CN106179625A - A kind of grinding chemical mechanical system to spindle motor fuzzy control - Google Patents
A kind of grinding chemical mechanical system to spindle motor fuzzy control Download PDFInfo
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- CN106179625A CN106179625A CN201610538139.0A CN201610538139A CN106179625A CN 106179625 A CN106179625 A CN 106179625A CN 201610538139 A CN201610538139 A CN 201610538139A CN 106179625 A CN106179625 A CN 106179625A
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- spindle motor
- cylinder
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- powder
- main controller
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C17/00—Disintegrating by tumbling mills, i.e. mills having a container charged with the material to be disintegrated with or without special disintegrating members such as pebbles or balls
- B02C17/10—Disintegrating by tumbling mills, i.e. mills having a container charged with the material to be disintegrated with or without special disintegrating members such as pebbles or balls with one or a few disintegrating members arranged in the container
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C17/00—Disintegrating by tumbling mills, i.e. mills having a container charged with the material to be disintegrated with or without special disintegrating members such as pebbles or balls
- B02C17/16—Mills in which a fixed container houses stirring means tumbling the charge
- B02C17/163—Stirring means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C17/00—Disintegrating by tumbling mills, i.e. mills having a container charged with the material to be disintegrated with or without special disintegrating members such as pebbles or balls
- B02C17/18—Details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C17/00—Disintegrating by tumbling mills, i.e. mills having a container charged with the material to be disintegrated with or without special disintegrating members such as pebbles or balls
- B02C17/18—Details
- B02C17/1815—Cooling or heating devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C17/00—Disintegrating by tumbling mills, i.e. mills having a container charged with the material to be disintegrated with or without special disintegrating members such as pebbles or balls
- B02C17/18—Details
- B02C17/183—Feeding or discharging devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C17/00—Disintegrating by tumbling mills, i.e. mills having a container charged with the material to be disintegrated with or without special disintegrating members such as pebbles or balls
- B02C17/18—Details
- B02C17/20—Disintegrating members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C17/00—Disintegrating by tumbling mills, i.e. mills having a container charged with the material to be disintegrated with or without special disintegrating members such as pebbles or balls
- B02C17/18—Details
- B02C17/24—Driving mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C25/00—Control arrangements specially adapted for crushing or disintegrating
Abstract
A kind of grinding chemical mechanical system to spindle motor fuzzy control, it is characterized in that: include means of abrasion and control system two parts, means of abrasion includes raw material bucket, batcher, collector, feeding belt, grinder, bead separator, mill separator, pulverized-coal collector, powder bucket, blower fan, valve and pipeline, grinder has charging aperture, discharging opening, cylinder, base bearing, auxiliary bearing, lodicule, bead, main shaft, cylinder swings belt wheel and pipe shaft gear, main shaft rotates under the drive of spindle motor, cylinder swing belt wheel motor drive periodical carry out reciprocating rotation at an angle.
Description
Technical field
The invention belongs to grinding machinery, particularly to a kind of grinding chemical mechanical system to spindle motor fuzzy control.
Background technology
At present, the technical force of production of the grinding machinery of chemicals is weak, production line automation degree is low, manual operation
Many, operation is disperseed, falling behind of poor working environment produces in way, the problem following points that production process exists.
Lapping efficiency is low, and abrasive product is single, it is impossible to adjust machinery the most in good time；Automatically control degree
Low, operator's manual operations inefficiency；In chemicals process of lapping, chemicals can produce heat, needs to shut down cooling,
Can not lower the temperature in real time；In production process, regulation and the monitoring of some parameter rely primarily on experienced operator and monitor so that
Production information and process data can not be accurate, it is impossible to adjust in time.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of grinding chemical mechanical system to spindle motor fuzzy control,
It can accelerate to grind the efficiency produced, it is provided that the finished product powder of variable grain size, it is achieved that grinds the automatization produced.
