CN103268118A - Metallurgical production distributing process based on heavy-load linear motor control - Google Patents

Abstract

The invention provides a metallurgical production distributing process based on heavy-load linear motor control and relates to the field of a metallurgical production process. According to the process, a heavy-load linear motor is used for controlling a distributing trolley, the precise positioning of the distributing trolley is realized, and the automation of the distributing process is realized. The distributing process has the advantages that the occurrence of phenomena of ore leaking or no material in a material cabin caused by too much dust and too long belt passage by workers can be reduced, the harm of dust to the workers can also be greatly lowered, the equipment abrasion caused by ore impact on a lining plate of a non-material ore cabin and the loss caused by equipment idle running are avoided, the influence on the production caused by ore leaking can also be avoided, and the work efficiency of a crushing system is improved.

Description

A kind of metallurgical production distributing technique based on heavily loaded linear electric motors control

Technical field

The present invention relates to metallurgical production technology field, be specifically related to a kind of metallurgical production distributing technique based on heavily loaded linear electric motors control.

Background technology

In the metallurgical production distributing technique, the accurate control of the uniform distribution of feed bin and cloth trolley to reducing labor strength, reduces energy consumption and equipment loss and has great significance.

At present cloth is continued to use traditional manual distributing mode always, and the post workman observes carriage walking position and cloth state at operation room, according to the material level of feed bin one by one feed bin carry out cloth, and rule of thumb come to determine the cloth amount.There is following problem in this traditional manual distributing mode:

1, material level is observed inaccurate

Because the dolly cloth is uniformly, and the material of each feed bin consumption is inequality, causes the material level difference of each feed bin.Site environment is abominable, dust is bigger, adopts the visual inspection material level inaccurate.If post workman's responsibility is not strong, very easily cause liability accidents such as leak stopping and windrow.

2, dust problem

Dolly is in storage bin blanking process, because the impact of material raises up dust.Special in the season of drying, dust is very big, suffers from occupational illness when the post workman operates easily.The dust that fills the air in addition also can influence the operator and observe sight line, causes cloth inhomogeneous.

3, the dolly location is inaccurate

Because band conveyer corridor length is bigger, adds that dust is bigger, influences the post sight line, causes bigger positioning error easily, race ore deposit and feed bin do not have the material phenomenon and happen occasionally.

Summary of the invention

In order to solve that the bin-level that existing manual cloth exists is inaccurate, the truck location is inaccurate, cloth is inhomogeneous and the dust of work on the spot environment has the technical matters of injury to the post workman, the invention provides a kind of metallurgical production distributing technique based on heavily loaded linear electric motors control, realized the robotization of broken feed bin cloth.

The technical scheme that technical solution problem of the present invention is taked is as follows:

A kind of metallurgical production distributing technique based on heavily loaded linear electric motors control comprises the steps:

Step 1, employing fuzzy method are set up the control model of heavily loaded linear electric motors, and according to the control method of this control model foundation to startup, speed governing, location and the dead weight capacity of heavily loaded linear electric motors;

Step 2, utilize ultrasonic material level detection unit to detect the material level of ore charge in the feed bin, and send the material level data to the upper monitoring machine;

Step 3, upper monitoring machine send control command according to the material level data of receiving to controller, and controller sends steering order according to the described control method of step 1 to heavily loaded linear electric motors;

Step 4, heavily loaded linear electric motors are according to the steering order of controller, the truck that drive to carry full ore charge from the original position first feed opening to feed bin advance, controller is in conjunction with the position data of the truck of the position probe detection of laser range finder, control heavily loaded linear electric motors make truck precisely be positioned at first feed opening directly over, truck drops into ore charge in the feed bin by tremie pipe;

Step 5, heavily loaded linear electric motors drive truck to second feed opening of feed bin, the 3rd feed opening according to the distributing mode identical with step 4 ... last feed opening feeds intake;

Step 6, heavily loaded linear electric motors drive empty truck and return the original position from last feed opening position, and then finish whole distributing technique according to the steering order of controller.

The invention has the beneficial effects as follows: these technology utilization heavy duty linear electric motors are controlled the cloth trolley, realize the accurate location of cloth trolley, the robotization of cloth process; Not only can reduce race ore deposit or the feed bin that the post workman is oversize because of band conveyer corridor and dust causes too greatly and not have the generation of expecting phenomenon, can also reduce dust greatly to post workman's injury, the loss of avoiding the ore equipment attrition that impact causes to nothing material ore storage bin liner plate and equipment dry run to bring, also can avoid having improved the work efficiency of crushing system because running the ore deposit to the influence that production causes.

