CN103962199A - Double-toothed roller crusher and double-toothed roller crusher phase synchronous tracking control method - Google Patents
Double-toothed roller crusher and double-toothed roller crusher phase synchronous tracking control method Download PDFInfo
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- CN103962199A CN103962199A CN201310036786.8A CN201310036786A CN103962199A CN 103962199 A CN103962199 A CN 103962199A CN 201310036786 A CN201310036786 A CN 201310036786A CN 103962199 A CN103962199 A CN 103962199A
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Abstract
The invention discloses a double-toothed roller crusher and a double-toothed roller crusher phase synchronous tracking control method. The double-toothed roller crusher comprises a first crushing toothed roller driven by a tracking control motor, a second crushing toothed roller driven by a target tracking motor, a detection device and a control device. The detection device is used for detecting rotation rates and phase positions of the first crushing toothed roller and the second crushing toothed roller. The control device is connected to the detection device and is used for realizing synchronization of two toothed roller phase positions by adjustment of the first crushing toothed roller and the second crushing toothed roller based on variable structure control. Based on the variable structure control, through adjustment of the first crushing toothed roller and the second crushing toothed roller, synchronization of two toothed roller phase positions is realized so that synchronous tracking of a rotation rate and a phase position of a complex controlled object is further realized.
Description
Technical field
The present invention relates to disintegrating machine technical field, particularly a kind of double-geared roller crusher, double-geared roller crusher Phase synchronization tracking and controlling method.
Background technology
At present, the disintegrating machine of synchromesh gear forced synchronism has shearing, bending crushing force is strong, the ratio of reduction large, discharge screen size is even, cross the advantages such as powder amount is little, pressure discharge, production disposal ability is strong, crushing and screening energy consumption is little, thereby, can adapt to greatest extent production requirement, be a kind of more satisfactory Crushing & Screening Machineries.
But, rotating speed and phase place all the disintegrating machine of forced synchronism in the situation that cannot being equipped with tramp iron separator between crusberscreen and feeding device, run into can not be broken material (as the tooth of the scraper bowl of charging power shovel) time, if it is taken out from disintegrating machine, need to take following mode: first the relevant device of feed apron conveyor, disintegrating machine, discharge revolution belt conveyor is shut down; Then, by disintegrating machine reversion, then iron block is taken out from the material of feed bin.Particularly resemble this jumbo in movable Crushing screening station, what have a large amount of bulks treats that broken material is pending, and being difficult to take out from the material in dark feed bin can not broken bulk materials.
Thus, find out, for synchromesh gear all for the disintegrating machine of forced synchronism, because being subject to synchromesh gear, double teeth roller retrains, quick retreating mechanism cannot be installed, therefore, run into cannot be broken material be the thing of a suitable trouble, the serious production efficiency that affects, this is also the most worried problem in production scene.
In prior art, also there is the nonsynchronous crusher system of a kind of rotating speed and phase place, this disintegrating machine because of between double teeth roller without forced synchronism gear restricts, running into can not broken material time, can configure quick retreating mechanism, therefore, can promptly will be able to not get rid of from the discharge gate expanding by quick retreating mechanism by broken material, resume production rapidly, this is the sharpest edges of this crusberscreen.
But, the problem that this disintegrating machine exists is, because although spring bearing and the breaker roll equal-specification model of the drive motors of two discaling rolls of this crusberscreen, fluid coupling, reductor, rotor are all identical, but because drive characteristic and the damping characteristic of the transmission system of manufacturing two discaling rolls causing of alignment error there are differences certainly, and the rigidity of disintegrating machine casing is very large, be fixedly mounted in such frame with bolt, two discaling rolls are almost equivalent to independent operation separately; Variant being inevitable of phase place of two rotating in opposite directions rotating speeds of discaling roll and corresponding teeth.Due to the existence of discaling roll running phase difference, and also have and continue the trend that accumulation expands, like this by double teeth roller rotating speed and phase place all the cloth tooth gauge rule under synchronous condition destroyed, it is all poor than these technical performances of the crusberscreen of gear forced synchronism to cause the uniformity of the production disposal ability of double-gear-roller crushing sieving machine, ability that the ratio of reduction is broken bulk, marker size and cross the characteristic such as bearing capacity and wearability, energy consumption of powder amount, crushing teeth.
