悬臂回转电机频率的关系模型;比较所述实时的斗轮取料量数据和所述设定的斗轮取料量,根据比较结果,所述斗轮取料量与悬臂回转电机频率的关系模型实时输出悬臂回转电机频率;根据模型综合运算得出的回转电机27的频率控制值,以ftx)fibUS通讯协议送入回转电机27的回转变频器(1附幻沈,则自动取料时的悬臂13的回转速度,即可由取料时的斗轮电机21的电流来控制。而斗轮电机21的电流又可准确、迅速地反映取料量,所以可有效形成一个闭环控制过程。另外每次取料到达料堆50边界后,能够自动进行判断,并调整堆取料机位置,进入下次回转取料。如此反复循环。 则可自动完成整个料堆的取料过程。 The relationship model of the bucket wheel and motor current quantity of the bucket wheel reclaimer bucket wheel motor current collection into the bucket wheel reclaimer quantity real time data, input to the bucket wheel reclaimer boom swing motor frequency and quantity relational model ; comparing the real-time data quantity of the bucket wheel reclaimer bucket wheel and take the set quantity, based on the comparison, the relational model of the bucket wheel reclaimer boom rotation quantity and the motor rotation frequency of the motor of the boom-time output frequency; the frequency control value calculated over model integrated rotary motor 27 to ftx) fibUS protocol fed to the rotary drive (1 magic sink is attached, the rotational speed of the boom 13 automatically when reclaiming rotary motor 27 can be made bucket wheel reclaimer current when the motor 21 is controlled while the motor current bucket wheel 21 is in turn accurately and quickly reflect the quantity taken, it is possible to effectively form a closed loop control process. in addition each reclaimer pile 50 reaches the boundary after, it is possible to automatically judge and adjust the position of the stacker reclaimer, reclaimer into the next revolution. This cycle repeated. reclaimer can automate the entire process of the pile.

[0096] 本技术领域中的普通技术人员应当认识到,以上的实施例仅是用来说明本发明, 而并非用作为对本发明的限定,只要在本发明的实质精神范围内,对以上实施例的变化、变型都将落在本发明的权利要求书范围内。 [0096] skilled in the art should appreciate that the above embodiments are merely to illustrate the present invention and are not used to limit the present invention, as long as within the true spirit of the invention, the above embodiments variations, modifications are claimed in the present invention fall within the scope of claims.

Claims (15)

