CN101898681A - Method for load predicative control of belt conveyor - Google Patents
Method for load predicative control of belt conveyor Download PDFInfo
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- CN101898681A CN101898681A CN2010102588039A CN201010258803A CN101898681A CN 101898681 A CN101898681 A CN 101898681A CN 2010102588039 A CN2010102588039 A CN 2010102588039A CN 201010258803 A CN201010258803 A CN 201010258803A CN 101898681 A CN101898681 A CN 101898681A
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- belt feeder
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Abstract
The invention discloses a method for the load predicative control of a belt conveyor comprising an upper belt conveyor and a lower belt conveyor in cascade, wherein the load predicative control method comprises the following steps of: detecting rotating speeds and running currents of motors of the upper belt conveyor and obtaining real-time conveyance amount of the upper belt conveyor by calculation; detecting rotating speeds and running currents of motors of the lower belt conveyor and obtaining real-time conveyance amount of the lower belt conveyor by calculation; and comparing the real-time conveyance amount of the upper belt conveyor with the real-time conveyance amount of the lower belt conveyor, and adjusting and setting the rotating speed values of the motors of the lower belt conveyor according to the real-time conveyance amount of the upper belt conveyor if a predetermined load change threshold value is exceeded. The method for the load predicative control of the belt conveyor can implement simple and accurate predicative control on the load of the belt conveyor, thereby reducing energy consumption and saving cost.
Description
Technical field
The present invention relates to a kind of method for load predicative control, relate in particular to a kind of method for load predicative control of belt conveyor.
Background technology
Belt transmission system is to guarantee the highly efficient and productive major equipment of Modern coal mines.Because the special producing condition in colliery, the fortune coal amount of belt transportation system is uneven, in underloading or when non-loaded, the high-speed cruising of belt conveyor system is comparatively serious to the wearing and tearing waste of machine driven system, and is much bigger when power consumption is also than low cruise simultaneously.
Present domestic coal mine leather belt transport systems overwhelming majority electric system often works in full voltage, full gear degree, but not full-load run, the part time no-load run is also arranged, after belt transporter is realized speed governing operation, because the transportation characteristics and the security needs of coal mine leather belt machine, belt feeder still remains on permanent rotating speed running state, and the running velocity to belt feeder does not carry out real-time regulated, and the result of use of frequency converter is had a greatly reduced quality.Therefore the belt feeder rotating speed is carried out real-time regulated, rotating speed is realized being even more important according to the condition of loading predictive control.
Owing to be subjected to the restriction of environmental conditions, ubiquity the phenomenon of underrun as gob, down-hole belt conveyor, and energy dissipation is very serious.Also occurring belt feeder once in a while, to cross the coal amount bigger, forms the coal piling phenomenon.Therefore belt conveyor reasonably operation scheme be running velocity by the size adjustment belt conveyor of crossing the coal amount, make that speed was fast when the coal amount was big, coal amount speed at one hour rating is slow excessively, so that can make system under the situation of safety and steady operation, reach maximum energy utilization rate.
The coal mine leather belt machine generally all is the belt group, and main coal stream transport systems often is made up of several belt feeders and feeder and scraper plate machine, and one near coal-minely flowed transport systemss by several main coals and form.What to just can finish through even tens grades of belt feeders from the exploiting field near coal-mine transport.Therefore, be necessary predictive control is carried out in the belt feeder load, realize the purpose of safe, the steady and efficient operation of belt feeder.
What propose in " electrical applications " 2006 the 25th volumes the 9th phase " mining down-hole belt transporter intelligence control system " is to adopt the current signal of prime belt feeder as controlled variable.For constant-speed operation belt feeder system, motor operating current can reflect the transportation volume of belt feeder, but can only reflect the torque of higher level's belt feeder for frequency control belt feeder system power, can not represent the transportation volume of belt feeder.Therefore, the mode of mentioning in the document only is suitable for the belt feeder frequency control predictive control that higher level's belt feeder is the constant-speed operation pattern, and predictive control is not accurate enough.In addition, the electric current of mentioning in the document is by gathering directly the current acquisition signal to be connected to control setup, the connection line complexity.
Summary of the invention
The invention will be further described below in conjunction with drawings and Examples.
Fig. 1 is the belt feeder tension analysis scheme drawing of single drive roll.
