CN102000627A - Device and method for automatically controlling choke feed of conical crusher - Google Patents
Device and method for automatically controlling choke feed of conical crusher Download PDFInfo
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Abstract
本发明公开了一种圆锥式破碎机挤满给矿的自动控制装置及其方法，包括超声波料位传感器、可编程逻辑控制器和监控计算机；所述的可编程逻辑控制器包括模拟量输入模块、CPU模块和模拟量输出模块，以可编程逻辑控制器为控制核心，采用模型预测控制方法进行调控，实现了给矿、破碎的全自动调节，避免了人工手动操作的不足，提高了破碎效率，延长了破碎机的使用寿命，降低了能耗，增加了生产效益；采用监控计算机进行实时监控，可以在线修改可编程逻辑控制器的工作参数和指标参数，提高了生产效率。
The invention discloses an automatic control device and method for a cone crusher full feeding ore, including an ultrasonic material level sensor, a programmable logic controller and a monitoring computer; the programmable logic controller includes an analog input module , CPU module and analog output module, with the programmable logic controller as the control core, the model predictive control method is used for regulation, which realizes the fully automatic adjustment of mine feeding and crushing, avoids the shortage of manual operation, and improves the crushing efficiency , prolong the service life of the crusher, reduce energy consumption, and increase production efficiency; use a monitoring computer for real-time monitoring, and can modify the working parameters and index parameters of the programmable logic controller online, improving production efficiency.
Description
Technical field
What the present invention relates to is real-time detection control apparatus and the method that a kind of disintegrating machine is given ore deposit, broken operating mode, in particular a kind of automaton of cone crusher choke feed and method thereof.
Background technology
Crushing process is the important ring in the ore-dressing technique, and its main equipment is a disintegrating machine, and equipment investment is big, big energy-consuming, and operation and maintenance cost height, the production efficiency of crushing system directly affects the production cost and the economic link in whole ore dressing plant.In recent years, though domesticly introduced multiple external high-performance disintegrating machine because cost an arm and a leg with the supporting ore deposit automatic control system of giving of type, most ore dressing plants since economic cause together do not introduce with equipment.Therefore, former control to disintegrating machine all is to rely on operation manually.Because have non-linear, hysteresis for the ore deposit system, manipulation strength is big, and influenced by experience and sense of responsibility in addition, the workman gives in the process of ore deposit regulating, and is difficult to guarantee the control target, fails to bring into play to greatest extent device efficiency.
Crushing system mainly is made up of ore feed arrangement and breaker, and feed arrangement comprises ore storage bin, following mine mouth fluid pressure drive device and to the barrow band.Ore falls from oneself following mine mouth of ore storage bin, warp mine mouth fluid pressure drive device effect is down fallen on the barrow band, by to the barrow band ore being transported in the disintegrating machine, for crusher in crushing, the mine-supplying quantity of following mine mouth is controlled by opening big or turning down of following mine mouth fluid pressure drive device promotion gate again.
For cone crusher, when ordinary production, require choke feed, disintegrating machine full production this moment, the treating capacity maximum is in the optimum load running status.
Summary of the invention
Goal of the invention: the objective of the invention is to overcome the deficiencies in the prior art, a kind of automaton and method thereof of cone crusher choke feed are provided, equipment is regulated automatically, make disintegrating machine be in the optimum load running status and overcome the manually operated deficiency of workman simultaneously, can not only detect crushing plant in real time and give the operating mode of ore deposit, fragmentation, and can regulate automatically according to disintegrating machine machine chamber controlling level and give the ore deposit, realize the automation of choke feed.When control device breaks down, can report to the police automatically or stop according to fault level with protection equipment.
Technical scheme: the present invention is achieved by the following technical solutions, the present invention includes ultrasonic wave level sensor, programmable logic controller (PLC) and supervisory control comuter; Described programmable logic controller (PLC) comprises analog quantity input module, CPU module and analog output module, and wherein: the input of CPU module links to each other with the analog quantity input module, and the output of CPU module links to each other with analog output module; Supervisory control comuter links to each other with the CPU module with the duty of running parameter that programmable logic controller (PLC) is set and real-time monitoring disintegrating machine; The ultrasonic wave level sensor is located at the top, machine chamber of disintegrating machine, and the input of the output of ultrasonic wave level sensor and analog quantity input module links to each other to detect and to transmit the machine chamber material level value of disintegrating machine; The output of analog output module links to each other with following mine mouth fluid pressure drive device.