To achieve these goals, the technical scheme is that a kind of grinding chemical industry to spindle motor fuzzy control
Mechanical system, including means of abrasion and control system two parts,
Means of abrasion include raw material bucket, batcher, collector, feeding belt, grinder, bead separator, mill separator,
Pulverized-coal collector, powder bucket, blower fan, valve and pipeline, raw material enters collector by batcher, with other powder set warp
Crossing feeding belt and enter grinder, grinder forms preliminary working powder after being ground by material, enters bead separator by pipeline, will
Bead separates and returns in grinder, and the preliminary working powder after separation enters mill separator by pipeline, by oversize
Preliminary working powder separates and passes through pipeline and enters collector, and the preliminary working powder through mill separator is formed and just separates powder,
It is directly entered powder bucket by pipeline and forms final powder, or enter pulverized-coal collector by pipeline, will just separate further
Powder screen form slection becomes final powder, and the powder of off size regulation is returned collector；
Wherein, grinder has charging aperture, discharging opening, cylinder, base bearing, auxiliary bearing, lodicule, bead, main shaft, cylinder pendulum
Movable belt pulley and pipe shaft gear, raw material enters inner barrel by the charging aperture of cylinder, the outside sheathed auxiliary bearing of charging aperture, cylinder
Interior lodicule is fixing with main shaft to be connected, and main shaft is hollow tubular structure, and forms multiple through hole on surface, and shape is stretched out in main shaft one end
Becoming discharging opening, base bearing is set on main shaft, and pipe shaft gear is set on main shaft, pipe shaft gear and the driving tooth on spindle motor
Wheel engagement, main shaft rotates under the drive of spindle motor, and cylinder swing belt wheel is fixing with cylinder to be connected, and cylinder swings belt wheel to be passed through
Belt is connected with outside motor, and cylinder swings the belt wheel the entering at an angle of drive periodical at motor
Row reciprocating rotation；
Control system includes sensor, main controller, execution device, display device and communication device, and sensor will be measured
The signal obtained passes to main controller, and main controller controls to perform device and moves accordingly after being processed by the signal obtained
Making, and corresponding parameter being shown, on the display apparatus, communication device is connected with main controller, communication device is indoor wireless route
Device, and then realize unmanned remote monitoring；
Main controller has fuzzy control device, and fuzzy control device includes difference engine, differentiator, defuzzification interface, output
Amount modular converter, inference machine, knowledge base, the measurement load voltage of the spindle motor recorded is filtered by load estimation module by band is logical
Ripple device is supplied to difference engine, and the setting load voltage that operator are inputted by difference engine subtracts each other with measurement load voltage and obtains error
Value E, error value E obtains error rate dE/dt, error value E and error rate dE/dt through differentiator and is supplied to obfuscation
Interface, carries out obfuscation assignment to error value E and error rate dE/dt, respectively obtains obfuscation error amount ME and obfuscation
Error change value MEC, obfuscation error amount ME and obfuscation error change value MEC be supplied to inference machine, and inference machine is according to knowledge
Input and output degree of membership vector value and logical reasoning in storehouse are regular to obfuscation error amount ME and obfuscation error change value
MEC carries out fuzzy reasoning and obtains fuzzy control quantity MU, and fuzzy control quantity MU is converted to actual controlled quentity controlled variable by output modular converter
U, controlling power supply according to actual controlled quentity controlled variable U provides voltage to spindle motor；
Fuzzy control device is programmable logic controller (PLC), adopts between programmable logic controller (PLC) and the processor of main controller
Communicate with RS232.
Beneficial effects of the present invention:
1. effective processing of pair powder process, and different powders can be processed according to demand；
2. increase the processing dynamics to raw material, thus improve crush efficiency；
3. achieve the control to barrel temperature；
4. achieve the grinding that becomes more meticulous of granule；
5. Automated condtrol, decrease artificial setting revises the inaccurate of waste in the efficiency brought and precision repeatedly
Really；
6. position situation is expected in monitoring in real time, prevents from expecting the situation appearance that position is too high or too low.
