CN108225823B - Control method and device for sampler - Google Patents
Control method and device for sampler Download PDFInfo
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- CN108225823B CN108225823B CN201711420556.6A CN201711420556A CN108225823B CN 108225823 B CN108225823 B CN 108225823B CN 201711420556 A CN201711420556 A CN 201711420556A CN 108225823 B CN108225823 B CN 108225823B
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- state
- sampling head
- torque
- sampling
- material pile
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
Abstract
The invention discloses a method and a device for controlling a sampling machine. The invention has the advantages of simple control, high precision, capability of effectively preventing the sampling head from generating sampling accidents when meeting with a resistance in the sampling process, ensuring the safety of the sampling process and the like.
Description
Technical Field
The invention relates to the field of solid material sampling, in particular to a method and a device for controlling a sampler, which are particularly suitable for sampling control of a coal sample.
Background
In the process of sampling and analyzing the material, the material needs to be sampled through a material coiling device to obtain a quantitative sample. Taking the sampling of the coiled material of the coal material as an example, the automobile sampling machine may encounter large stone blocks or steel bars in the coal in the descending sampling process of the sampling head, so that the descending resistance is increased to make the lifting motor difficult to continue descending, if the descending resistance of the lifting motor cannot be timely and effectively detected, the forced descending of the sampling head may cause mechanical damage to the sampling machine and the carriage, particularly, the sampling head descends to encounter the carriage chassis, and the accident that the carriage chassis is drilled through or the sampling machine is jacked up will occur.
When the load of the motor is increased, the current of the motor is increased, the rotating speed of the motor is slowed down, whether the motor is blocked is generally judged by measuring parameters of the current of the lifting motor or the rotating speed of the motor in the industry, but the problem that the change trend of collected data is not obvious exists, so that the problem cannot be accurately judged and timely processed.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides the method and the device for controlling the sampling machine, which have the advantages of simple control and high precision, can effectively prevent the sampling head from generating sampling accidents when meeting with a resistance in the sampling process, and ensure the safety of the sampling process.
In order to solve the technical problems, the technical scheme provided by the invention is as follows: a sampling machine control method determines the position state of a sampling head according to the torque of a lifting motor in the descending process of the sampling head, and determines the descending speed of the lifting motor and the rotating speed of a rotating motor according to the position state.
Further, the position state comprises a material pile upper state, a material pile middle state and a resistance encountering state; when the torque belongs to a preset first torque interval, judging that the position state of the sampling head is a stockpile upper state; when the torque jumps in the material pile state, judging that the position state of the sampling head is changed from the material pile state to the material pile state; and when the torque is greater than a preset torque threshold value in the material pile state, judging that the position of the sampling head is in a resistance encountering state.
Further, the torque threshold value is calculated and determined according to a torque value of the state in the material pile and a preset coefficient.
Further, when the material pile is in the on-pile state, controlling the sampling head lifting motor to descend according to a preset first lifting speed; when the material pile is in the middle state, controlling the sampling head lifting motor to descend according to a preset second lifting speed, and controlling the sampling head rotating motor to rotate according to a preset second rotating speed; when the sampling head is in a resistance meeting state, controlling a sampling head lifting motor to stop descending and entering a sampling head ascending process; the first lifting speed is greater than the second lifting speed.
Further, the stroke distance of the sampling head is used as the pile face distance when the position state is changed into the material pile middle state, and in the next descending process of the sampling head, when the stroke distance of the sampling head reaches the pile face distance, the position state is determined to be the material pile middle state.
Further, the distress state comprises a foreign body distress state and a chassis distress state.
Further, the preset system of the foreign matter distress state is preferably 1.2, and the preset coefficient of the chassis distress state is preferably 1.5.
Further, the stroke distance of the sampling head is used as a lower limit distance when the position state is changed into the chassis meeting resistance state, and in the next descending process of the sampling head, when the stroke distance of the sampling head reaches the lower limit distance, the position state is determined to be the chassis meeting resistance state.
Further, in the ascending process of the sampling head, when the stroke distance of the sampling head is smaller than the stacking surface distance, the rotating motor of the sampling head is controlled to stop running.
A sampler control apparatus comprising a processor and a memory, the memory being loaded with a program enabling the control method as claimed in any one of the preceding claims, the processor being arranged to execute the program.