1. 一种堆取料机的自动取料控制方法,其特征在于,包括:建立斗轮电机电流与斗轮取料量的关系模型,建立斗轮取料量与悬臂回转电机频率的关系模型;设定斗轮取料量,并输入所述斗轮取料量与悬臂回转电机频率的关系模型; 实时采集所述堆取料机的斗轮电机上的电流数据,并通过所述斗轮电机电流与斗轮取料量的关系模型转化为实时的斗轮取料量数据,输入所述斗轮取料量与悬臂回转电机频率的关系模型;比较所述实时的斗轮取料量数据和所述设定的斗轮取料量,根据比较结果,所述斗轮取料量与悬臂回转电机频率的关系模型实时输出悬臂回转电机频率;所述悬臂回转电机根据所述实时输出的悬臂回转电机频率驱动所述斗轮进行取料。 An automatic stacker reclaimer feeder control method, characterized by comprising: a relational model and the bucket wheel and bucket wheel reclaimer motor current quantity, the bucket wheel reclaimer relational model and quantity of the boom swing motor frequency ; bucket wheel set quantity, and inputs the bucket wheel reclaimer boom relationship model and quantity of the rotary motor frequency; real-time acquisition of data on the stack and the current on the motor bucket wheel feeder, and the bucket wheel by and motor current relationship model bucket quantity conversion takes real-time data quantity of the bucket wheel, the bucket wheel reclaimer input quantity relational model the cantilever frequency of the rotary electric machine; comparing the real-time data quantity bucket and the set bucket quantity, based on the comparison, the relational model of the bucket wheel reclaimer boom rotation quantity and the motor rotation frequency of the motor of the boom-time output frequency; said cantilever boom rotary motor according to the output from realtime said rotary motor drive frequency for the bucket wheel reclaimer.
2.如权利要求1所述的自动取料控制方法,其特征在于,所述斗轮电机电流与斗轮取料量的关系模型为:Q = K1*I,其中,Q :斗轮取料量;Kl :比例系数;I :斗轮电机电流值; 其中比例系数Kl适于因矿石料的不同而取不同的值。 The automatic control method according to reclaimer claimed in claim 1, wherein the relational model of the bucket wheel and bucket wheel reclaimer motor current quantity is: Q = K1 * I, where, Q: bucket wheel reclaimer amount; Kl: proportional coefficient; I: bucket wheel motor current value; wherein the proportionality coefficient Kl adapted to vary the charge of ore and different values.
3.如权利要求1所述的自动取料控制方法,其特征在于,所述斗轮取料量与悬臂回转电机频率的关系模型为:Fk = FH+K2* (Qk-Qlri)/Kl+Qk/Ti,其中,Fk :悬臂回转电机频率; 其中,Fk^1 :前次回转电机频率;K2 :比例系数;Qk :斗轮取料量从―:前次斗轮取料量; Ti :积分时间。 The automatic control method according to reclaimer claimed in claim 1, characterized in that the bucket wheel reclaimer boom relationship model and quantity of the rotary motor frequency is: Fk = FH + K2 * (Qk-Qlri) / Kl + Qk / Ti, wherein, Fk: the boom slewing motor frequency; wherein, Fk ^ 1: previous motor rotation frequency; K2: proportional coefficient; QK: bucket quantity from -: bucket last quantity; of Ti: Integration time.
4.如权利要求3所述的自动取料控制方法,其特征在于,所述斗轮取料量与悬臂回转电机频率的关系模型中的K2、Ti适于因矿石料的不同而取不同的值。 Ore varies due to assume different reclaimer The automatic control method according to claim 3, characterized in that the bucket wheel reclaimer boom quantity relational model and the rotary motor frequency K2, Ti adapted value.
5.如权利要求1所述的自动取料控制方法,其特征在于,所述自动取料控制方法还包括料堆边界的判断,包括以下步骤:a、建立料堆数据库,存储料堆的位置坐标数据,所述料堆的位置坐标数据是实时动态的数据;b、实时采集堆取料机各机构的位置数据,建立斗轮的三维坐标模型;C、判断斗轮是否进入料堆的边界范围,若进入则进一步判断斗轮电机的电流大小; d、若斗轮电机的电流小于预定值,则控制悬臂回转电机输出频率为零,堆取料机的大车前移并循环执行步骤c、d。 An automatic control method according to reclaimer as claimed in claim 1, wherein the automatic control method further comprises a reclaimer pile determining the boundary, comprising the steps of: a, the establishment of a database of the pile, the pile position is stored the coordinate data, said position coordinate data stack feed real-time dynamic data; B, real-time location data collection reclaimer agencies established model of three-dimensional coordinates of the bucket wheel; C, the bucket wheel is determined whether the pile into the boundary range, it is further determined if the bucket wheel into the motor current magnitude; D, if the current bucket wheel motor is smaller than the predetermined value, the boom swing control motor output frequency is zero, stacker-reclaimer and the cart forward loop to step c , d.