Accompanying drawing explanation
Fig. 1 is the means of abrasion structural representation of the present invention；
Fig. 2 is the grinding machine structure schematic diagram of the present invention；
Fig. 3 a is the dispersion impeller physical dimension schematic diagram one of the present invention；
Fig. 3 b is the dispersion impeller physical dimension schematic diagram two of the present invention
Fig. 4 is the driving schematic diagram of the spindle motor of the present invention；
The schematic diagram of the fuzzy controller of Fig. 5 present invention；
Detailed description of the invention
The present invention is further illustrated with embodiment below in conjunction with the accompanying drawings.
Embodiments of the invention are with reference to shown in Fig. 1-5.
A kind of grinding chemical mechanical system to spindle motor fuzzy control, it includes means of abrasion and control system two
Point, means of abrasion includes raw material bucket, batcher, collector, feeding belt, grinder, bead separator, mill separator, fine powder
Separator, powder bucket, blower fan, valve and pipeline, as it can be seen, raw material enters collector by batcher, with other powder
Gathering and enter grinder through feeding belt, grinder forms preliminary working powder after being ground by material, enters bead by pipeline and divides
From device, bead being separated and return in grinder, the preliminary working powder after separation enters mill separator by pipeline, by size
Excessive preliminary working powder separates and passes through pipeline and enters collector, and the preliminary working powder through mill separator forms just separation
Powder, is directly entered powder bucket by pipeline and forms final powder, or enter pulverized-coal collector by pipeline, further will just
Separate Powder screen form slection and become final powder, and the powder of off size regulation is returned collector.
Arranged by the multi cycle of above-mentioned multiple pipelines, it is achieved that the effective processing to powder process, and can be according to demand
Process different powders.
Wherein, grinder has charging aperture, discharging opening, cylinder, base bearing, auxiliary bearing, lodicule, bead, main shaft, cylinder pendulum
Movable belt pulley and pipe shaft gear, raw material enters inner barrel by the charging aperture of cylinder, the outside sheathed auxiliary bearing of charging aperture, cylinder
Interior lodicule is fixing with main shaft to be connected, and main shaft is hollow tubular structure, and forms multiple through hole on surface, and shape is stretched out in main shaft one end
Becoming discharging opening, base bearing is set on main shaft, and pipe shaft gear is set on main shaft, pipe shaft gear and the driving tooth on spindle motor
Wheel engagement, main shaft rotates under the drive of spindle motor, and cylinder swing belt wheel is fixing with cylinder to be connected, and cylinder swings belt wheel to be passed through
Belt is connected with outside motor, and cylinder swings the belt wheel the entering at an angle of drive periodical at motor
Row reciprocating rotation.
In said structure, main shaft and cylinder rotate simultaneously, the most single main shaft or the technical side of the rotation of cylinder
Case, increases the processing dynamics to raw material, thus improves crush efficiency.
Control system includes sensor, main controller, execution device, display device and communication device, and sensor will be measured
The signal obtained passes to main controller, and main controller controls to perform device and moves accordingly after being processed by the signal obtained
Making, and corresponding parameter being shown, on the display apparatus, communication device is connected with main controller, communication device is indoor wireless route
Device, and then realize unmanned remote monitoring.
Further, the granularity of raw material is more than 450 microns, and the granularity through the powder of mill separator separation is 50
Below Wei meter, the granularity through the powder of pulverized-coal collector separation is less than 1 micron.
Further, pulverized-coal collector separation parameter scalable.
Further, bead is artificial bead or steel ball.
Made by the setting of above-mentioned separator that this milling apparatus is suitable to paint, to grind pigment, dyestuff, medicine or glue outstanding
The grinding manufacture of the chemical materials that the multiple variable grain degree such as agent requires.
Further, cylinder has double-layered bucket wall, and double-layered bucket wall forms containing cavity, accommodates cooling water, the outer layer of cylinder
On bucket wall, cold water inlet, wastewater outlet are set.
By arranging the cylinder of double-layered bucket wall and entering water and outlet accordingly, it is achieved that the control to barrel temperature.
Further, main shaft is in the alternately forward and reverse rotation driving periodical of spindle motor, and forward and reverse rotation
Alternate cycle and cylinder to swing the reciprocation period of belt wheel identical.
