CN106364924B - Constant-flow automatic material taking control method based on bucket wheel current - Google Patents
Constant-flow automatic material taking control method based on bucket wheel current Download PDFInfo
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- CN106364924B CN106364924B CN201611046453.3A CN201611046453A CN106364924B CN 106364924 B CN106364924 B CN 106364924B CN 201611046453 A CN201611046453 A CN 201611046453A CN 106364924 B CN106364924 B CN 106364924B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/28—Piling or unpiling loose materials in bulk, e.g. coal, manure, timber, not otherwise provided for
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D7/00—Control of flow
- G05D7/06—Control of flow characterised by the use of electric means
- G05D7/0605—Control of flow characterised by the use of electric means specially adapted for solid materials
Abstract
The invention discloses a constant-flow automatic material taking control method based on bucket wheel current, which comprises the following steps of: initial speed of rotation, initial speed v at initial take-off0＝cosφ×0.2×νmaxThe rising speed v ═ vPID×0.8+cosφ×0.2×vmax(ii) a Limiting to half speed after rotating and increasing the speed, waiting for the bucket body to cut into the material, wherein v is 1/2vmax(ii) a Removing half-speed limit, starting speed-up and PID regulation control, and increasing the flow value converted by bucket wheel current to 30-40% of the set value, wherein v is vPID×0.8+cosφ×0.2×vmax(ii) a The revolution is decelerated, when reaching the edge deceleration angle, the revolution is reduced to half speed, and v is 1/2vmaxThe method comprises the steps of rotating and stopping, enabling a cart to walk for △ L when the cart reaches a set angle of an edge, and repeating the steps after the cantilever is switched back.
Description
Technical field
The present invention relates to a kind of automatic material taking methods of bucket-wheel stacker reclaimer device more particularly to a kind of based on bucket wheel electric current
Constant flow rate automatic material taking control method.
Background technique
Cantilever swinging type stacker-reclaimer, mass flow calculation method f=ρ × h × △ L × ν (wherein, f- mass flow,
ρ-material density, h- material thickness, △ L- cart traveling step-length, ν-suspending arm rotary linear velocity), domestic cantilever Clothoid type heap
For reclaimer material extracting operation substantially also by manual operation, control is manually operated is the linear velocity ν of suspending arm rotary, labor intensity
Greatly, feeding mass flow discrepancy is even.
The overwhelming majority for being able to achieve automatic material taking operation is opened loop control, based on cos φ or angle of revolution point-by-point approach
Mode of speed regulation can be said to be more advanced at home.Linear velocity ν=r of suspending arm rotary × cos φ (wherein, r- suspending arm rotary radius,
φ-cantilever center line and track centerline angle, referring to attached drawing: angle of revolution takes relative angle absolute value, with orbit centre
It is 0 °, Derivative limit on the left or on the right is at 90 °), so f=ρ × h × △ L × r × cos φ.
Since bucket wheel is inclination installation, average flow rate is different when the both direction feeding of left and right；There are also material variety,
The influence for taking the different factors of thickness of feed layer or material local collapse etc., is easy feeding rareness or feeding excessively causes overcurrent to be stopped
?.Linear velocity ν=r of suspending arm rotary × cos φ cannot be distinguished from treating various actual conditions complicated and changeable.In this approach
Automatic material taking it is difficult to ensure that the instantaneous flow and setting value deviation of material within the allowable range.
Cantilever Clothoid type stacker-reclaimer because of arm length, inertia is big and material variety, to take thickness of feed layer etc. different because
The influence of element causes closed-loop control difficult to realize.41 meters of arm length in attached drawing, so big inertia, can not also use machine at present
The SERVO CONTROL of device people is realized.
Summary of the invention
The purpose of the present invention is to solve the above-mentioned problems, provides a kind of constant flow rate based on bucket wheel electric current and takes automatically
Expect control method, closed-loop control is carried out with the linear velocity V to suspending arm rotary, improves the precision and efficiency of feeding.