Description of drawings

Fig. 1 is the schematic diagram that the present invention is based on the metallurgical production distributing technique of heavily loaded linear electric motors control.

Fig. 2 is the schematic diagram of the heavily loaded linear electric motors control method among the present invention.

Fig. 3 is the flux linkage space schematic vector diagram of the heavily loaded linear electric motors among the present invention.

Fig. 4 is the structural representation of the magnetic linkage generator among the present invention.

Fig. 5 is the main program flow chart of the heavily loaded linear electric motors control method among the present invention.

Fig. 6 is the interruption subroutine process flow diagram of the heavily loaded linear electric motors control method among the present invention.

Embodiment

Below in conjunction with accompanying drawing the present invention is described in further details.

As shown in Figure 1, at material outlet a ultrasonic material level detection unit is installed, there is the material level display instrument at the scene.The 4-20mA standard signal that level-sensing device sends is sent to original drive system, pass to central station of floating dock by network, and the data display after will handling is sent to the post operation chamber by the remote data transmission system, and operating personnel can be observed the continuous material level situation in the post by screen.On the upper monitoring machine of workshop central station of floating dock, also can see the continuous material level situation.Under manual case, also can be post workman's on-site manual operation operating basis is provided simultaneously.

Adopt laser range finder to detect the position of truck, truck is accurately located, laser range finder is installed in the front portion of truck, with the reflector maintenance level that is installed on the truck, makes laser beam and truck movement locus on same axis.Utilize the control net, the material level signal of feed bin, the range finding positioning signal of truck are uploaded to host computer, realize centralized control.After system obtains accurate skip position signal, be processed into corresponding position in storehouse signal, and how much send steering order according to the material level of each position in storehouse, the automatic traveling of control truck is to corresponding feed bin blanking position, and the control cloth time, realizes automatic distributing.

Requirement according to actual conditions and the production technology at scene, the present invention works out control program, utilize the fuzzy method to set up the control model of heavily loaded linear electric motors, and according to this control model startup, speed governing, location and the dead weight capacity of heavily loaded linear electric motors are controlled, make the cloth trolley realize automatic distributing, optimize the cloth process.The control program design process of heavy duty linear electric motors is specific as follows:

As shown in Figure 2, the control principle of the heavily loaded linear electric motors among the present invention is: when the magnetic linkage that produces when secondary permanent magnet and elementary three phase windings of heavily loaded linear electric motors was definite value, the size of output electromagnetic push changed along with the variation of the angle δ between two magnetic linkages.Therefore, by effective control, when guaranteeing that elementary winding magnetic linkage and secondary permanent magnet magnetic linkage are constant, need only by changing the output electromagnetic push that magnetic linkage angle δ between the two just can control linear electric motors.The electromagnetic push value of feedback that system calculates in conjunction with the electromagnetic push equation according to variablees such as primary position, speed, magnetic linkages, after set-point calculating, existing departure was regulated again by following one-period, and the closed-loop control of phase finally reaches the stable control effect of linear electric motors so weekly.Each cycle makes the output effect control near expection progressively to the output of the voltage vector value of feedback based on electromagnetic push and the magnetic linkage of previous moment.

The input quantity of heavy duty Direct Thrust Force Control System of Linear Motor system is the three-phase voltage value, and output quantity only is reflected on the electromagnetic push, and detection limit is magnitude of voltage and the current value of elementary winding, and the course of work of control system is as follows:

1, the detection of voltage, current value

The motion of heavily loaded linear electric motors is controlled to three-phase primary windings output three-phase voltage amount in the control output end, and the test side is again to the voltage u of elementary three phase windings _a, u _b, u _c, current value i _a, i _bDetect;

2, carry out the alpha-beta conversion after the detection electric current and voltage value

Coordinate conversion process after in control procedure the voltage of elementary three phase windings, current value being detected (be example with the current equation) as follows is by the detected three-phase electricity flow valuve of current sensor i _a, i _b, i _cAfter 3/2 conversion, the current component i on two-phase rest frame alpha-beta _α, i _βEquation be:

$\left[\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right]=C_{3/2}\left[\begin{array}{c}{i}_A\\ i_B\\ i_C\end{array}\right]=\sqrt{\frac{2}{3}}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{i}_A\\ i_B\\ i_C\end{array}\right]---\left(1\right)$

Can get i according to formula (1) _α, i _βBe respectively:

$i_{\mathrm{\α}}=\frac{\sqrt{3}}{2}{i}_A---\left(2\right)$

$i_{\mathrm{\β}}=\frac{\sqrt{2}}{2}(i_A+i_B)---\left(3\right)$

3, carry out the d-q conversion after the detection electric current and voltage value

By the conversion relational expression between two-phase rest frame alpha-beta and the two-phase rotating coordinate system d-q

$\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\θ}& \sin \mathrm{\θ}\\ -\sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right]---\left(4\right)$

Current value component i that can be under the two-phase rotating coordinate system _d, i _qBe respectively:

$i_d=i_A(\frac{\sqrt{3}}{2}\cos \mathrm{\θ}+\frac{\sqrt{2}}{2}\sin \mathrm{\θ})+i_B\frac{\sqrt{2}}{2}\sin \mathrm{\θ}---\left(5\right)$

$i_q=i_A(\frac{\sqrt{2}}{2}\cos \mathrm{\θ}-\frac{\sqrt{3}}{2}\sin \mathrm{\θ})+i_B\frac{\sqrt{2}}{2}\cos \mathrm{\θ}---\left(6\right)$

4, velocity location estimation

Voltage and current detection value process speed, position estimator by elementary winding calculate current elementary (mover) and go up residing position and gait of march in the motion process at secondary (stator), these two values are as the value of feedback of speed and position, after comparing calculating with set-point, participate in determining next the electromagnetic push theoretical value that should export of linear electric motors constantly.

5, calculate magnetic linkage

Calculate the vector ψ of the elementary magnetic linkage of current heavily loaded linear electric motors by elementary winding voltage and current value _s, it and secondary permanent magnet magnetic linkage ψ _fBetween angle value δ also be the key factor that participates in the control electromagnetic push, simultaneously current magnetic linkage value also can be as the magnetic linkage value of feedback, compare calculating with given magnetic linkage value after, determine next value that should export of magnetic linkage constantly by the magnetic linkage generator.Obtain the electromagnetic push equation of heavily loaded linear electric motors according to the magnetic linkage equation, the electromagnetic push and the magnetic linkage that draw system by the electromagnetic push equation are proportional, the current value of elementary winding directly reflects the dead weight capacity of heavily loaded linear electric motors, and system regulates the electromagnetic push output valve of heavily loaded linear electric motors according to the testing result of the current value of elementary winding.

In each control cycle, along with the voltage that detects and the variation of current value, corresponding elementary magnetic linkage also changes accordingly, thereby the angle δ between elementary magnetic linkage and the secondary permanent magnetism magnetic linkage also changes accordingly.According to the electromagnetic push equation we as can be known, can keep when constant when elementary magnetic linkage and secondary permanent magnetism magnetic linkage, determine that the key of electromagnetic push is exactly the angle δ of these two magnetic linkages, therefore will change as long as angle δ changes electromagnetic push.

6, magnetic linkage takes place

Estimation to the Position And Velocity of elementary mover also is to calculate by voltage and the current value sampling of elementary winding, simultaneously these two variablees also are the feedback quantities of judging current output electromagnetic push, and the angle of they and elementary magnetic linkage and secondary magnetic interchain calculates current electromagnetic push feedback quantity jointly to the effect of following of input quantity.

As shown in Figure 3, it is the flux linkage space schematic vector diagram of heavily loaded linear electric motors, and in conjunction with the electric current and voltage value, the magnetic linkage equation that is given in the heavily loaded linear electric motors under the d-q coordinate system is:

u _sd=R _si _sd+pψ _sd-ωψ _sq （7）

u _sq=R _si _sq+pψ _sq+ωψ _sd （8）

In formula (7) and the formula (8)

ψ _sd=L _sdi _sd+ψ _f （9）

ψ _sq=L _sqi _sq （10）

As seen from Figure 3:

$\left\{\begin{array}{c}\sin \mathrm{\δ}=\frac{{\mathrm{\ψ}}_{\mathrm{sq}}}{{\mathrm{\ψ}}_s}\\ \cos \mathrm{\δ}=\frac{{\mathrm{\ψ}}_{\mathrm{sd}}}{{\mathrm{\ψ}}_s}\end{array}\right.---\left(11\right)$

So can extrapolate the vector of elementary magnetic linkage:

${\mathrm{\ψ}}_s=\sqrt{{(L_{\mathrm{sd}}{i}_{\mathrm{sd}}+{\mathrm{\ψ}}_f)}^2+{\left(L_{\mathrm{sq}}{i}_{\mathrm{sq}}\right)}^2}---\left(12\right)$

The instantaneous output expression formula of heavy duty linear electric motors:

$P_w=R_s{i}_{\mathrm{sd}}^2+R_s{i}_{\mathrm{sq}}^2+i_{\mathrm{sd}}p{\mathrm{\ψ}}_{\mathrm{sd}}+i_{\mathrm{sq}}p{\mathrm{\ψ}}_{\mathrm{sq}}+\mathrm{\ω}({\mathrm{\ψ}}_{\mathrm{sd}}{i}_{\mathrm{sq}}-{\mathrm{\ψ}}_{\mathrm{sq}}{i}_{\mathrm{sd}})---\left(13\right)$

By formula (13) elementary electromagnetic power P as can be known _eFor:

P _e=F _ev=ω(ψ _sdi _sq-ψ _sqi _sd) （14）

Gait of march and the corresponding angular velocity equation of heavy duty linear electric motors are respectively:

v=2τf （15）

ω=πv/τ （16）

The electromagnetic push expression formula of linear electric motors is:

$F_e=n_p\frac{\mathrm{\π}}{\mathrm{\τ}}[{\mathrm{\ψ}}_f{i}_{\mathrm{sq}}+(L_{\mathrm{sd}}-L_{\mathrm{sq}})i_{\mathrm{sd}}{i}_{\mathrm{sq}}]---\left(17\right)$

Wherein:

u _Sd, u _Sq---the component of voltage of elementary winding voltage on d, q axle

i _Sd, i _Sq---the current component of primary winding current on d, q axle

R _s---the equivalent resistance of elementary winding

L _Sd, L _Sq---the inductive component of elementary winding on d, q axle

ψ _Sd, ψ _Sq---the magnetic linkage component of elementary winding magnetic linkage on d, q axle

ω---equivalent angular velocity

V---elementary mover linear velocity

ψ _f---the magnetic linkage component of secondary permanent magnet

τ, f, p---be respectively motor pole span, frequency and differentiating operator

If adopt the detection mode of elementary winding magnetic linkage velocity estimation, system need detect voltage and the electric current of elementary winding earlier, estimates elementary actual position of advancing according to relational expression.At first analyze the voltage status equation of heavily loaded linear synchronous generator under the d-q coordinate system:

$\left[\begin{array}{c}{u}_{\mathrm{sd}}\\ u_{\mathrm{sq}}\end{array}\right]=\left[\begin{array}{cc}{R}_s+p{L}_{\mathrm{sd}}& -\mathrm{\ω}{L}_{\mathrm{sq}}\\ \mathrm{\ω}{L}_{\mathrm{sd}}& R_s+{\mathrm{pL}}_{\mathrm{sq}}\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{sd}}\\ i_{\mathrm{sq}}\end{array}\right]+\left[\begin{array}{c}0\\ \mathrm{\ω}{\mathrm{\ψ}}_f\end{array}\right]---\left(18\right)$

It is transformed under the alpha-beta coordinate system and can be expressed as:

$\left[\begin{array}{c}{u}_{\mathrm{s\α}}\\ u_{\mathrm{s\β}}\end{array}\right]=C_{\mathrm{dq}-\mathrm{\α\β}}\left[\begin{array}{c}{u}_{\mathrm{sd}}\\ u_{\mathrm{sq}}\end{array}\right]=C_{\mathrm{dq}-\mathrm{\α\β}}\left[\begin{array}{cc}{R}_s+{\mathrm{pL}}_{\mathrm{sd}}& -\mathrm{\ω}{L}_{\mathrm{sq}}\\ \mathrm{\ω}{L}_{\mathrm{sd}}& R_s+p{L}_{\mathrm{sq}}\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{sd}}\\ i_{\mathrm{sq}}\end{array}\right]$ $\left(19\right)$