Further, main shaft is contrary with the direction of motion that cylinder swings belt wheel.
By the setting of the above-mentioned direction of motion, further increase crush efficiency.
Further, the lodicule on main shaft in grinder body is multiple dispersion impeller, pearl during main axis, in body
Body carries out dispersion to the slurry in press-in cylinder under the drive of dispersion impeller and grinds, and dispersion impeller has 3, each dispersion impeller has
5 with the central shaft through hole evenly distributed for the center of circle, dispersion impeller diameter 100cm, through-hole diameter is 20cm, and the thickness of dispersion impeller is
9cm, major axis diameter is 25cm, and closing on the distance between dispersion impeller is 39cm.
Setting by above-mentioned multiple 5 hole dispersion impellers, it is achieved that fine to granule under the conditions of the spindle motor slow-speed of revolution
Change and grind.
Further, bead is divided into big bead and little bead, a diameter of 60mm of big bead, a diameter of 20mm of little bead.
By the setting of size bead, that can effectively fill the space between bead, beneficially fine powder grinds life
Become.
Wherein sensor include tachogenerator, speed probe, weight sensor, temperature sensor, pressure transducer,
Vibrating sensor, audio sensor, load estimation module, tachogenerator is arranged on feeding belt to measure the speed of feeding belt
Degree, weight sensor is arranged on raw material bucket and powder bucket with the powder weight after measuring raw material and processing, and temperature sensor is pacified
The wastewater outlet being contained in grinder sentences measurement water temperature, and pressure transducer is arranged on the discharge outlet of grinder to measure discharging opening
Pressure, vibrating sensor and audio sensor be arranged on the pedestal of grinder with measure grinder mechanical oscillation signal and
Noise signal, load estimation module is arranged between spindle motor and power supply the electric current to measure motor and the load of voltage, turns
Speed sensor is arranged on main shaft to measure the rotating speed of main shaft；
Tachogenerator, weight sensor, temperature sensor, pressure transducer, vibrating sensor, audio sensor pass through
Sampling A/D chip inputs a signal into main controller, and load estimation module inputs a signal into main controller through band filter；
Further, judged the material position in cylinder by mechanical oscillation signal and noise signal, specifically comprise the following steps that
Step 1, is filtered mechanical oscillation signal and noise signal, removes garbage signal, and obtains mechanical vibration frequency
Rate function fzWith noise frequency function fc；
Step 2, calculates sound level,
In formula, L is sound level intensities, and t is the time, and e is the truth of a matter of natural logrithm function, and lg is logarithmic function, and F () is cylinder
Impulsive force function between interior bead and material, He() is tube structure receptance function, and a is sound level weight coefficient, σradCylinder is tied
The sound radiation coefficient of structure, ηsFor the internal damping coefficient of cylinder, d is cylinder average thickness, and Re represents and takes real；
Step 3, draws the curve of sound level intensities L, and extracts envelope signal, forms envelope curve and carries out envelope signal
Lower sample process, carries out data compression；
Data after compression are carried out low-frequency reconfiguration, obtain low-frequency reconfiguration signal by step 4；
Step 5, by above-mentioned low-frequency reconfiguration signal by the three layers of BP neutral net trained, obtains with measuring in advance
The low-frequency reconfiguration signal being respectively at 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90% material position carry out
Comparison, the Realtime Level information of output grinder.
The too low ball mill that will result in material position is operated in scarce material state, and mass output rate is low, and the abrasion of bead and cylinder is more serious,
Material position is too high, and to will also result in mass output rate low, the problem that even there may come a time when to cause putty.Can be monitored in real time by said method
Material position situation in cylinder, and then prevent from expecting the situation generation that position is too low or too high.