See also Fig. 1, belt feeder generally comprises drive roll 1 and the driven cylinder 2 that links to each other by belt, and belt is provided with carrying roller 4, and in order to adjust the belt degree of tightness, belt feeder can also be provided with belt tensioning drum 3.
1) calculating of belt traction power
F=F
Z2-F
Z1=（F
t1…+F
tn）+F
x (2)
Have according to the mechanics groundwork:
F
t1…+F
tn=μ（Mg+M
Pg）COSθ （3）
F
x=?MgSINθ (4)
In the formula: F
T1Be the friction force of first carrying roller, F
TnBe the friction force of n carrying roller, F
xSliding force for material.
F=μ（Mg+M
PJg）COSθ+?MgSINθ （5）
In the formula: M is the total mass of material, M
PJBe pilled-in selvedge belt total mass, μ is the friction coefficient between belt and carrying roller, and θ is the leaning angle of belt feeder, and g is an acceleration due to gravity.
2) calculating of motor torque
Belt feeder generally adopts three phase asynchronous motor to drag, and therefore the belt feeder that drags with three phase asynchronous motor below is the example explanation.
The driving torque of drive motor is:
T
d=?(μCOSθ+SINθ)?Mg?D/2?/i?+T
s （6）
In the formula: i is the belt feeder transmitting ratio, T
sBe the belt feeder no-load torque, D is the drive roll diameter.
Because the effect of frequency converter, motor are under any speed conditions, motor slip ratio changes little, therefore according to the torque formula of motor:
In the formula: T
mBe motor output machine torque, P
mBe the motor input electric power.
As can be known, change under the little situation in electrical efficiency, the output torque of motor and the received current of motor are directly proportional, and square being directly proportional of the torque of motor and the input voltage of motor is when motor frequency conversion move, because frequency converter is to motor power supply maintenance
Substantially constant, the power factor of motor operation also changes not quite, so therefore the output machine torque of motor can calculate the output machine torque of motor by the received current that detects motor in the received current of motor relation in direct ratio:
（8）
In the formula: T
MeFor motor is exported specified machine torque, I
eBe the motor rated current.
3) calculating of the real-time transportation volume of belt feeder
As the above analysis, the received current by detecting belt feeder in the belt feeder operational process and the working speed of motor can obtain the torque of belt feeder, and by the torque coal seam thickness of belt feeder as can be known, method of calculating is as follows:
By formula (6) as can be known
Mg=（T
d-?T
s）/(?(μCOSθ+SINθ)?D/2?/i) （9）
The no-load torque of belt feeder can obtain by the method that detects belt feeder no-load run power.The load torque of belt feeder should equal the output torque of motor.
Therefore (8) substitution (9) formula can be obtained:
Mg=（I/I
eT
me-?T
s）/?(?(μCOSθ+SINθ)?D/2?/i) （10）
The torque rating of motor can obtain by motor basic specification or electrical type tests data.
More than (10) formula calculated weight of material on the belt feeder, at this moment the quality of the coal of unit length can obtain, that is:
ρ=?Mg/L=（I/I
eT
me-?T
s）/(?(μCOSθ+SINθ)?D/2?/i)?/L （11）
In the formula: ρ is the unit length weight of material, and L is a belt feeder length.
The real-time transportation volume of belt feeder is:
MgV=πD
2n/i
2（I/I
eT
me-?T
s）/?(μCOSθ+SINθ)?/L （12）
In the formula: n is a motor speed, and Mgv is the real-time transportation volume of belt feeder.
Fig. 2 is a belt feeder load estimation Control work principle schematic of the present invention.
See also Fig. 2, realize the load estimation control of belt feeder, satisfy requirement according to condition of loading real-time regulated belt feeder running velocity, as long as can guarantee the real-time transportation volume of subordinate's belt feeder 6 and higher level's belt feeder 5 equates, in order to guarantee safety, the transport capacity 5 that general transport capacity with subordinate's belt feeder 6 is slightly larger than higher level's belt feeder gets final product in the practical application; If higher level's belt feeder be two or more, only need make transport capacity that the transport capacity of belt feeder is slightly larger than all belt feeders of higher level and get final product.
If belt feeder is many motor-driven, then can be according to the running current and the rotating speed of each motor of belt feeder, to calculate according to the method for calculating of (12) formula transportation volume belt feeder, the result of calculation sum is exactly the real-time transportation volume of belt feeder.