Summary of the invention
In view of this, the present invention proposes a kind of double-geared roller crusher, double-geared roller crusher Phase synchronization tracking and controlling method, to solve the existing double-geared roller crusher with general locking, retreating mechanism can not be installed, run into can not be broken material time be not easy to take out, and be difficult for synchronously for double-geared roller crusher phase place and rotating speed that retreating mechanism can be installed, affect the problem of crushing efficiency.
First aspect, the invention discloses a kind of double-geared roller crusher, comprises by motor-driven the first crushing toothed roller of tracking control, by motor-driven the second crushing toothed roller of tracking target, checkout gear, and control device; Described checkout gear is for detection of rotating speed and the phase place of described the first crushing toothed roller and described the second crushing toothed roller; Described control device is connected with described checkout gear, for based on becoming structure control, realizes the synchronous of two discaling roll phase places by adjusting the rotating speed of described the first crushing toothed roller and described the second crushing toothed roller.
Further, in described double-geared roller crusher, described control device comprises the control signal input module, change structure synovial membrane control module, the multiple disturbance input module of system, the control signal output module that are linked in sequence; And, be connected in the feedback control module between described control signal output module and described change structure synovial membrane control module.
Further, in described double-geared roller crusher, described control device also comprises: FEEDFORWARD CONTROL module;
Described FEEDFORWARD CONTROL module is connected between described control signal input module and described change structure synovial membrane control module.
Further, in described double-geared roller crusher, described change structure synovial membrane control module is determined based on following mode: according to the nonlinear characteristic of described tracking control motor, build state equation and the phase plane topological structure of described tracking control motor autonomous system, and select the hyperbola of saddle point and the helix topological structure of focus, as described change structure synovial membrane controller.
Further, in described double-geared roller crusher, described change structure synovial membrane control module comprises the control module and the switch unit that are connected, described control module and described switch unit are for the motion guidance to of described double-geared roller crusher is flowed to shape, and the motion of described double-geared roller crusher on described stream shape is progressive stable.
Further, in described double-geared roller crusher, the system output that described feedback control module detects for the last time step of foundation and rotating speed and the phase calculation margin of error of input, and the described margin of error of foundation is determined the adjustment amount of the current time rotating speed that flows to described change structure synovial membrane control module.
Further, in described double-geared roller crusher, described checkout gear comprises speed probe and phase detector; Described speed probe is arranged on the slow-speed shaft overhanging end of reductor; Described phase detector is contained in the inferior high speed shaft of reductor.
Double-geared roller crusher of the present invention can be carried out the synchronous tracking control of phase place on two that retreating mechanism the is installed independent double-geared roller crushers of controlling, according to multiple nonlinear characteristic and the multiple uncertain factor thereof of disintegrating machine, based on becoming structure control, realize the synchronous of two discaling roll phase places by adjusting the rotating speed of described the first crushing toothed roller and described the second crushing toothed roller, and then realize complex control object rotating speed and Phase synchronization are followed the tracks of.
Second aspect, the invention also discloses a kind of double-geared roller crusher Phase synchronization tracking and controlling method, be used for controlling double-geared roller crusher, described double-geared roller crusher comprises by motor-driven the first crushing toothed roller of tracking control, by motor-driven the second crushing toothed roller of tracking target; Described method comprises the steps: kinetics equation construction step, according to the nonlinear characteristic of the motor driving moment of described tracking control motor and described tracking target motor and transmission system damping, builds the kinetics equation of described double-geared roller crusher; Synchronizing step, according to described kinetics equation, detect rotating speed and the phase place of described the first crushing toothed roller and described the second discaling roll, based on becoming structure control, realize the synchronous of two discaling roll phase places by adjusting the rotating speed of described the first crushing toothed roller and described the second crushing toothed roller.
Further, in above-mentioned double-geared roller crusher Phase synchronization tracking and controlling method, in described kinetics equation construction step, described kinetics equation comprises hyperbola stability structure equation and helix stability structure equation.
Further, in above-mentioned double-geared roller crusher Phase synchronization tracking and controlling method, described synchronizing step further comprises: according to described kinetics equation, determine the feedback function and the switching function that become structure control; Determine inside and outside disturbance parameter according to described tracking control motor suffered inside and outside disturbance situation in predetermined interval, described inside and outside disturbance parameter is input in described tracking control motor; Calculate the adjustment amount of described tracking control motor at predetermined interval, and described adjustment amount is transferred to described tracking control motor; Calculate the state variation parameter in predetermined interval of described tracking target motor, and described state variation parameter is transferred to described tracking control motor.