Described programmable logic controller (PLC) also comprises the digital quantity output module, and described digital quantity output module links to each other with the CPU module.
An output of described digital quantity output module is provided with alarm, and another output is provided with relay, and the emergency stop switch of described relay and disintegrating machine links to each other.
A kind of autocontrol method of cone crusher choke feed may further comprise the steps:
(1) begins to be provided with running parameter, comprise the machine chamber material level value of disintegrating machine optimum load state, prediction time domain, control time domain and the step model coefficient of PREDICTIVE CONTROL;
(2) the machine chamber material level value of collection disintegrating machine;
(3) actual machine chamber material level value in middle machine chamber material level value that is provided with of step (1) and the step (2) is relatively drawn the material level deviate;
(4) with the material level deviate in the step (3) prediction material level value is proofreaied and correct;
(5) the prediction material level value after the correction that step (4) is obtained is shifted so that the prediction material level initial value of current time to be set;
(6) running parameter that utilizes prediction material level value after the displacement that step (5) obtains and step (1) to set draws down the mine-supplying quantity increment of mine mouth;
(7) will go up the following mine mouth mine-supplying quantity in a control moment and the following mine mouth mine-supplying quantity increment addition that step (6) obtains, draw down the mine-supplying quantity of mine mouth;
(8) the mine-supplying quantity value that step (7) is drawn is transported to down the mine mouth fluid pressure drive device, controlling actual mine-supplying quantity, thus control disintegrating machine machine chamber material level;
(9) the prediction material level initial value that utilizes mine-supplying quantity increment that step (6) obtains and step (5) to obtain draws prediction material level value, returns step (2) then.
Operation principle of the present invention is: the present invention with programmable logic controller (PLC) as core controller, detect disintegrating machine machine chamber material level by the ultrasonic wave level sensor, and after it is nursed one's health into 4～20mA electric current of standard, send into programmable logic controller (PLC), programmable logic controller (PLC) calculates the deviate of sampled value and optimum load state material level setting value, then according to the Model Predictive Control theory, with disintegrating machine machine chamber material level is the control object, utilize system's step response dynamic model of method (modelling by mechanism and the test modeling) structure of hybrid modeling, adopt the following output valve of Dynamic array control algorithm prognoses system, the deviate that utilization calculates is proofreaied and correct the prediction material level of last time, and the prediction material level value after proofreading and correct is shifted, calculate required mine-supplying quantity according to the prediction material level value after the displacement and the running parameter of setting then, programmable logic controller (PLC) is given down the mine mouth fluid pressure drive device with output, to realize automatic adjusting, guarantee that disintegrating machine is operated in the optimum load state to disintegrating machine machine chamber material level.
The monitoring software of supervisory control comuter can be provided with relevant running parameter, index, realize to generate in real time, functions such as historical data curve and form.Programmable logic controller (PLC) is optimized processing according to the material level index that monitoring software is provided with, and disintegrating machine machine chamber material level is controlled automatically.
Beneficial effect: with the programmable logic controller (PLC) is the control core, adopt model predictive control method to regulate and control, realized giving the full-automatic regulation of ore deposit, fragmentation, avoided the deficiency of operation manually, improved crushing efficiency, prolong the service life of disintegrating machine, reduced energy consumption, increased productivity effect; Adopt supervisory control comuter to monitor in real time, running parameter and index parameter that can the online modification programmable logic controller (PLC) have improved production efficiency.In addition, control device of the present invention is the control core with the programmable logic controller (PLC), by the powerful expanded function of programmable logic controller (PLC), can carry out choke feed to many cone crushers simultaneously and control automatically, enlarge range of application, significantly improved production efficiency.The present invention helps saving the cost of enterprise development enlarging, plant maintenance and renewal, has increased economic benefit, can avoid the manually-operated of abominable production scene simultaneously, has reduced working strength of workers, has improved work situation.
Description of drawings
Fig. 1 is the structural representation of the broken control system of the present invention;
Fig. 2 is the flow chart of autocontrol method of the present invention;
Fig. 3 is the structured flowchart of automaton of the present invention;
Fig. 4 is the connection diagram of analog quantity input module of the present invention;
Fig. 5 is the connection diagram of analog output module of the present invention;
Fig. 6 is the connection diagram of first digit amount output module of the present invention;
Fig. 7 is the connection diagram of second digit amount output module of the present invention.