To achieve the goals above, the present invention adopts the following technical scheme: a kind of constant flow rate based on bucket wheel electric current from
Dynamic feeding control method, is used for cantilever swinging type stacker-reclaimer, which comprises the steps of:
S1, revolution starting velocity, when originating feeding, starting velocity v0φ × 0.2=cos × νmax, raising speed v=v laterPID
×0.8+cosφ×0.2×vmax；
It is restricted to Half Speed after S2, revolution raising speed, waits bucket body to cut material, prevents overshoot, at this time ν=1/2Vmax；
S3, removal Half Speed limitation, start speed-raising and PID adjusts control, and the mass flow value of bucket wheel electric current conversion, which is raised to, to be set
After the 30-40% of definite value, it can be effectively prevent PID overshoot, at this time v=VPID×0.8+cosφ×0.2×Vmax；
S4, revolution are slowed down, and when reaching edge deceleration angle, Half Speed is reduced in revolution, at this time v=1/2vmax；
S5, revolution stop, and reach edge set angle, and revolution stops, at this time v=0；
One S6, large vehicle walking step-length △ L；
Step S1-S6 is repeated after S7, suspending arm rotary commutation；
Wherein, φ is the angle of cantilever center line and track centerline, and △ L is cart traveling step-length, vPIDFor PID output
Value, vmaxFor the maximum value of PID output valve, mass flow=ax-bx2, x is the difference of bucket wheel electric current and no-load current, and a and b are
Coefficient, Kp is 0.01-0.6, Ki 0.001-0.06, Kd 0.01-0.2 in PID control.
Further, it further comprises the steps of:
Processing after S8, overload, the setting value that overloads 40% after 4-5 seconds do not reduce, with regard to reduction of speed to 0；
It less than just being eliminated after the 30-40% of setting value, then is adjusted the speed since 0, does not make delay during overload and pause.
Further, in step S4, deceleration angle in edge is 2.8-3.2 degree,
Further, in step S4, deceleration angle in edge is 3 degree.
Compared with prior art, the invention has the following beneficial effects: based on cos φ or angle of revolution point-by-point approach
It is several using the closed loop control method of invention if there is large vehicle walking encoder and walking speed-regulating device in the opened loop control of speed regulation
The expense of increase equipment is not needed, so that it may realize the automation of feeding, and average flow rate of feeding or so gyratory directions
It is essentially identical, and can solve the problem of being easy overload when taking top layer material or local collapse or corner material or even burying bucket.
Detailed description of the invention
Fig. 1 is cantilever swinging type stacker-reclaimer structure chart.
Fig. 2 is material extracting operation schematic diagram.
Fig. 3 is automatic material taking control sequential figure.
Fig. 4 is bucket wheel electric current and tonnage corresponding relationship.
Specific embodiment
Referring to Fig. 1 to Fig. 3, a kind of constant flow rate automatic material taking control method based on bucket wheel electric current is used for suspending arm rotary
Formula stacker-reclaimer, includes the following steps:
S1, when originating feeding, if since 0 PID adjust the speed, the free time of bucket wheel can mostly several seconds, can be superimposed back
The influence value of gyration cos φ.When originating feeding, starting velocity v0φ × 0.2=cos × νmax, raising speed v=v laterPID×
0.8+cosφ×0.2×vmax, see in Fig. 3 2. -3..
It is restricted to Half Speed after S2, revolution raising speed, waits bucket body to cut material, prevents overshoot, at this time ν=1/2Vmax, such as Fig. 3
In 3. -4..
S3, removal Half Speed limitation, start speed-raising and PID adjusts control, and the mass flow value of bucket wheel electric current conversion, which is raised to, to be set
After the 30-40% of definite value, it can be effectively prevent PID overshoot, at this time v=vPID×0.8+cosφ×0.2×vmax, see in Fig. 3
④-⑤-⑥。
S4, revolution are slowed down, and when reaching edge deceleration angle, Half Speed is reduced in revolution, at this time v=1/2vmax, see in Fig. 3
⑥-⑦-⑧。
S5, revolution stop, and reach edge set angle, and revolution stops, v=0 at this time, see in Fig. 3 8. -9..
One S6, large vehicle walking step-length △ L, the b-c in corresponding diagram 3.
Step S1-S6, the c-d in corresponding diagram 3 are repeated after S7, suspending arm rotary commutation.
In step S4, deceleration angle in edge is 2.8-3.2 degree (preferably 3 degree).Deceleration angle in edge is relative to stopping side
For edge, i.e., referring to stop edge, (edge deceleration angle) reduces to Half Speed when reaching the previous angle of Edge-stopping angle,
Be conducive to reduce inertia when reaching stop angle.