Double-geared roller crusher Phase synchronization tracking and controlling method of the present invention can be carried out the synchronous tracking control of phase place on two that retreating mechanism the is installed independent double-geared roller crushers of controlling, according to multiple nonlinear characteristic and the multiple uncertain factor thereof of disintegrating machine, based on becoming structure control, realize the synchronous of two discaling roll phase places by adjusting the rotating speed of described the first crushing toothed roller and described the second crushing toothed roller, and then realize complex control object rotating speed and Phase synchronization are followed the tracks of.
Brief description of the drawings
The accompanying drawing that forms a part of the present invention is used to provide a further understanding of the present invention, and schematic description and description of the present invention is used for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the structure physics structural representation of double-geared roller crusher embodiment;
Fig. 2 is the structured flowchart of double-geared roller crusher embodiment;
Fig. 3 is in double-geared roller crusher embodiment, the structured flowchart of control device;
Fig. 4 is in the control device of double-geared roller crusher embodiment, becomes the structured flowchart of structure synovial membrane control module;
Fig. 5 is the flow chart of steps of double-geared roller crusher Phase synchronization tracking and controlling method embodiment;
Fig. 6 is in double-geared roller crusher Phase synchronization tracking and controlling method, the control principle schematic diagram of synchronizing step.
Detailed description of the invention
It should be noted that, in the situation that not conflicting, the feature in embodiment and embodiment in the present invention can combine mutually.Describe below with reference to the accompanying drawings and in conjunction with the embodiments the present invention in detail.
With reference to Fig. 1, Fig. 1 is the structure physics structural representation of double-geared roller crusher embodiment of the present invention.This double-geared roller crusher embodiment comprises two motor 100, two shaft couplings 200, two discaling roll axles 300, two crushing teeths 400, disintegrating machine casing 500 and gear-boxes 600.
With reference to Fig. 2, Fig. 2 is the structured flowchart of a kind of double-geared roller crusher embodiment.This embodiment double-geared roller crusher comprises: by following the tracks of the first crushing toothed roller 210 of controlling motor 110 and driving, the second crushing toothed roller 220, checkout gear 300, retreating mechanism (not shown) and the control device 400 being driven by tracking target motor 120.And checkout gear 300 is for detection of rotating speed and the phase place of the first crushing toothed roller 210 and the second crushing toothed roller 220; Control device 400 is connected with checkout gear 300, for based on becoming structure control, realizes the synchronous of two discaling roll phase places by adjusting the rotating speed of the first crushing toothed roller 210 and the second crushing toothed roller 220.
The present embodiment double-geared roller crusher can be carried out the synchronous tracking control of phase place on two that retreating mechanism the is installed independent Double-gear disintegrating machines of controlling, according to multiple nonlinear characteristic and the multiple uncertain factor thereof of disintegrating machine, based on becoming structure control, realize the synchronous of two discaling roll phase places by adjusting the rotating speed of described the first crushing toothed roller and described the second crushing toothed roller, and then realize complex control object rotating speed and Phase synchronization are followed the tracks of.
Below, by more embodiment, control device 400 is further detailed.
With reference to Fig. 3, Fig. 3 is in double-geared roller crusher embodiment, the structured flowchart of control device 400.
Wherein, control device 400 comprises the control signal input module 06, change structure synovial membrane control module 03, the multiple disturbance input module 04 of system, the control signal output module 05 that are linked in sequence; And, be connected in control signal output module 05 and become the feedback control module 01 between structure synovial membrane control module 03.Control device also comprises FEEDFORWARD CONTROL module 02; FEEDFORWARD CONTROL module 02 is connected in control signal input module 06 and becomes between structure synovial membrane control module 03.Becoming structure synovial membrane control module 03 determines based on following mode: according to following the tracks of the nonlinear characteristic of controlling motor, build and follow the tracks of state equation and the phase plane topological structure of controlling motor autonomous system, and select the hyperbola of saddle point and the helix topological structure of focus, as becoming structure synovial membrane controller 03.
With reference to Fig. 4, Fig. 4 is the structured flowchart that becomes structure synovial membrane control module 03, this change structure synovial membrane control module 03 comprises the control module 31 and the switch unit 32 that are connected, control module 31 and switch unit 32 are for the motion guidance to of double-geared roller crusher is flowed to shape, and the motion of double-geared roller crusher on stream shape is progressive stable.
Further, feedback control module 01 is exported and rotating speed and the phase calculation margin of error inputted for the system detecting according to last time step, and determines according to the margin of error adjustment amount that flows to the current time rotating speed that becomes structure synovial membrane control module 03.