The specific embodiment
Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, present embodiment comprise cone crusher 1, ore storage bin 2, down mine mouth fluid pressure drive device 3, to barrow band 4, ultrasonic wave level sensor 5 and programmable logic controller (PLC) 6 (being charge level controller), wherein: the ore in the ore storage bin 2 is fallen by ore storage bin 2, on down the effect of mine mouth fluid pressure drive device 3 drops to barrow band 4, to barrow band 4 ore is transported to and carries out fragmentation in the cone crusher 1; Ultrasonic wave level sensor 5 is arranged on the top in disintegrating machine 1 machine chamber, be used to detect machine chamber material level, and the data that collect are delivered in the charge level controller, calculate through the control of programmable logic controller (PLC) 6 again, obtain the mine-supplying quantity of disintegrating machine 1, and export to down mine mouth fluid pressure drive device 3 to control down opening greatly and turning down of mine mouth gate.
As shown in Figure 2, a kind of autocontrol method of cone crusher 1 choke feed may further comprise the steps:
(1) begins to be provided with running parameter, comprise the machine chamber material level value of disintegrating machine 1 optimum load state, prediction time domain, control time domain and the step model coefficient of PREDICTIVE CONTROL;
(2) the machine chamber material level value of collection disintegrating machine 1;
(3) actual machine chamber material level value in middle machine chamber material level value that is provided with of step (1) and the step (2) is relatively drawn the material level deviate;
(4) with the material level deviate in the step (3) prediction material level value is proofreaied and correct;
(5) the prediction material level value after the correction that step (4) is obtained is shifted so that the prediction material level initial value of current time to be set;
(6) running parameter that utilizes prediction material level value after the displacement that step (5) obtains and step (1) to set draws down the mine-supplying quantity increment of mine mouth;
(7) will go up the following mine mouth mine-supplying quantity in a control moment and the following mine mouth mine-supplying quantity increment addition that step (6) obtains, draw down the mine-supplying quantity of mine mouth;
(8) the mine-supplying quantity value that step (7) is drawn is transported to down mine mouth fluid pressure drive device 3, controlling actual mine-supplying quantity, thus control disintegrating machine 1 machine chamber material level; (9) the prediction material level initial value that utilizes mine-supplying quantity increment that step (6) obtains and step (5) to obtain draws prediction material level value, returns step (2) then.
As shown in Figure 3, the automaton of present embodiment comprises ultrasonic wave level sensor 5, programmable logic controller (PLC) 6 and supervisory control comuter; Described programmable logic controller (PLC) 6 comprises analog quantity input module, CPU module and analog output module, and wherein: the input of CPU module links to each other with the analog quantity input module, and the output of CPU module links to each other with analog output module,
Supervisory control comuter links to each other with the CPU module, the duty that is used to set the running parameter of programmable logic controller (PLC) 6 and monitors disintegrating machine 1 in real time, programmable logic controller (PLC) 6 running parameters of setting comprise the machine chamber material level value when disintegrating machine 1 is in the optimum load running status, the prediction time domain of Model Predictive Control and control time domain, and the step model coefficient of crushing system.
Ultrasonic wave level sensor 5 is located at top, disintegrating machine 1 machine chamber, the output of ultrasonic wave level sensor 5 links to each other with the input of analog quantity input module, be used to detect the machine chamber material level of disintegrating machine 1, and it is nursed one's health into the standard detection current signal, and (4～20mA) send the analog quantity input module for the CPU resume module, and the output of analog output module links to each other with following mine mouth fluid pressure drive device 3.
Described programmable logic controller (PLC) 6 also comprises the digital quantity output module, and described digital quantity output module links to each other with the CPU module.
First control output end of described digital quantity output module is provided with alarm, be used to indicate the running status of disintegrating machine 1, alarm comprises disintegrating machine 1 run indicator and disintegrating machine 1 alarm lamp, disintegrating machine 1 run indicator is bright under the normal operation, and it is bright disintegrating machine 1 alarm lamp to occur when unusual; Second control output end is provided with the relay of control emergency stop switch, and after warning continued for some time, the CPU module sent control signals to the digital quantity output module, and control relay disconnects emergency stop switch, and disintegrating machine 1 is out of service.