Because the real-time transportation volume of belt feeder is relevant with the working speed and the running current of motor, by belt feeder being carried out permanent torque control, the load torque given value of control can be set, in order better to realize energy-saving effect, the general load torque given value of setting should be tried one's best greatly, could reduce the belt feeder working speed as much as possible like this, improves the belt feeder efficiency, but for safety, generally to leave certain surplus when setting.
In actual loading predictive control operational process, begin at first to increase because the load increase of higher level's belt feeder is a front end from belt feeder, and the load increase of subordinate's belt feeder has the process of a hysteresis.Therefore according to the length and the running velocity of belt feeder, only the rotating speed of subordinate's belt feeder need be increased the time-delay regular hour; Equally, when needing rotating speed to reduce, the load minimizing also delays time the same time.
Concrete delay time is:
t=L/(πDn/i) (13)
Delay time is to calculate with the parameter of higher level's belt feeder, because motor speed real-time change but rotating speed can not suddenly change, only needs therefore that the control of delaying time can meet the demands according to revolution speed calculating result in real time in the real-world operation.
Belt feeder is adjusted rotating speed according to condition of loading automatically, the reduction of maximum possible the working speed of belt feeder, reduced the loss of belt feeder, improved the efficiency of belt feeder, prolonged the life-span of belt feeder.The user is reflected well.
Same method can realize belt group's predictive control, before load variations arrives, belt feeder is predicted rotational speed setup, permanent torque control in conjunction with belt feeder, realize the Energy Saving Control under belt group's the smooth running condition, avoid the generation of the accidents such as broken belt that the simple belt feeder momentary overload that adopts permanent torque control to cause, torque sudden change cause.
Higher level's belt feeder can directly transmit real-time transportation volume (being suitable for belt group together transforms) or the motor operating current and the motor speed (being suitable for only transforming the situation of a belt feeder) of higher level's belt feeder by communication modes to subordinate's belt feeder.If multi-stage, belt machine cascade belt feeders then at different levels are transferred to next stage after calculating the transportation volume of belt feeders at different levels, but not necessarily all belt feeders are together transformed during owing to transformation, so also the motor operating current and the motor speed of higher level's belt feeder can be transferred to subordinate's belt feeder, carry out transportation volume by the belt control system that transforms and calculate, need not revise the control program of higher level's belt feeder like this.Communication modes can adopt modes such as industrial serial ports commonly used, Industrial Ethernet, fieldbus, wireless telecommunications.
Above-mentioned method for load predicative control of belt conveyor, wherein, described subordinate belt feeder can adopt the frequency conversion mode to carry out motor speed and regulate.Can allow the maximum torque of long-time running during control according to the motor of safety and other regulation setting subordinate belt feeder, the constant motor working speed of controlling under this value situation of control system holding torque guarantees security of system and leaves the due surplus of security regulations.
Fig. 3 is a belt feeder load estimation control flow chart of the present invention.
See also Fig. 3, method for load predicative control of belt conveyor provided by the invention comprises higher level's belt feeder and subordinate's belt feeder of cascade, and wherein, described method for load predicative control comprises the steps:
Step S301: detect each rotating speed of motor and the running current of higher level's belt feeder, by calculating the real-time transportation volume of higher level's belt feeder;
Step S302: detect each rotating speed of motor and the running current of subordinate's belt feeder, by calculating the real-time transportation volume of subordinate's belt feeder;
Step S303: the relatively real-time transportation volume of higher level's belt feeder and the real-time transportation volume of subordinate's belt feeder, if exceed default load variations threshold value then enter step S304, carry out cycle control otherwise return step S301;
Step S304: each rotating speed of motor value of setting subordinate's belt feeder according to the real-time transportation volume adjustment of higher level's belt feeder.
Though the present invention discloses as above with preferred embodiment; right its is not in order to qualification the present invention, any those skilled in the art, without departing from the spirit and scope of the present invention; when can doing a little modification and perfect, so protection scope of the present invention is when with being as the criterion that claims were defined.