In general, checkout gear generally comprises speed probe and phase detector; Speed probe is arranged on the slow-speed shaft overhanging end of reductor; Described phase detector is contained in the inferior high speed shaft of reductor.That is to say, the layout of sensor adopts to separate according to the running status of double-geared roller crusher and installs, and speed probe is arranged on the slow-speed shaft overhanging end of reductor, and phase detector is arranged on the inferior high speed shaft of reductor; And the precision of control time step-length and sensor is optimized to processing.
Second aspect, the present invention also provides a kind of double-geared roller crusher Phase synchronization tracking and controlling method.With reference to Fig. 5, the method is used for controlling double-geared roller crusher, and double-geared roller crusher comprises by motor-driven the first crushing toothed roller of tracking control, by motor-driven the second crushing toothed roller of tracking target and retreating mechanism; Method comprises the steps: kinetics equation construction step 410, controls motor and the motor driving moment of tracking target motor and the nonlinear characteristic of transmission system damping according to following the tracks of, and builds the kinetics equation of double-geared roller crusher; Synchronizing step 420, according to kinetics equation, detects rotating speed and the phase place of the first crushing toothed roller and the second discaling roll, based on becoming structure control, realizes the synchronous of two discaling roll phase places by adjusting the rotating speed of the first crushing toothed roller and the second crushing toothed roller.
The present embodiment double-geared roller crusher Phase synchronization tracking and controlling method can be carried out the synchronous tracking control of phase place on two that retreating mechanism the is installed independent double-geared roller crushers of controlling, according to multiple nonlinear characteristic and the multiple uncertain factor thereof of disintegrating machine, based on becoming structure control, realize the synchronous of two discaling roll phase places by adjusting the rotating speed of the first crushing toothed roller and the second crushing toothed roller, and then realize complex control object rotating speed and Phase synchronization are followed the tracks of.Wherein, in kinetics equation construction step, kinetics equation comprises hyperbola stability structure equation and helix stability structure equation.
Further, above-mentioned synchronizing step 420 further comprises: according to kinetics equation, determine the feedback function and the switching function that become structure control; Determine inside and outside disturbance parameter according to following the tracks of control motor suffered inside and outside disturbance situation in predetermined interval, inside and outside disturbance parameter is input to follow the tracks of and controls in motor; Calculate to follow the tracks of and control the adjustment amount of motor at predetermined interval, and adjustment amount is transferred to and follows the tracks of control motor; Calculate the state variation parameter in predetermined interval of tracking target motor, and state variation parameter is transferred to and follows the tracks of control motor.
Below, double-geared roller crusher Phase synchronization tracking and controlling method of the present invention is described in further detail.
(1) most importantly double-geared roller crusher Phase synchronization tracking and controlling method of the present invention is studied how according to the kinetics equation of double-geared roller crusher system, build the change structure FEEDBACK CONTROL function and the switching function that become structure control state equation, and their impacts on control system dynamic quality;
(2) secondly double-geared roller crusher Phase synchronization tracking and controlling method of the present invention is will study how to build feedforward controller structure, and they are on revving up and the impact of Phase Tracking process dynamics quality;
Double-geared roller crusher Phase synchronization tracking and controlling method of the present invention again next be how will study to arrange rotating speed and phase detector according to the Phase Tracking control in disintegrating machine operation process, to reach the coupling of step size and control accuracy
Particularly, double-geared roller crusher Phase synchronization tracking and controlling method of the present invention comprises following several aspect:
(1) double-geared roller crusher Phase synchronization is followed the tracks of and is controlled
1. the dynamic characteristic analysis of crusher system
Set up system double-geared roller crusher kinetics equation, determine the nonlinear characteristic of motor driving moment and transmission system damping, instantaneous running status and the steady operational status of analytical system, the particularly response to primary condition about Phase Tracking synchronous operation, and the Phase Plain Analyzing Approach of stability.