The processing procedure of CPU module is as follows:
(1) sensed current signal of ultrasonic wave level sensor 5 is carried out the detected value that filtering and normalization obtain disintegrating machine 1 machine chamber material level;
Machine chamber material level value and detected actual material level value during (2) with the disintegrating machine 1 optimum load state that configures are subtracted each other, and calculate the material level deviate;
(3) utilize the material level deviate that obtains that the prediction material level of disintegrating machine 1 is proofreaied and correct;
(4) the prediction material level value after proofreading and correct is shifted, to obtain the prediction material level initial value of current time;
(5) adopt Dynamic array control algorithm, the running parameter that utilizes the prediction material level value after being shifted and configure calculates the mine-supplying quantity increment;
(6) calculate mine-supplying quantity;
The output result that (7) will calculate delivers to analog output module, and then delivers to down mine mouth fluid pressure drive device 3, is used to promote down opening greatly or turning down of mine mouth gate, thereby changes mine-supplying quantity.
In the present embodiment, programmable logic controller (PLC) 6 expands to an analog quantity input module, an analog output module and two digital quantity output modules, simultaneously the production process of four cone crushers 1 is controlled automatically.Disintegrating machine 1 has four, difference called after number one, No. second, No. three and No. four disintegrating machine 1, all be provided with disintegrating machine 1 emergency stop switch, disintegrating machine 1 run indicator and disintegrating machine 1 alarm lamp on four disintegrating machines 1, ultrasonic wave level sensor and following mine mouth fluid pressure drive device 3 also respectively have four.
As shown in Figure 4, an analog quantity input module, wherein: 2 and No. 3 passages are connected to the ultrasonic wave level sensor 5 of number one disintegrating machine 1; 4 and No. 5 passages are connected to the ultrasonic wave level sensor 5 of No. second disintegrating machine 1; 6 and No. 7 passages are connected to the ultrasonic wave level sensor 5 of No. three disintegrating machine 1; 8 and No. 9 passages are connected to the ultrasonic wave level sensor 5 of No. four disintegrating machine 1; All the other are reserved passageway.
As shown in Figure 5, an analog output module, wherein: 3 and No. 6 passage connects mine mouth fluid pressure drive device 3 under the number one; 7 and No. 10 passage connects following mine mouth fluid pressure drive device 3 No. second; 11 and No. 14 passage connects following mine mouth fluid pressure drive device 3 No. three; 15 and No. 18 passage connects following mine mouth fluid pressure drive device 3 No. four; All the other are reserved passageway.
As shown in Figure 6, first digit amount output module, wherein: No. 2 passage connects number one disintegrating machine 1 run indicator; No. 3 passage connects disintegrating machine 1 run indicator No. second; No. 4 passage connects disintegrating machine 1 run indicator No. three; No. 5 passage connects disintegrating machine 1 run indicator No. four; No. 12 passage connects number one disintegrating machine 1 alarm lamp; No. 13 passage connects disintegrating machine 1 alarm lamp No. second; No. 14 passage connects disintegrating machine 1 alarm lamp No. three; No. 15 passage connects disintegrating machine 1 alarm lamp No. four; All the other are reserved passageway.
As shown in Figure 7, second digit amount output module, No. 2 passage connects number one disintegrating machine 1 emergency stop switch; No. 3 passage connects disintegrating machine 1 emergency stop switch No. second; No. 4 passage connects disintegrating machine 1 emergency stop switch No. three; No. 5 passage connects disintegrating machine 1 emergency stop switch No. four; All the other are reserved passageway.
The CPU module is connected by the core bus of intermodule with above-mentioned analog quantity input module, analog output module, digital quantity output module.