$+C_{\mathrm{dq}-\mathrm{\α\β}}\left[\begin{array}{c}0\\ \mathrm{\ω}{\mathrm{\ψ}}_f\end{array}\right]=R_s\left[\begin{array}{c}{i}_{\mathrm{s\α}}\\ i_{\mathrm{s\β}}\end{array}\right]+p\left[\begin{array}{c}{\mathrm{\ψ}}_{\mathrm{s\α}}\\ {\mathrm{\ψ}}_{\mathrm{s\β}}\end{array}\right]$

Wherein:

C _{Dq-α β}---the d-qd-q coordinate is tied to the coordinate transform battle array of alpha-beta coordinate system

ψ _{S α}, ψ _{S β}---the magnetic linkage component under the alpha-beta coordinate system

Can get ψ by formula (19) _{S α}, ψ _{S β}The magnetic linkage equation be:

$\left[\begin{array}{c}{\mathrm{\ψ}}_{\mathrm{s\α}}\\ {\mathrm{\ψ}}_{\mathrm{s\β}}\end{array}\right]=\left[\begin{array}{cc}A1& A2\\ A3& A4\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{s\α}}\\ i_{\mathrm{s\β}}\end{array}\right]+{\mathrm{\ψ}}_f\left[\begin{array}{c}\cos \mathrm{\θ}\\ \sin \mathrm{\θ}\end{array}\right]$ $\left(20\right)$

$=L_{\mathrm{sq}}\left[\begin{array}{c}{i}_{\mathrm{s\α}}\\ i_{\mathrm{s\β}}\end{array}\right]+\{(L_{\mathrm{sd}}-L_{\mathrm{sq}})i_{\mathrm{sd}}+{\mathrm{\ψ}}_f\}\left[\begin{array}{c}\cos \mathrm{\θ}\\ \sin \mathrm{\θ}\end{array}\right]$

In the formula (20)

A1=L _sdcos ²θ+L _sqsin ²θ,

A2=-L _sdsinθcosθ+L _sqsinθcosθ,

A3=-L _sqsinθcosθ+L _sdsinθcosθ,

A4=L _sdsin ²θ+L _sqcos ²θ

Formula (20) can also be expressed as

ψ _s=L _sqi _s+ψ _f （21）

If supposition

${\widehat{\mathrm{\ψ}}}_f=\sqrt{{({\widehat{\mathrm{\ψ}}}_{\mathrm{s\α}}-L_{\mathrm{sq}}{i}_{\mathrm{s\α}})}^2+{({\widehat{\mathrm{\ψ}}}_{\mathrm{s\β}}-L_{\mathrm{sq}}{i}_{\mathrm{s\β}})}^2}---\left(22\right)$

$=(L_{\mathrm{sd}}-L_{\mathrm{sq}})i_{\mathrm{sd}}+{\mathrm{\ψ}}_f$

Then elementary flux linkage space vector can be got by the back electromotive force integration of elementary winding

Ψ _s=∫(u _s-R _si _s)dt+Ψ _s0 （23）

Primary voltage in the formula, primary current and elementary magnetic linkage are decomposed and can get based on α, β coordinate system respectively:

u _s=u _sα+ju _sβ （24）

i _s=i _sα+ji _sβ （25）

Ψ _s=Ψ _sα+jΨ _sβ （26）

So the magnetic linkage component under static two phase coordinate systems is expressed as respectively:

ψ _sα=∫(u _sα-R _si _sα)dt+ψ _sα0 （27）

ψ _sβ=∫(u _sβ-R _si _sβ)dt+ψ _sβ0 （28）

From formula (27) and formula (28) as can be seen, elementary magnetic linkage and elementary voltage and current exist integral relation, but can there be the problem of drift in integrator self in control procedure, this error for the control of heavily loaded linear electric motors be do not infer to, the precision of influence control greatly.For eliminating the problem that drift brings, so that the magnetic linkage that controller can adapt in the wider velocity range accurately estimates, the mode that adopts the error compensation type magnetic linkage to estimate, the form of specifically controlling is suc as formula (29), formula (30):

${\widehat{\mathrm{\ψ}}}_{\mathrm{s\α}}={\mathrm{\ψ}}_{\mathrm{s\α}}+\frac{{\mathrm{\ψ}}_{\mathrm{s\α}}^{*}-{\mathrm{\ψ}}_{\mathrm{s\α}}}{1+\mathrm{Ts}}$