2. build the FEEDBACK CONTROL function and the switching function that become structure control
What the Phase synchronization of double-geared roller crusher was followed the tracks of control employing is to become as shown in Figure 6 structure composite FEEDFORWARD CONTROL principle, it is by following feedback passage 1, feedforward path 2, change structure controller 3, inside and outside disturbance input 4, and the closed-loop control system that control object 5 forms realizes; Wherein most importantly design the change structure controller based on following feedback.The main task that becomes structure control is design of feedback control function u (x) and switching function s (x); Its FEEDBACK CONTROL function u (x) becomes structure, i.e. u
+and u (x)
-(x), they have determined to arrive from initial disturbance state the arrival condition of diverter surface s (x)=0
or
and the dynamic quality of progressive stable operation; And when switching function s (x)=0, the running status of system or by u
+(x) be converted to u
-(x), or by u
-(x) be converted to u
+(x); The size of original state that switching function and diverter surface s (x)=0 are selected while having determined to arrive switching hyperplane and overshoot, has namely determined stability and the dynamic quality of sliding mode in diverter surface;
3. compounding feedforward control channel and following feedback passage
Compounding feedforward control is mainly to introduce input signal from feedforward path; When the main drive system of tracking target is subject to external interference, its motion state is a time-varying parameter, and this time-varying characteristics are to pass through β
2s drawing-in system, and only introduce permanent input as general control system, tracking system is also only followed the tracks of by stable constant value, and its result can not be satisfactory, introduces (β
1+ β
2s) input, can accelerate tracking velocity, can realize even error free tracking, and this is error free on a kind of theory significance, is practically impossible; Undetermined coefficient in FEEDFORWARD CONTROL amount is determined the approximate permanence condition of input by output; Introducing FEEDFORWARD CONTROL does not affect stability and the robustness of original system.
1, following feedback passage is introduced output to tracking adjustment amount corresponding to input difference, and the impact such as uncertain factor, non-linear factor in natural system is included in output quantity, and therefore feedback channel can be used for eliminating the impact that various interference cause; (the φ introducing in feedback channel
1+ φ
2s) only show follow the tracks of control be also with tracking target time change, especially φ
2s has given prominence to the importance that adjustment of rotational speed is followed the tracks of Phase synchronization; The coefficient φ that it is undetermined
1, φ
2, d can determine according to becoming structure arrival condition.
(2) the corresponding constraint of the installation of sensor and breaker roll tooth
The hardware configuration of double-geared roller crusher Phase synchronization tracking and controlling method of the present invention is substantially the same with common closed-loop control system; Its particular point is installation and the corresponding constraint of breaker roll tooth of sensor;
In application double-geared roller crusher Phase synchronization tracking and controlling method time, sensor adopts to separate and installs, and speed probe is arranged on the slow-speed shaft overhanging end of reductor, and phase detector is arranged on the inferior high speed shaft of reductor; Because the running speed of double-geared roller crusher is lower, must be optimized the precision of control time step-length and sensor, shorten control time step-length, improve the accuracy of detection of speed probe, reduce the accuracy of detection of phase detector;
The installation of discaling roll rotary drum that native system adopts, shaft coupling, the each axle of reductor all will be subject to synchronization and the phase locked constraint of tooth to tooth, i.e. the installation of above-mentioned each device location all will be to ensure that the roller tooth on double teeth roller should be benchmark relatively.
To sum up, double-geared roller crusher Phase synchronization tracking and controlling method tool of the present invention has the following advantages
(1) designed change structure controller can be directed to system on super face s (x)=0, and the inside and outside motion control state of super face all has global stability and good dynamic quality.
(2) the sliding mode of variable structure control system has complete adaptivity to the perturbation of system, has robustness completely; In system, there are multiple uncertain factor, multiple non-linear factor and describe the complexity of expression formula, these internal system factors, variable structure control system is all considered as them to disturb, and this is because the change structure control of structure makes such perturbation not make a difference completely to sliding mode; Here it is, and change structure control is subject to the basic reason that people pay attention to.
(3) can solve complicated problem; Phase synchronization tracking problem is a quite complicated control procedure, has occurred that phase difference will realize the synchronous of phase place by adjusting rotating speed, so rotating speed synchronous and adjust just more important; Synchronous and the adjustment of rotating speed is controlled and is comprised that again starting is controlled and synchronization is followed the tracks of control; Complicated control problem provides for becoming structure control the ample scope for abilities playing a role like this.
(4) the sliding mode on conversion surface is smooth in theory, but in fact because system exists motional inertia, is superimposed with again a self-vibration in smooth mode, has occurred shake; Stable owing to arriving in conversion surface run duration before, dynamic motion quality is good, while namely arriving conversion surface, the speed of system has reduced inertia and has reduced, this reduce and to choose transfer function and conversion surface is relevant, the size in its unstable hyperbola region is vital to restriction shake.