6.如权利要求5所述的自动取料控制方法,其特征在于,所述斗轮的三维坐标模型为: X = Xl+L*cos α,Y = L*sin α,Z = HL^sin βXl为大车的行走位置,L为悬臂的长度,H为悬臂的水平高度,α为回转机构的回转角度,β为回转机构的俯仰角度。 The automatic control method of reclaimer according to claim 5, characterized in that the three-dimensional coordinates of the model of the bucket wheel is: X = Xl + L * cos α, Y = L * sin α, Z = HL ^ sin βXl travel position of the cart, L is the length of the cantilever, H is the height of the horizontal boom, α is the rotation angle of the rotation mechanism, β is the pitch angle of the turning mechanism.
7. 一种堆取料机的自动取料控制装置,其特征在于,包括: 采集单元,实时采集所述斗轮电机的电流信号;控制单元,输入端连接所述采集单元,所述控制单元存储有设定的斗轮取料量,并输入斗轮取料量与悬臂回转电机频率的关系模型;将所述堆取料机的斗轮电机电流数据通过所述斗轮电机电流与斗轮取料量的关系模型转化为实时的斗轮取料量数据,输入斗轮取料量与悬臂回转电机频率的关系模型;比较所述实时的斗轮取料量数据和设定的斗轮取料量,根据比较结果,所述输入斗轮取料量与悬臂回转电机频率的关系模型实时输出悬臂回转电机频率;回转单元,输入端与所述控制单元连接,输出端连接所述堆取料机的悬臂回转电机。 A stacker-reclaimer Reclaimer automatic control device, wherein, comprising: a collection unit, the real-time acquisition of bucket wheel motor current signal; a control unit, an input terminal connected to said acquisition means, said control unit storing a set bucket quantity and type bucket wheel reclaimer boom relationship model and quantity of the rotary motor frequency; bucket wheel motor current data to the reclaimer bucket wheel by the motor current and the bucket wheel relational model takes into real quantity of the data quantity bucket, bucket relationship model input quantity and frequency of the boom slewing motor; comparing the real-time data and quantity bucket set bucket quantity, based on the comparison, the relational model input bucket wheel reclaimer boom rotation quantity and the motor rotation frequency of the motor of the boom-time output frequency; turning unit, an input terminal connected with the control unit, connected to an output terminal of said stacker-reclaimer cantilever machine rotary motor.
8.如权利要求7所述的自动取料控制装置,其特征在于,所述斗轮电机电流与斗轮取料量的关系模型为:Q = K1*I,其中,Q :斗轮取料量;Kl :比例系数;I :斗轮电机电流值; 其中比例系数Kl适于因矿石料的不同而取不同的值。 As claimed in claim reclaimer automatic control device of claim 7, wherein the relational model of the bucket wheel and bucket wheel reclaimer motor current quantity is: Q = K1 * I, where, Q: bucket wheel reclaimer amount; Kl: proportional coefficient; I: bucket wheel motor current value; wherein the proportionality coefficient Kl adapted to vary the charge of ore and different values.
9.如权利要求7所述的自动取料控制装置,其特征在于,所述斗轮取料量与悬臂回转电机频率的关系模型为:Fk = FH+K2* (Qk-Qlri)/Kl+Qk/Ti,其中,Fk :悬臂回转电机频率; Fk^1 :前次回转电机频率;K2 :比例系数;Qk :斗轮取料量;Qlri :前次斗轮取料量Ji :积分时间值。 Automatic control of the relational model reclaimer according to claim 7, said device, characterized in that the bucket wheel reclaimer boom rotation quantity and frequency of the motor is: Fk = FH + K2 * (Qk-Qlri) / Kl + Qk / Ti, wherein, Fk: the boom slewing motor frequency; Fk ^ 1: previous motor rotation frequency; K2: proportional coefficient; Qk: bucket quantity; Qlri: bucket previous quantity Ji: integration time .
10.如权利要求9所述的自动取料控制装置,其特征在于,所述斗轮取料量与悬臂回转电机频率的关系模型中的K2、Ti适于因矿石料的不同而取不同的值。 As claimed in claim 9 reclaimer automatic control means, characterized in that the bucket wheel reclaimer boom quantity relational model and the rotary motor frequency K2, Ti adapted ore varies due to assume different value.