$=\frac{T(u_{\mathrm{s\α}}-R_s{i}_{\mathrm{s\α}}){\mathrm{\ψ}}_{\mathrm{s\α}}^{*}}{1+\mathrm{Ts}}---\left(29\right)$

${\widehat{\mathrm{\ψ}}}_{\mathrm{s\β}}={\mathrm{\ψ}}_{\mathrm{s\β}}+\frac{{\mathrm{\ψ}}_{\mathrm{s\β}}^{*}-{\mathrm{\ψ}}_{\mathrm{s\β}}}{1+\mathrm{Ts}}$

$=\frac{T(u_{\mathrm{s\β}}-R_s{i}_{\mathrm{s\β}}){\mathrm{\ψ}}_{\mathrm{s\β}}^{*}}{1+\mathrm{Ts}}---\left(30\right)$

As shown in Figure 4, it is the structural drawing of magnetic linkage generator, the set-point of electromagnetic push is decided by the angle of theoretical value and elementary magnetic linkage and secondary magnetic linkage, be converted to relation between thrust and the primary current according to the electromagnetic push equation, and just magnetic linkage and primary current can be connected by top derivation, provide given magnetic linkage generator output valve.

Carrying out the trigonometric function that Transformation of Mathematical Model can obtain the primary position angle with reference to formula (27), formula (28), formula (29) is:

$\cos \widehat{\mathrm{\θ}}=\frac{{\widehat{\mathrm{\ψ}}}_{\mathrm{s\α}}-L_{\mathrm{sq}}{i}_{\mathrm{s\α}}}{{\mathrm{\ψ}}_f}---\left(31\right)$

$\sin \widehat{\mathrm{\θ}}=\frac{{\widehat{\mathrm{\ψ}}}_{\mathrm{s\β}}-L_{\mathrm{sq}}{i}_{\mathrm{s\β}}}{{\mathrm{\ψ}}_f}---\left(32\right)$

Again according to the space vector angle between d axle and the α axle and the relational expression of speed

θ=∫ωdt+θ ₀ （33）

The angular velocity that can derive elementary mover is:

$\mathrm{\ω}=\frac{\mathrm{d\θ}}{\mathrm{dt}}---\left(34\right)$

In the formula, θ ₀Be initial position angle.

The gait of march of elementary mover be system running speed by asking first order derivative estimation to obtain to position angle:

$v=\frac{\mathrm{\τ}}{\mathrm{\π}}\mathrm{\ω}=\frac{\mathrm{\τ}}{\mathrm{\π}}\·\frac{\mathrm{d\θ}}{\mathrm{dt}}---\left(35\right).$

As shown in Figure 5, the main program flow of the present invention's heavy duty linear electric motors control method is: system at first carries out the initialization of program, initialization comprises that system initialization, parameter initialization and initialization of variable (at first will carry out the parameter initialization setting, this comprised system clock register, house dog register, GPIO register, ADC register and EVA/EVB event manager module register and SCI and CAN communication register are carried out initialization), then rotor magnetic pole is carried out initialization.After system initialization is finished, judge the state of system and whether have fault, if system all normally then open system always interrupt, system begins to enter running status, then interrupt master routine and block PWM output if detect fault-signals such as supply voltage fault or short circuit this moment, and jump out in the exception handles that interrupt routine enters master routine, finish up to processing, turn back in the middle of the master routine again.

As shown in Figure 6; the control interruption subroutine flow process of the present invention's heavy duty linear electric motors control method is: have no progeny during system enters; close earlier and interrupt, keep the scene intact; check then and whether arrive setting-up time; if to enabling cap and interrupting; be less than with regard to in-position or speed servo; carrying out position and speed detects; detect present speed and location status respectively; and computing velocity output and position output valve, the magnetic linkage generator provides the magnetic linkage estimation simultaneously, carries out PWM and calculates; final PWM delivers to inverter, and motor is controlled.