Claims (5)
1. a method for load predicative control of belt conveyor comprises cascade higher level belt feeder and subordinate's belt feeder, it is characterized in that described method for load predicative control comprises the steps:
Detect each rotating speed of motor and the running current of higher level's belt feeder, by calculating the real-time transportation volume of higher level's belt feeder;
Detect each rotating speed of motor and the running current of subordinate's belt feeder, by calculating the real-time transportation volume of subordinate's belt feeder;
Relatively the real-time transportation volume of higher level's belt feeder and the real-time transportation volume of subordinate's belt feeder if exceed default load variations threshold value, are then set each rotating speed of motor value of subordinate's belt feeder according to the real-time transportation volume adjustment of higher level's belt feeder;
The computing formula of real-time transportation volume of belt feeders at different levels and motor speed is as follows:
MgV=πD
2n/i
2（I/I
eT
me-?T
s）/?(μCOSθ+SINθ)?/L；
Wherein, Mgv is the real-time transportation volume of belt feeder, and D is a motor drive roll diameter, and n is a motor speed, and i is the belt feeder transmitting ratio, and I is a motor operating current, I
eBe motor rated current, T
MeFor motor is exported specified machine torque, T
sBe the belt feeder no-load torque, θ is the leaning angle of belt feeder, and the friction coefficient between μ belt and carrying roller, L are belt feeder length.
2. method for load predicative control of belt conveyor as claimed in claim 1, it is characterized in that, described subordinate belt feeder time-delay a period of time is adjusted each rotating speed of motor value of setting subordinate's belt feeder, the delay time computing formula is as follows: t=L/ (π Dn/i), and wherein, t is a delay time, L is higher level's belt feeder length, D is higher level's belt feeder motor drive roll diameter, and n is higher level's belt feeder motor speed, and i is higher level's belt feeder transmitting ratio.
3. method for load predicative control of belt conveyor as claimed in claim 1 or 2 is characterized in that, described higher level's belt feeder directly transmits the real-time transportation volume of higher level's belt feeder to subordinate's belt feeder by communication modes.
4. method for load predicative control of belt conveyor as claimed in claim 1 or 2, it is characterized in that, described higher level's belt feeder is calculated the real-time transportation volume of higher level's belt feeder by the motor operating current and the motor speed of communication modes to the belt feeder transmission higher level of subordinate belt feeder by subordinate's belt feeder.
5. method for load predicative control of belt conveyor as claimed in claim 1 or 2 is characterized in that, described subordinate belt feeder adopts the frequency conversion mode to carry out motor speed and regulates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102588039A CN101898681B (en) | 2010-08-20 | 2010-08-20 | Belt Conveyor Load Prediction Control Method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102588039A CN101898681B (en) | 2010-08-20 | 2010-08-20 | Belt Conveyor Load Prediction Control Method |
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| CN101898681A true CN101898681A (en) | 2010-12-01 |
| CN101898681B CN101898681B (en) | 2012-04-18 |
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|---|---|---|---|
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Cited By (15)
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|---|---|---|---|---|
| CN102882442A (en) * | 2012-11-01 | 2013-01-16 | 武汉钢铁(集团)公司 | Energy saving management method for motor in conveyor belt |
| WO2013181727A1 (en) * | 2012-06-04 | 2013-12-12 | Vale S.A. | Bulk material reclaimer control system |
| CN103612889A (en) * | 2013-11-11 | 2014-03-05 | 陕西合开电气有限公司 | Automatic speed regulating and controlling method of coal mine tape machine conveying system |
| CN103818697A (en) * | 2014-03-12 | 2014-05-28 | 中国黄金集团内蒙古矿业有限公司 | Protection method of belt conveyor and belt conveyor protection device |
| CN104760817A (en) * | 2015-02-05 | 2015-07-08 | 上海云统信息科技有限公司 | Method for controlling belt conveyor loads |
| CN104773465A (en) * | 2014-01-14 | 2015-07-15 | 深圳市汇拓新邦科技有限公司 | Large-scale transmission master-slave control equipment of belt conveyer and operation method thereof |