11.如权利要求7所述的自动取料控制装置,其特征在于,所述自动取料控制装置还包括位置判断单元,包括:料堆数据库,存储料堆的位置坐标数据,所述料堆的位置坐标数据是实时动态的数据;采集模块,实时采集堆取料机各机构的位置数据;控制模块,连接所述料堆数据库和采集模块,存储所述斗轮的三维坐标模型,实时判断斗轮的位置并输出控制信号。 Automatic control reclaimer 11. The apparatus of claim 7, wherein said automatic control means further comprises a reclaimer position determining means, comprising: a position coordinate data of the stockpile database storing the pile, said pile the position coordinate data is dynamic data in real time; acquisition module, real-time location data collection stacker feeder bodies; a control module, and a database connected to said pile acquisition module, model storing three-dimensional coordinates of the bucket wheel, real-time determination the position of the bucket wheel and outputs a control signal.
12.如权利要求11所述的自动取料控制装置,其特征在于,所述斗轮的三维坐标模型为:X = Xl+L*cos α,Y = L*sin α,Z = HL^sin βXl为大车的行走位置,L为悬臂的长度,H为悬臂的水平高度,α为回转机构的回转角度,β为回转机构的俯仰角度。 Automatic control reclaimer 12. The apparatus claimed in claim 11, characterized in that the three-dimensional coordinates of the model of the bucket wheel is: X = Xl + L * cos α, Y = L * sin α, Z = HL ^ sin βXl travel position of the cart, L is the length of the cantilever, H is the height of the horizontal boom, α is the rotation angle of the rotation mechanism, β is the pitch angle of the turning mechanism.
13.如权利要求11所述的自动取料控制装置,其特征在于,所述控制模块首先判断斗轮是否进入料堆的边界范围,若进入则进一步判断斗轮电机的电流大小;若斗轮电机的电流小于预定值,则控制模块控制悬臂回转电机频率为零,并控制堆取料机的大车前移并循环以上步骤。 As claimed in claim 11, wherein the automatic control means reclaimer, wherein said control means first determines whether or not the bucket wheel into the boundaries of the pile, it is further determined if the magnitude of the current into the bucket-wheel motor; if the bucket wheel motor current is less than a predetermined value, the control module controls the boom slewing motor frequency is zero, and the step of controlling reclaimer above the cart forward and recycled.
14.如权利要求7所述的自动取料控制装置,其特征在于,所述采集单元包括电流互感器和与其连接的信号接口板以及斗轮驱动变频器,所述信号接口板连接所述斗轮驱动变频器,所述斗轮驱动变频器连接所述斗轮电机。 Reclaimer 14. Automatic control device according to claim 7, characterized in that said collecting means comprises a current transformer connected thereto and a signal interface board bucket wheel drive inverter, the signal interface connects the arm plate inverter drive wheel, the bucket-wheel drive wheel connected to the drive motor of the bucket.
15.如权利要求14所述的自动取料控制装置,其特征在于,所述控制单元为可编程控制器,所述回转单元包括回转变频器,所述可编程控制器输入端连接所述斗轮驱动变频器的第1接口卡,输出端通过回转变频器连接所述悬臂回转电机,所述回转变频器控制所述悬臂回转电机。 Automatic control reclaimer 15. The apparatus of claim 14, wherein said control unit is a programmable controller, said rotating means comprises a rotary drive, said programmable controller connected to the input terminal of the bucket a first drive wheel driven interface card connected to the output terminal of the inverter by turning the boom swing motor, the boom rotation drive control of the rotary motor.
CN 200910045287 2009-01-14 2009-01-14 Automatic material taking control device and method of material piling and taking machine CN101776867B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 200910045287 CN101776867B (en) 2009-01-14 2009-01-14 Automatic material taking control device and method of material piling and taking machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 200910045287 CN101776867B (en) 2009-01-14 2009-01-14 Automatic material taking control device and method of material piling and taking machine