In embodiment, φ is the angle of cantilever center line and track centerline, and △ L is cart traveling step-length, vPIDFor PID
Output valve, vmaxFor the maximum value of PID output valve, mass flow=ax-bx2, x is the difference of bucket wheel electric current and no-load current, a
It is that (preferred value: a value 44.25, b value 0.25a, b coefficient are by empirical value and upstream weighing belt instantaneous flow to coefficient with b
Display comparison show that rough range rear enclosure obtains, specifically refers to the prior art), Kp is (excellent for 0.01-0.6 in PID control
Choosing value: Zuo Huizhuan Kp0.16, right-hand rotation Kp0.2), Ki is 0.001-0.06 (preferred value: the equal value 0.016 of left and right revolution Ki),
Kd is 0.01-0.2 (preferred value: the left and right equal value 0.01 of revolution Kd of preferred value).It is obtained most with the auxiliary verifying of RSTune software
It is excellent, it can refer to the prior art.
Control ratio between main control variable and auxiliary control variable, the flow value for taking bucket wheel electric current to convert become as control
Amount carries out PID adjusting according to setting value.The cos φ of suspending arm rotary angle is as auxiliary control variable, both with PID output valve
Output, which gives back to, after being superimposed by a certain percentage turns frequency converter timing, and through test of many times, the ratio is proper in 2:8.Such as: PID
Output is 0~5000 (0~50Hz of control frequency of corresponding frequency converter), value × 0.8；cosφ×5000×0.2；The two phase
Add, the input value as frequency converter.
After the completion of step S7, the next step-length of large vehicle walking, the c-a ' in corresponding diagram 3.
Further include following steps in another preferred embodiment: the processing after S8, overload, the 40% of the setting value that overloads
Do not reduce within 4-5 seconds afterwards, with regard to reduction of speed to 0；It less than just being eliminated after the 30-40% of setting value, then is adjusted the speed since 0, during overload not
Make delay to pause.
According to traditional calculating formula f=ρ × h of cantilever swinging type stacker-reclaimer feeding × △ L × ν, it is of the invention based on
The constant flow rate automatic material taking of bucket wheel electric current controls, and can solve the closed-loop control of the linear velocity ν of suspending arm rotary.According to state's electricity Zhejiang
No. 2 stacker-reclaimers of northern the first electricity generating corporation, Ltd of logical sequence take the data that coal measures, and take coal at 2 600MW units average one day
When 8000 tons of workload, using the speed regulation based on angle of revolution point-by-point approach, single line warehouse entry about takes coal operation 12 hours, two-wire
Warehouse entry about takes coal operation 6 hours；Using closed loop control method of the invention, than original tune based on angle of revolution point-by-point approach
Speed at least reduces 30 minutes daily.
The foregoing is merely the preferred embodiment of the present invention, protection scope of the present invention is not limited in above-mentioned embodiment party
Formula, all technical solutions for belonging to the principle of the invention all belong to the scope of protection of the present invention.For those skilled in the art and
Speech, several improvement carried out without departing from the principles of the present invention, these improvement also should be regarded as protection model of the invention
It encloses.
Claims (3)
1. a kind of constant flow rate automatic material taking control method based on bucket wheel electric current is used for cantilever swinging type stacker-reclaimer, special
Sign is, includes the following steps:
S1, revolution starting velocity, when originating feeding, starting velocity v0φ × 0.2=cos × vmax, raising speed v=v laterPID×0.8
+cosφ×0.2×vmax；
Half Speed is restricted to after S2, revolution raising speed, and bucket body is waited to cut material, to prevent overshoot, v=1/2v at this timemax；
S3, removal Half Speed limitation, start speed-raising and PID adjusts control, and the mass flow value of bucket wheel electric current conversion is raised to setting value
30-40% after, to prevent PID overshoot, v=v at this timePID×0.8+cosφ×0.2×vmax；
S4, revolution are slowed down, and when reaching edge deceleration angle, Half Speed is reduced in revolution, at this time v=1/2vmax；
S5, revolution stop, and reach edge set angle, and revolution stops, at this time v=0；
One S6, large vehicle walking step-length △ L；
Step S1-S6 is repeated after S7, suspending arm rotary commutation；
Wherein, φ is the angle of cantilever center line and track centerline, and △ L is cart traveling step-length, vPIDFor PID output valve,
vmaxFor the maximum value of PID output valve, mass flow=ax-bx2, x is the difference of bucket wheel electric current and no-load current, and a and b are to be
It counts, Kp is 0.01-0.6, Ki 0.001-0.06, Kd 0.01-0.2 in PID control；
In step S4, deceleration angle in edge is 2.8-3.2 degree.