It should be noted that, the principle of double-geared roller crusher of the present invention, double-geared roller crusher Phase synchronization tracking and controlling method is similar, relevant part can before and after mutually reference, the present invention does not repeat them here.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any amendment of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. a double-geared roller crusher, comprising:
By following the tracks of the first crushing toothed roller (210) of controlling motor (110) and driving, the second crushing toothed roller (220), the checkout gear (300) that are driven by tracking target motor (120), retreating mechanism and control device (400);
It is characterized in that,
Described checkout gear (300) is for detection of rotating speed and the phase place of described the first crushing toothed roller (210) and described the second crushing toothed roller (220);
Described control device (400) is connected with described checkout gear (300), for based on becoming structure control, by adjust described the first crushing toothed roller (210) and described the second crushing toothed roller (220) rotating speed realize two discaling roll phase places synchronously.
2. double-geared roller crusher according to claim 1, is characterized in that, described control device comprises:
The control signal input module (06), change structure synovial membrane control module (03), the multiple disturbance input module of system (04), the control signal output module (05) that are linked in sequence; And,
Be connected in the feedback control module (01) between described control signal output module (05) and described change structure synovial membrane control module (03).
3. double-geared roller crusher according to claim 2, is characterized in that, described control device also comprises:
FEEDFORWARD CONTROL module (02);
Described FEEDFORWARD CONTROL module (02) is connected between described control signal input module (06) and described change structure synovial membrane control module (03).
4. double-geared roller crusher according to claim 3, is characterized in that,
Described change structure synovial membrane control module (03) is determined based on following mode:
According to the nonlinear characteristic of described tracking control motor, build state equation and the phase plane topological structure of described tracking control motor autonomous system, and select the hyperbola of saddle point and the helix topological structure of focus, as described change structure synovial membrane controller (03).
5. double-geared roller crusher according to claim 3, is characterized in that,
Described change structure synovial membrane control module (03) comprises the control module (31) and the switch unit (32) that are connected, described control module (31) and described switch unit (32) are for the motion guidance to of described double-geared roller crusher is flowed to shape, and the motion of described double-geared roller crusher on described stream shape is progressive stable.
6. double-geared roller crusher according to claim 2, is characterized in that,
Described feedback control module (01) is exported and rotating speed and the phase calculation margin of error inputted for the system detecting according to last time step, and determines the adjustment amount of the current time rotating speed that flows to described change structure synovial membrane control module (03) according to the described margin of error.
7. according to the double-geared roller crusher described in any one in claim 1 to 6, it is characterized in that,
Described checkout gear comprises speed probe and phase detector;
Described speed probe is arranged on the slow-speed shaft overhanging end of reductor;
Described phase detector is contained in the inferior high speed shaft of reductor.
8. a double-geared roller crusher Phase synchronization tracking and controlling method, be used for controlling double-geared roller crusher, described double-geared roller crusher comprises by motor-driven the first crushing toothed roller of tracking control, by motor-driven the second crushing toothed roller of tracking target and retreating mechanism;
It is characterized in that, described method comprises the steps:
Kinetics equation construction step, according to the nonlinear characteristic of the motor driving moment of described tracking control motor and described tracking target motor and transmission system damping, builds the kinetics equation of described double-geared roller crusher;
Synchronizing step, according to described kinetics equation, detect rotating speed and the phase place of described the first crushing toothed roller and described the second discaling roll, based on becoming structure control, realize the synchronous of two discaling roll phase places by adjusting the rotating speed of described the first crushing toothed roller and described the second crushing toothed roller.
9. double-geared roller crusher Phase synchronization tracking and controlling method according to claim 8, is characterized in that, in described kinetics equation construction step, described kinetics equation comprises hyperbola stability structure equation and helix stability structure equation.
10. double-geared roller crusher Phase synchronization tracking and controlling method as claimed in claim 9, is characterized in that, described synchronizing step further comprises:
According to described kinetics equation, determine the feedback function and the switching function that become structure control;
Determine inside and outside disturbance parameter according to described tracking control motor suffered inside and outside disturbance situation in predetermined interval, described inside and outside disturbance parameter is input in described tracking control motor;
Calculate the adjustment amount of described tracking control motor at predetermined interval, and described adjustment amount is transferred to described tracking control motor;
Calculate the state variation parameter in predetermined interval of described tracking target motor, and described state variation parameter is transferred to described tracking control motor.
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| CN110653047A (en) * | 2019-11-05 | 2020-01-07 | 攀钢集团西昌钢钒有限公司 | Coke cutter protection method and device |
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