| CN106882558A (en) * | 2017-03-31 | 2017-06-23 | 兖州煤业股份有限公司 | A kind of belt governing system and speed regulating method based on coal flow detection |
| CN108861423A (en) * | 2018-04-26 | 2018-11-23 | 九江职业技术学院 | Belt conveyer electric control system based on PLC |
| CN109901400A (en) * | 2019-04-01 | 2019-06-18 | 中国矿业大学 | A kind of drag conveyor chain clamping system parametrization inverse model control device design method |
| CN110950002A (en) * | 2019-10-16 | 2020-04-03 | 焦作煤业（集团）新乡能源有限公司 | Operation control method of high-voltage variable-frequency main coal flow intelligent conveying system |
| CN110963256A (en) * | 2019-11-21 | 2020-04-07 | 青岛中加特电气股份有限公司 | Self-adaptive speed regulation control method for conveyor |
| CN111527034A (en) * | 2017-12-11 | 2020-08-11 | 英特诺控股公司 | Device for inspecting a transport facility, control unit, motor roller, transport facility and method |
| CN111689171A (en) * | 2020-06-17 | 2020-09-22 | 青岛中加特电气股份有限公司 | Automatic speed regulation method of lower-level conveyor based on variable-frequency output torque of upper-level conveyor |
| CN112737419A (en) * | 2020-12-28 | 2021-04-30 | 西门子工厂自动化工程有限公司 | Conveyor control method, conveyor control system, electronic device, medium, and program |
| CN114275484B (en) * | 2022-01-13 | 2024-03-29 | 淮南万泰电子股份有限公司 | Running state monitoring system for belt conveyor |
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2010
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|---|---|---|---|---|
| WO2013181727A1 (en) * | 2012-06-04 | 2013-12-12 | Vale S.A. | Bulk material reclaimer control system |
| CN102882442B (en) * | 2012-11-01 | 2014-12-31 | 武汉钢铁(集团)公司 | Energy saving management method for motor in conveyor belt |
| CN102882442A (en) * | 2012-11-01 | 2013-01-16 | 武汉钢铁(集团)公司 | Energy saving management method for motor in conveyor belt |
| CN103612889A (en) * | 2013-11-11 | 2014-03-05 | 陕西合开电气有限公司 | Automatic speed regulating and controlling method of coal mine tape machine conveying system |
| CN104773465A (en) * | 2014-01-14 | 2015-07-15 | 深圳市汇拓新邦科技有限公司 | Large-scale transmission master-slave control equipment of belt conveyer and operation method thereof |
| CN103818697A (en) * | 2014-03-12 | 2014-05-28 | 中国黄金集团内蒙古矿业有限公司 | Protection method of belt conveyor and belt conveyor protection device |
| CN103818697B (en) * | 2014-03-12 | 2015-10-28 | 中国黄金集团内蒙古矿业有限公司 | The guard method of band conveyor and band conveyor fender guard |
| CN104760817A (en) * | 2015-02-05 | 2015-07-08 | 上海云统信息科技有限公司 | Method for controlling belt conveyor loads |
| CN104760817B (en) * | 2015-02-05 | 2017-02-22 | 上海云统信息科技有限公司 | Method for controlling belt conveyor loads |
| CN106882558A (en) * | 2017-03-31 | 2017-06-23 | 兖州煤业股份有限公司 | A kind of belt governing system and speed regulating method based on coal flow detection |
| CN111527034A (en) * | 2017-12-11 | 2020-08-11 | 英特诺控股公司 | Device for inspecting a transport facility, control unit, motor roller, transport facility and method |
| US11136198B2 (en) | 2017-12-11 | 2021-10-05 | Interroll Holding Ag | Device for examining a conveyor system, and control unit, motorized roller, conveyor system, and method |
| CN108861423A (en) * | 2018-04-26 | 2018-11-23 | 九江职业技术学院 | Belt conveyer electric control system based on PLC |
| CN109901400A (en) * | 2019-04-01 | 2019-06-18 | 中国矿业大学 | A kind of drag conveyor chain clamping system parametrization inverse model control device design method |
| CN110950002A (en) * | 2019-10-16 | 2020-04-03 | 焦作煤业（集团）新乡能源有限公司 | Operation control method of high-voltage variable-frequency main coal flow intelligent conveying system |
| CN110963256A (en) * | 2019-11-21 | 2020-04-07 | 青岛中加特电气股份有限公司 | Self-adaptive speed regulation control method for conveyor |
| CN111689171A (en) * | 2020-06-17 | 2020-09-22 | 青岛中加特电气股份有限公司 | Automatic speed regulation method of lower-level conveyor based on variable-frequency output torque of upper-level conveyor |
| CN111689171B (en) * | 2020-06-17 | 2021-11-09 | 青岛中加特电气股份有限公司 | Automatic speed regulation method of lower-level conveyor based on variable-frequency output torque of upper-level conveyor |
| CN112737419A (en) * | 2020-12-28 | 2021-04-30 | 西门子工厂自动化工程有限公司 | Conveyor control method, conveyor control system, electronic device, medium, and program |
| CN114275484B (en) * | 2022-01-13 | 2024-03-29 | 淮南万泰电子股份有限公司 | Running state monitoring system for belt conveyor |
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