2. the constant flow rate automatic material taking control method according to claim 1 based on bucket wheel electric current, it is characterised in that: also
Comprising steps of
Processing after S8, overload, the setting value that overloads 40% after 4-5 seconds do not reduce, with regard to reduction of speed to 0；
It less than just being eliminated after the 30-40% of setting value, then is adjusted the speed since 0, does not make delay during overload and pause.
3. the constant flow rate automatic material taking control method according to claim 1 based on bucket wheel electric current, it is characterised in that: step
In rapid S4, deceleration angle in edge is 3 degree.
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| BR102017002299B1 (en) * | 2017-02-03 | 2020-11-10 | Vale S/A | control system and method for fireplaces |
| CN107187887A (en) * | 2017-06-14 | 2017-09-22 | 中国神华能源股份有限公司 | Automatic material taking control method and device, stacker-reclaimer, storage medium |
| DE102018109498A1 (en) * | 2018-02-23 | 2019-08-29 | Liebherr-Components Biberach Gmbh | Bucket wheel excavator and method for controlling a bucket wheel excavator |
| CN110203715B (en) * | 2019-06-11 | 2020-07-31 | 长沙理工大学 | Working method of bucket-wheel stacker reclaimer |
| CN112850191B (en) * | 2020-12-30 | 2022-08-23 | 华电重工股份有限公司 | Reclaimer, reclaiming flow control method and device of reclaimer and storage medium |
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| CN101776867B (en) * | 2009-01-14 | 2012-05-30 | 宝山钢铁股份有限公司 | Automatic material taking control device and method of material piling and taking machine |
| CA2875685C (en) * | 2012-06-04 | 2018-12-04 | Vale S.A. | Bulk material reclaimer control system |
| CN102902284A (en) * | 2012-09-21 | 2013-01-30 | 天津港中煤华能煤码头有限公司 | Method for controlling operation speed of cantilever crane rotating mechanism of cantilever type bucket wheel reclaimer |
| CN104724507B (en) * | 2013-12-20 | 2017-04-12 | 上海岫峤机电工程有限公司 | Method and system for acquiring automatic taking turning speed |
| CN104020791A (en) * | 2014-04-23 | 2014-09-03 | 中国神华能源股份有限公司 | Reclaiming flow stability control device and method of coal stockyard |
| CN105223973B (en) * | 2014-06-12 | 2019-06-14 | 上海岫峤机电工程有限公司 | A kind of combination bucket-wheel stacker reclaimer feeding flow control methods and device |
| CN105404318A (en) * | 2015-12-31 | 2016-03-16 | 中国神华能源股份有限公司 | Reclaimer reclaiming flow control method and device |
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Inventor after: Chen Weiwei Inventor after: Wang Hai Inventor after: Shen Binghua Inventor after: Chen Zheng Inventor after: Ye Junhui Inventor after: Jiang Xuewen Inventor before: Chen Weiwei Inventor before: Shen Binghua Inventor before: Chen Zheng Inventor before: Ye Junhui Inventor before: Jiang Xuewen |
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Address after: 310012 room 1701, building 1, European and American Center, world trade Regent City, No. 18 Jiaogong Road, Hangzhou, Zhejiang Patentee after: Guoneng Zhejiang Beilun No.1 Power Generation Co.,Ltd. Patentee after: Hangzhou Jiyi Technology Co., Ltd Address before: 310012 room 1701, building 1, European and American Center, world trade Regent City, No. 18 Jiaogong Road, Hangzhou, Zhejiang Patentee before: GUODIAN BEILUN NO.1 POWER GENERATION CO.,LTD. Patentee before: Hangzhou Jiyi Technology Co., Ltd |