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103861721A (en) * | 2014-03-31 | 2014-06-18 | 泰山医学院 | Intelligent control system of hydraulic gyratory crusher |
| CN104932307A (en) * | 2015-06-01 | 2015-09-23 | 遵义市立新机械有限责任公司 | Real-time optimization control method for crusher |
| CN105045099A (en) * | 2015-06-02 | 2015-11-11 | 遵义市立新机械有限责任公司 | Optimized control method for distributed crusher group |
| CN105251603A (en) * | 2015-11-18 | 2016-01-20 | 河南黎明重工科技股份有限公司 | Expert control system for European flour mill |
| CN106853405A (en) * | 2015-12-09 | 2017-06-16 | 朱森 | A kind of high efficiency ball mill control system |
| CN106944221A (en) * | 2017-05-18 | 2017-07-14 | 王利会 | A kind of Status of Grinding Equipments for Chinese medicine |
| CN111468280A (en) * | 2020-04-24 | 2020-07-31 | 南京卓道环保科技有限公司 | Equipment management crushing station system |
| CN112044578A (en) * | 2019-06-05 | 2020-12-08 | 西安瑞德宝尔智能科技有限公司 | Control method and controller of feeding machine |
| CN113231189A (en) * | 2021-06-28 | 2021-08-10 | 中国水利水电第九工程局有限公司 | Intelligent control method and device for feeding and crushing balanced production of gravel coarse crushing workshop |
| CN113570168A (en) * | 2021-09-22 | 2021-10-29 | 矿冶科技集团有限公司 | Material level correction method and device and electronic equipment |
| CN114345536A (en) * | 2022-01-05 | 2022-04-15 | 山东工大中能科技有限公司 | Detection control method, system and device for full ore feeding of crusher |
| CN114768923A (en) * | 2022-05-11 | 2022-07-22 | 内蒙古大中矿业股份有限公司 | Automatic control device for constant power of cone crusher |
| CN114832904A (en) * | 2022-04-19 | 2022-08-02 | 裴有卫 | Biological feed two-stage grinding device and grinding method |
| CN119747070A (en) * | 2025-03-06 | 2025-04-04 | 福建南方路面机械股份有限公司 | A crusher feed amount intelligent control method, device and readable medium |
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2010
- 2010-09-26 CN CN2010102951450A patent/CN102000627A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103861721B (en) * | 2014-03-31 | 2016-01-20 | 泰山医学院 | The intelligent control system that hydraulic pressure cycle is broken |
| CN103861721A (en) * | 2014-03-31 | 2014-06-18 | 泰山医学院 | Intelligent control system of hydraulic gyratory crusher |
| CN104932307A (en) * | 2015-06-01 | 2015-09-23 | 遵义市立新机械有限责任公司 | Real-time optimization control method for crusher |
| CN104932307B (en) * | 2015-06-01 | 2017-11-21 | 遵义市立新机械有限责任公司 | A kind of disintegrating machine method for real-time optimization control |
| CN105045099A (en) * | 2015-06-02 | 2015-11-11 | 遵义市立新机械有限责任公司 | Optimized control method for distributed crusher group |
| CN105251603A (en) * | 2015-11-18 | 2016-01-20 | 河南黎明重工科技股份有限公司 | Expert control system for European flour mill |
| CN106853405A (en) * | 2015-12-09 | 2017-06-16 | 朱森 | A kind of high efficiency ball mill control system |
| CN106944221A (en) * | 2017-05-18 | 2017-07-14 | 王利会 | A kind of Status of Grinding Equipments for Chinese medicine |
| CN112044578A (en) * | 2019-06-05 | 2020-12-08 | 西安瑞德宝尔智能科技有限公司 | Control method and controller of feeding machine |
| CN111468280A (en) * | 2020-04-24 | 2020-07-31 | 南京卓道环保科技有限公司 | Equipment management crushing station system |
| CN113231189A (en) * | 2021-06-28 | 2021-08-10 | 中国水利水电第九工程局有限公司 | Intelligent control method and device for feeding and crushing balanced production of gravel coarse crushing workshop |
| CN113570168A (en) * | 2021-09-22 | 2021-10-29 | 矿冶科技集团有限公司 | Material level correction method and device and electronic equipment |
| CN113570168B (en) * | 2021-09-22 | 2021-12-17 | 矿冶科技集团有限公司 | Material level correction method and device and electronic equipment |
| CN114345536A (en) * | 2022-01-05 | 2022-04-15 | 山东工大中能科技有限公司 | Detection control method, system and device for full ore feeding of crusher |
| CN114345536B (en) * | 2022-01-05 | 2023-11-14 | 山东工大中能科技有限公司 | Detection control method, system and device for full feeding of crusher |
| CN114832904A (en) * | 2022-04-19 | 2022-08-02 | 裴有卫 | Biological feed two-stage grinding device and grinding method |
| CN114768923A (en) * | 2022-05-11 | 2022-07-22 | 内蒙古大中矿业股份有限公司 | Automatic control device for constant power of cone crusher |
| CN119747070A (en) * | 2025-03-06 | 2025-04-04 | 福建南方路面机械股份有限公司 | A crusher feed amount intelligent control method, device and readable medium |
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Application publication date: 20110406 |