Claims (2)

1. the metallurgical production distributing technique based on heavily loaded linear electric motors control is characterized in that this technology comprises the steps:

Step 1, employing fuzzy method are set up the control model of heavily loaded linear electric motors, and according to the control method of this control model foundation to startup, speed governing, location and the dead weight capacity of heavily loaded linear electric motors;

Step 2, utilize ultrasonic material level detection unit to detect the material level of ore charge in the feed bin, and send the material level data to the upper monitoring machine;

Step 3, upper monitoring machine send control command according to the material level data of receiving to controller, and controller sends steering order according to the described control method of step 1 to heavily loaded linear electric motors;

Step 4, heavily loaded linear electric motors are according to the steering order of controller, the truck that drive to carry full ore charge from the original position first feed opening to feed bin advance, controller is in conjunction with the position data of the truck of the position probe detection of laser range finder, control heavily loaded linear electric motors make truck precisely be positioned at first feed opening directly over, truck drops into ore charge in the feed bin by tremie pipe;

Step 5, heavily loaded linear electric motors drive truck to second feed opening of feed bin, the 3rd feed opening according to the distributing mode identical with step 4 ... last feed opening feeds intake;

Step 6, heavily loaded linear electric motors drive empty truck and return the original position from last feed opening position, and then finish whole distributing technique according to the steering order of controller.

2. a kind of metallurgical production distributing technique based on heavily loaded linear electric motors control as claimed in claim 1 is characterized in that described step 1 comprises the steps:

The detection of step 101, voltage and current value: the motion of heavily loaded linear electric motors is controlled to elementary three phase windings output three-phase voltage amount in the control output end, and the test side is to the voltage u of elementary three phase windings _a, u _b, u _cWith current value i _a, i _bDetect;

Step 102, voltage and current value after detecting are carried out the alpha-beta coordinate conversion: with the detected three-phase electricity flow valuve of current sensor i _a, i _b, i _cAfter 3/2 conversion, the current component i on two-phase rest frame alpha-beta _α, i _βEquation be:

$\left[\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right]=C_{3/2}\left[\begin{array}{c}{i}_a\\ i_b\\ i_c\end{array}\right]=\sqrt{\frac{2}{3}}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{i}_a\\ i_b\\ i_c\end{array}\right]---\left(1\right)$

Can get i according to formula (1) _α, i _βBe respectively:

$i_{\mathrm{\α}}=\frac{\sqrt{3}}{2}{i}_a---\left(2\right)$

$i_{\mathrm{\β}}=\frac{\sqrt{2}}{2}(i_a+i_b)---\left(3\right);$

Step 103, voltage and current value after detecting are carried out the d-q conversion: by the conversion relational expression (4) between two-phase rest frame alpha-beta and the two-phase rotating coordinate system d-q

$\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\θ}& \sin \mathrm{\θ}\\ -\sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right]$

Current value component i that can be under the two-phase rotating coordinate system _d, i _qBe respectively:

$i_d=i_a(\frac{\sqrt{3}}{2}\cos \mathrm{\θ}+\frac{\sqrt{2}}{2}\sin \mathrm{\θ})+i_b\frac{\sqrt{2}}{2}\sin \mathrm{\θ}---\left(5\right)$

$i_q=i_a(\frac{\sqrt{2}}{2}\cos \mathrm{\θ}-\frac{\sqrt{3}}{2}\sin \mathrm{\θ})+i_b\frac{\sqrt{2}}{2}\cos \mathrm{\θ}---\left(6\right)$

Step 104, speed and the position of heavily loaded linear electric motors are estimated: the voltage by elementary winding and current detection value through speed, position estimator calculate current elementary on secondary residing position and gait of march in the motion process, these two values are as the value of feedback of speed and position, after comparing calculating with set-point, as determining next factor of the electromagnetic push theoretical value that should export of heavily loaded linear electric motors constantly;

Step 105, calculate the magnetic linkage value: the vector that calculates the elementary magnetic linkage of current heavily loaded linear electric motors according to elementary winding voltage and current value, current magnetic linkage value is as the magnetic linkage value of feedback, after comparing calculating with given magnetic linkage value, obtain next value that should export of magnetic linkage constantly by the magnetic linkage generator;

Step 106, obtain the electromagnetic push equation of heavily loaded linear electric motors according to the magnetic linkage equation, the electromagnetic push and the magnetic linkage that draw system by the electromagnetic push equation are proportional, the current value of elementary winding directly reflects the dead weight capacity of heavily loaded linear electric motors, and system regulates the electromagnetic push output valve of heavily loaded linear electric motors according to the testing result of the current value of elementary winding.

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