Perform device and include pulley electric motor, motor, spindle motor, water supply pump, pneumatic pump, clutch, gear
Case, pulley electric motor is connected with the belt pulley of feeding belt, and main controller is connected with pulley electric motor is provided it by driving means
Tach signal is to regulate the feeding speed of feeding belt, and main controller is connected with motor by impulse generator, impulse generator
Thering is provided the pulse signal in cycle to motor and then control its service cycle and the anglec of rotation, main controller passes through drive spindle
Motor connects and provides it supply of electric power and then the load capacity of regulation spindle motor driving signal to regulate spindle motor,
Main controller is connected with control valve on water supply pump to control the supply pressure of cold water, and then realizes the effective cooling to cylinder, master control
Device is connected with pneumatic pump to control the flow of powder.
Spindle motor is connected with gear-box by clutch, the output shaft of gear-box has gear thus with on grinder
Pipe shaft gear engages each other, and main controller is connected with clutch thus makes when loading excessive spindle motor disconnect with gear-box, main
Control device is connected with gear-box and is adjusted rotating speed and turning to.
Further, pulse signal is generated by sinusoidal signal modulation, and have in each cycle two positive and negative
The identical pulse of pulsewidth, main controller is by the size of regulation pulse width and then controls the motor anglec of rotation, by adjusting
Joint pulse signal cycle regulation motor service cycle, the half of pulse signal cycle is turned to by main controller as to gear-box
The cycle of regulation.
Display device includes that liquid crystal display and warning indicator, display device liquid crystal display are connected with main controller, aobvious
Showing the data of each sensor acquisition and the state of each actuator, warning indicator is connected with main controller, for going out
Alarm is sent to remind operator during existing fault；
Further, fault is pipeline generation putty, feeding belt stall, and clutch separates, wastewater outlet water temperature
Too high, mechanical oscillation signal and noise signal are abnormal；
Main controller has fuzzy control device, and fuzzy control device includes difference engine, differentiator, defuzzification interface, output
Amount modular converter, inference machine, knowledge base, the measurement load voltage of the spindle motor recorded is filtered by load estimation module by band is logical
Ripple device is supplied to difference engine, and the setting load voltage that operator are inputted by difference engine subtracts each other with measurement load voltage and obtains error
Value E, error value E obtains error rate dE/dt, error value E and error rate dE/dt through differentiator and is supplied to obfuscation
Interface, carries out obfuscation assignment to error value E and error rate dE/dt, respectively obtains obfuscation error amount ME and obfuscation
Error change value MEC, obfuscation error amount ME and obfuscation error change value MEC be supplied to inference machine, and inference machine is according to knowledge
Input and output degree of membership vector value and logical reasoning in storehouse are regular to obfuscation error amount ME and obfuscation error change value
MEC carries out fuzzy reasoning and obtains fuzzy control quantity MU, and fuzzy control quantity MU is converted to actual controlled quentity controlled variable by output modular converter
U, controlling power supply according to actual controlled quentity controlled variable U provides voltage to spindle motor.
Fuzzy control device is programmable logic controller (PLC), adopts between programmable logic controller (PLC) and the processor of main controller
Communicate with RS232.
Wherein, the process of obfuscation assignment particularly as follows: according to operator linguistic variable choose parameter PL, PB, PM,
PS, ZO, NS, NM, NB, BL represent respectively positive super large, honest, center, the least, zero, negative little, negative in, negative super large big, negative, corresponding
Fuzzy set-n ,-n+1 ..., 0 ..., n-1, n}, n=4；
Determine quantizing factor, ke=n/e, wherein, keFor error amount quantizing factor, e is the maximum error value measured, kec=
N/ec, kecFor error rate quantizing factor, ec is the maximum error rate of change measured,
If m≤keE≤m+1, m ＜ n, then obfuscation error amount ME is the k through rounding upeE；
If keE ＜-n, then obfuscation error amount ME is-n；
If keE ＞ n, then obfuscation error amount ME is n；
If m≤kecE≤m+1, m ＜ n, then obfuscation error change value MEC are the k through rounding upecE；
If kecE ＜-n, then obfuscation error change value MEC are-n；
If kecE ＞ n, then obfuscation error change value MEC are n.