Publications (2)

Publication Number Publication Date
CN101776867A CN101776867A (en) 2010-07-14
CN101776867B true CN101776867B (en) 2012-05-30

Family

ID=42513349

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 200910045287 CN101776867B (en) 2009-01-14 2009-01-14 Automatic material taking control device and method of material piling and taking machine

Country Status (1)

Country Link
CN (1) CN101776867B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018102477A1 (en) 2017-02-03 2018-08-09 Vale S.A. Spreader control system and method

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104020791A (en) * 2014-04-23 2014-09-03 中国神华能源股份有限公司 Reclaiming flow stability control device and method of coal stockyard
CN105223973B (en) * 2014-06-12 2019-06-14 上海岫峤机电工程有限公司 A kind of combination bucket-wheel stacker reclaimer feeding flow control methods and device
CN105205629B (en) * 2014-06-30 2019-05-28 宝山钢铁股份有限公司 Steel mill's finished product storage dispensing automation control method
CN104615833B (en) * 2015-02-12 2017-12-19 湖南长重机器股份有限公司 Bucket wheel machine excavates the creation method of feeding cutting resistance time history simulation model
CN105417197B (en) * 2015-12-22 2017-10-13 中冶南方工程技术有限公司 Bucket wheel machine automatic material taking method
CN105404318A (en) * 2015-12-31 2016-03-16 中国神华能源股份有限公司 Reclaimer reclaiming flow control method and device
CN105564999A (en) * 2015-12-31 2016-05-11 中国神华能源股份有限公司 Automatic material taking system and method
CN105800276B (en) * 2016-04-05 2018-02-16 泰富重工制造有限公司 A kind of blending reclaimer feeding control system and control method
CN106364924B (en) * 2016-11-23 2019-04-26 国电浙江北仑第一发电有限公司 A kind of constant flow rate automatic material taking control method based on bucket wheel electric current
CN106743722B (en) * 2017-02-17 2018-10-09 中国神华能源股份有限公司 The control method of reclaimer system coal blending
CN108328354B (en) * 2018-01-12 2019-09-13 中国神华能源股份有限公司 The method and device of control feeding amount for bucket wheel reclaimer

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2137785Y (en) 1992-08-23 1993-07-07 中国矿业大学 Testing and counting device for mass-transporting
CN101077740A (en) 2007-06-26 2007-11-28 上海发电设备成套设计研究院 Worm distributor operation control method

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2137785Y (en) 1992-08-23 1993-07-07 中国矿业大学 Testing and counting device for mass-transporting
CN101077740A (en) 2007-06-26 2007-11-28 上海发电设备成套设计研究院 Worm distributor operation control method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018102477A1 (en) 2017-02-03 2018-08-09 Vale S.A. Spreader control system and method
US10322884B2 (en) 2017-02-03 2019-06-18 Vale S.A. Reclaimer control system and method

Also Published As

Publication number Publication date
CN101776867A (en) 2010-07-14

Similar Documents

Publication Publication Date Title
US20140025265A1 (en) Systems, methods, and devices for controlling a movement of a dipper
CN101104480A (en) Unmanned piling and taking technique for bulk cargo stock yard
CN202187764U (en) Integrally moving type mining and dressing unit in sand mine
CN102336340A (en) Full-automatic bulk cargo storage yard stacking and taking method
CN101334897B (en) Three-dimensional imaging method for implementing material pile real time dynamic tracking
US3606954A (en) Control system for stacking equipment
CN1996403A (en) Constant feeding control method for rotary kiln
RU2630020C2 (en) 3d controller of volume speed of reclaimer
CN104724506B (en) A kind of automatic material stacking and fetching system for bulk storage yard
CN102774750B (en) Garbage grab bucket crane and anti-swinging control method
CN102229200A (en) Method and device for controlling discharge rate of mixer truck and mixer truck
CN200951908Y (en) Hanging arm side type scraper carrying machine
CN101701522A (en) Coal mining and stripping machine with rollers having adjustable height for open coal mine
CN105178146A (en) Automatic paving control system for paving machine
CN104097796B (en) A kind of automatic assembly line structure of punching structure part
CN203062220U (en) Automatic screw locking device
EP1627114B1 (en) Method for automatically profiling ground in waters
Winstanley et al. Dragline swing automation
CN102621931B (en) On-line monitoring system for friction stir welding and on-line monitoring method thereof
CN101493676A (en) Control method and control device for bucket wheel material fetching machine with material measure and calculate
CN105253776B (en) Semi-automatic control method of gantry crane
CN201128769Y (en) Feeding mechanism
CN105136058B (en) The on-line proving device and its scaling method of laser sensing three-dimension measuring system
CN104724507B (en) Method and system for acquiring automatic taking turning speed
CN201849961U (en) Stockpile detection and control system

Legal Events

Date Code Title Description
C06 Publication
C10 Request of examination as to substance
C14 Granted