Further, knowledge base includes data base and rule base,
Depositing the fuzzy membership vector value of input, output variable in data base, this vector value is input, output process
The set of corresponding value after the discretizations such as corresponding domain, if corresponding domain continuous print, then can be right as membership function
In the fuzzy variable of input, membership function is stored in data base, provides data to inference machine in fuzzy reasoning relation.
In rule base, storage has fuzzy rule, fuzzy rule to be the experiences of operator's long term accumulation and combine expertise
On the basis of formed, the vocabulary of the logical relation being correlated with express, such as if-then, else, end, and, or etc..
Can the most effectively be realized the rapid setting of motor load by fuzzy control, decrease repeatedly repairing of artificial setting
Change in the efficiency brought the inaccurate of waste and precision.
The above embodiment only have expressed one embodiment of the present invention, but can not therefore be interpreted as this
The restriction of invention scope.It should be pointed out that, for the person of ordinary skill of the art, in the premise without departing from present inventive concept
Under, it is also possible to making some deformation and improvement, these broadly fall into protection scope of the present invention.
Claims (10)
1. the grinding chemical mechanical system to spindle motor fuzzy control, it is characterised in that: include means of abrasion and control
System two parts,
Means of abrasion includes raw material bucket, batcher, collector, feeding belt, grinder, bead separator, mill separator, fine powder
Separator, powder bucket, blower fan, valve and pipeline, raw material enters collector by batcher, and the powder set with other is through sending
Material strip enters grinder, and grinder forms preliminary working powder after being ground by material, enters bead separator by pipeline, by bead
Separating and return in grinder, the preliminary working powder after separation enters mill separator by pipeline, first adds oversize
Work powder separates and passes through pipeline and enters collector, and the preliminary working powder through mill separator is formed and just separates powder, passes through
Pipeline is directly entered powder bucket and forms final powder, or enters pulverized-coal collector by pipeline, will just separate powder further
Screening forms final powder, and the powder of off size regulation is returned collector；
Wherein, grinder has charging aperture, discharging opening, cylinder, base bearing, auxiliary bearing, lodicule, bead, main shaft, cylinder swing band
Wheel and pipe shaft gear, raw material enters inner barrel by the charging aperture of cylinder, and the outside sheathed auxiliary bearing of charging aperture, in cylinder
Lodicule is fixing with main shaft to be connected, and main shaft is hollow tubular structure, and forms multiple through hole on surface, and main shaft one end is stretched out and formed out
Material mouth, base bearing is set on main shaft, and pipe shaft gear is set on main shaft, and pipe shaft gear is nibbled with the driving gear on spindle motor
Closing, main shaft rotates under the drive of spindle motor, and cylinder swing belt wheel is fixing with cylinder to be connected, and cylinder swings belt wheel and passes through belt
Is connected with outside motor, cylinder swing belt wheel motor drive periodical carry out at an angle past
Multiple rotation；
Control system includes sensor, main controller, execution device, display device and communication device, and measurement is obtained by sensor
Signal pass to main controller, main controller the signal obtained is processed after control perform device carry out corresponding action, and
Corresponding parameter being shown, on the display apparatus, communication device is connected with main controller, and communication device is indoor wireless router, enters
And realize unmanned remote monitoring；
Main controller has fuzzy control device, and fuzzy control device includes that difference engine, differentiator, defuzzification interface, output turn
Die change block, inference machine, knowledge base, the measurement load voltage of the spindle motor recorded is passed through band filter by load estimation module
Being supplied to difference engine, the setting load voltage that operator are inputted by difference engine subtracts each other with measurement load voltage and obtains error value E,
Error value E obtains error rate dE/dt, error value E and error rate dE/dt through differentiator and is supplied to obfuscation and connects
Mouthful, error value E and error rate dE/dt are carried out obfuscation assignment, respectively obtains obfuscation error amount ME and obfuscation misses
Differing from changing value MEC, obfuscation error amount ME and obfuscation error change value MEC are supplied to inference machine, and inference machine is according to knowledge base
In input and output degree of membership vector value and logical reasoning rule to obfuscation error amount ME and obfuscation error change value MEC
Carrying out fuzzy reasoning and obtain fuzzy control quantity MU, fuzzy control quantity MU is converted to actual controlled quentity controlled variable U, root by output modular converter
Border controlled quentity controlled variable U controls power supply factually provides voltage to spindle motor；
Fuzzy control device is programmable logic controller (PLC), uses between programmable logic controller (PLC) and the processor of main controller
RS232 communicates.
A kind of grinding chemical mechanical system to spindle motor fuzzy control the most according to claim 1, it is characterised in that:
The process of obfuscation assignment particularly as follows: according to operator linguistic variable choose parameter PL, PB, PM, PS, ZO, NS, NM,
NB, BL represent respectively positive super large, honest, center, the least, zero, negative little, negative in, negative super large big, negative, corresponding fuzzy set-n ,-
N+1 ..., 0 ..., n-1, n}, n=4,
Determine quantizing factor, ke=n/e, wherein, keFor error amount quantizing factor, e is the maximum error value measured, kec=n/ec,
kecFor error rate quantizing factor, ec is the maximum error rate of change measured,
If m≤keE≤m+1, m ＜ n, then obfuscation error amount ME is the k through rounding upeE；
If keE ＜-n, then obfuscation error amount ME is-n；
If keE ＞ n, then obfuscation error amount ME is n；
If m≤kecE≤m+1, m ＜ n, then obfuscation error change value MEC are the k through rounding upecE；
If kecE ＜-n, then obfuscation error change value MEC are-n；
If kecE ＞ n, then obfuscation error change value MEC are n；
Knowledge base includes data base and rule base,
Depositing the fuzzy membership vector value of input, output variable in data base, this vector value is that input, output are through correspondence
The set of corresponding value after the discretizations such as domain, if corresponding domain continuous print, then can be as membership function, for input
Fuzzy variable, membership function is stored in data base, in fuzzy reasoning relation to inference machine provide data.
A kind of grinding chemical mechanical system to spindle motor fuzzy control the most according to claim 1, it is characterised in that:
Main shaft is in the alternately forward and reverse rotation driving periodical of spindle motor, and the alternate cycle of forward and reverse rotation swings with cylinder
The reciprocation period of belt wheel is identical, and the direction of motion that main shaft swings belt wheel with cylinder is contrary.
A kind of grinding chemical mechanical system to spindle motor fuzzy control the most according to claim 1, it is characterised in that:
The lodicule on main shaft in grinder body is multiple dispersion impeller, and during main axis, the bead in body is under the drive of dispersion impeller
Slurry in press-in cylinder being carried out dispersion grind, dispersion impeller has 3, each dispersion impeller has 5 with central shaft as the center of circle
Evenly distributed through hole, dispersion impeller diameter 100cm, through-hole diameter is 20cm, and the thickness of dispersion impeller is 9cm, and major axis diameter is
25cm, closing on the distance between dispersion impeller is 39cm, and bead is divided into big bead and little bead, a diameter of 60mm of big bead, globule
The a diameter of 20mm of body.
A kind of grinding chemical mechanical system to spindle motor fuzzy control the most according to claim 1, it is characterised in that:
Sensor include tachogenerator, speed probe, weight sensor, temperature sensor, pressure transducer, vibrating sensor,
Audio sensor, load estimation module, tachogenerator is arranged on feeding belt to measure the speed of feeding belt, weight sensor
Being arranged on raw material bucket and powder bucket with the powder weight after measuring raw material and processing, temperature sensor is arranged on the useless of grinder
Water out sentences measurement water temperature, and pressure transducer is arranged on the discharge outlet of grinder to measure discharging mouth pressure, vibrating sensing
Device and audio sensor are arranged on the pedestal of grinder the mechanical oscillation signal to measure grinder and noise signal, load
Estimation module is arranged between spindle motor and power supply the electric current to measure motor and the load of voltage, and speed probe is arranged on
To measure the rotating speed of main shaft on main shaft；
Tachogenerator, weight sensor, temperature sensor, pressure transducer, vibrating sensor, audio sensor are by sampling
Chip inputs a signal into main controller, and load estimation module inputs a signal into main controller through band filter.
The grinding chemical machinery of a kind of feeding speed fuzzy control the most according to claim 5, it is characterised in that: pass through machine
Tool vibration signal and noise signal judge the material position in cylinder, specifically comprise the following steps that
Step 1, is filtered mechanical oscillation signal and noise signal, removes garbage signal, and obtains mechanical oscillation frequencies letter
Number fzWith noise frequency function fc；
Step 2, calculates sound level,
In formula, L is sound level intensities, and t is the time, and e is the truth of a matter of natural logrithm function, and lg is logarithmic function, and F () is cylinder inner integument
Impulsive force function between body and material, He() is tube structure receptance function, and a is sound level weight coefficient, σradTube structure
Sound radiation coefficient, ηsFor the internal damping coefficient of cylinder, d is cylinder average thickness, and Re represents and takes real；
Step 3, draws the curve of sound level intensities L, and extracts envelope signal, takes out under forming envelope curve and carrying out envelope signal
Sample processes, and carries out data compression；
Data after compression are carried out low-frequency reconfiguration, obtain low-frequency reconfiguration signal by step 4；
Step 5, by above-mentioned low-frequency reconfiguration signal by the three layers of BP neutral net trained, with dividing that measurement in advance obtains
The other places low-frequency reconfiguration signal in 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90% material position is compared,
The Realtime Level information of output grinder.
A kind of grinding chemical mechanical system to spindle motor fuzzy control the most according to claim 6, it is characterised in that:
Perform device and include pulley electric motor, motor, spindle motor, water supply pump, pneumatic pump, clutch, gear-box, belt pulley
Motor is connected with the belt pulley of feeding belt, main controller by driving means be connected with pulley electric motor provide it tach signal with
The feeding speed of regulation feeding belt, main controller is connected with motor by impulse generator, and impulse generator is to motor
The pulse signal in offer cycle and then control its service cycle and the anglec of rotation, main controller is connected also by drive spindle motor
Providing it supply of electric power and then the load capacity of regulation spindle motor driving signal to regulate spindle motor, main controller is with cold
On water pump, control valve connects to control the supply pressure of cold water, and then realizes the effective cooling to cylinder, main controller and air driven pump
Pu connects to control the flow of powder.
A kind of grinding chemical mechanical system to spindle motor fuzzy control the most according to claim 7, it is characterised in that:
Spindle motor is connected with gear-box by clutch, the output shaft of gear-box has gear thus with the pipe shaft gear on grinder
Engaging each other, main controller is connected with clutch thus makes when loading excessive spindle motor disconnect with gear-box, main controller and tooth
Rotating speed is adjusted by roller box connection with turning to.
A kind of grinding chemical mechanical system to spindle motor fuzzy control the most according to claim 8, it is characterised in that:
Pulse signal is generated by sinusoidal signal modulation, and has two identical pulses of positive and negative pulsewidth in each cycle, main
Control device is by regulating the size of pulse width and then controlling the motor anglec of rotation, by regulation pulse signal cycle regulation step
Enter the motor rotation cycle, main controller using the half of pulse signal cycle as the cycle that gear-box is turned to regulation.
A kind of grinding chemical mechanical system to spindle motor fuzzy control the most according to claim 1, its feature exists
In: display device includes liquid crystal display and warning indicator, and display device liquid crystal display is connected with main controller, shows each
The data of sensor acquisition and the state of each actuator, warning indicator is connected with main controller, for breaking down
Time send alarm to remind operator, fault is pipeline generation putty, and feeding belt stall, clutch separates, and waste water goes out
Mouth water temperature over-high, mechanical oscillation signal and noise signal are abnormal.
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| CN110640740A (en) * | 2018-11-07 | 2020-01-03 | 宁波赛朗科技有限公司 | Industrial robot platform with two-stage speed reduction gear |
| CN110666800A (en) * | 2018-11-07 | 2020-01-10 | 宁波赛朗科技有限公司 | Industrial robot with multithreading strategy demonstrator |
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| CN106179625B (en) | 2018-05-08 |
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