Compared with the prior art, the invention has the advantages that:
1. the invention determines the position of the sampling head through the torque of the lifting motor, accurately and timely determines the position of the sampling head, and simultaneously adopts different control strategies for the lifting motor and the rotating motor according to the difference of the positions of the sampling head, thereby effectively preventing the sampling head from generating sampling accidents when meeting with a resistance in the sampling process, ensuring the safety of the sampling process, improving the sampling efficiency and realizing the energy saving and noise reduction of the sampling process.
2. According to the invention, the position of the sampling head is determined through the torque of the lifting motor, and the position of the sampling head is determined through the lifting stroke of the sampling head in an auxiliary manner, so that the control precision is further improved through a redundant control strategy, and the sampling safety is further improved.
Drawings
FIG. 1 is a schematic flow chart of an embodiment of the present invention.
FIG. 2 is a sampling diagram according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the drawings and specific preferred embodiments of the description, without thereby limiting the scope of protection of the invention.
As shown in fig. 1, the control method of the sampler of the present embodiment determines the position state of the sampling head according to the torque of the elevating motor during the descent of the sampling head, and determines the descent speed of the elevating motor and the rotation speed of the rotating motor according to the position state.
In this embodiment, the position status includes a material pile up status, a material pile in status, and a resistance meeting status; when the torque belongs to a preset first torque interval, judging that the position state of the sampling head is a material pile upper state; when the torque jumps in the material pile state, the position state of the sampling head is judged to be changed from the material pile state to the material pile state; and when the torque is greater than a preset torque threshold value in the material pile state, judging that the position of the sampling head is in a resistance meeting state. When the material pile is in the on-state, controlling a sampling head lifting motor to descend according to a preset first lifting speed; when the material pile is in the state, controlling the sampling head lifting motor to descend according to a preset second lifting speed, and controlling the sampling head rotating motor to rotate according to a preset second rotating speed; when the sampling head is in a resistance meeting state, controlling a sampling head lifting motor to stop descending and entering a sampling head ascending process; the first lifting speed is greater than the second lifting speed.
In this embodiment, the sampling of coal material by a sampling machine is described as an example, and fig. 2 is a side view of a sampling site. In the coal sampling, the coal is loaded in a carriage of an automobile, a sampling head (A in figure 2) is positioned above the carriage and can move along with a guide rail, and the sampling head A can vertically descend under the driving of a lifting motor to sample in a coal pile. According to the characteristic parameter that motor torque is the motor, just can judge how big load that the motor can drive according to the torque, motor load increases, can lead to motor current to increase, and motor output also increases thereupon, and the motor speed reduces, by motor torque T = 9549P/n: the output torque of the motor is in direct proportion to the power P of the motor and in inverse proportion to the rotating speed n of the motor, and when the power of the motor is increased and the rotating speed is reduced, the torque is obviously increased. Therefore, the motor load change brings obvious torque change to the motor, and the change of the downlink resistance of the sampling head can be known in real time by monitoring the torque of the lifting motor. When the sampling head samples downwards and meets abnormal conditions such as large stones, a carriage chassis and the like, the abnormal conditions can be reflected through the monitoring result.
In the initial state, the position of the sampling head is as shown in fig. 2. In the sampling process, the sampling head is driven to descend by the lifting motor, and the sampling head only moves in the air before contacting with the coal pile, so that the position state of the sampling head is called as the pile-up state. When the torque value of the lifting motor belongs to a preset first torque interval, the sampling head can be judged to be positioned above the coal material, namely, in a material pile state. In the on-pile state, the sampling head does not bear the resistance of the coal, so the load of the lifting motor is very small, and the torque of the lifting motor is almost constant, so the interval range of the preset first torque interval can be a narrow range, and the torque interval with a small range can ensure that the sampling head timely responds to the change condition of the torque after contacting the coal surface, and the sampling head is judged to be changed from the on-pile state to the in-pile state. When the material pile is in the on-state, the sampling head descends at a first quick preset lifting speed, so that the sampling head quickly reaches the coal surface to perform sampling operation, and the sampling efficiency is improved.
When the sampling head contacts the coal surface, the load of the lifting motor changes due to the resistance of the coal, and is reflected on the torque of the lifting motor, at the moment, the value of the torque of the lifting motor jumps, so that the situation that the sampling head contacts the coal surface can be judged, the position of the sampling head is changed from the state on the material pile to the state in the material pile, and the coal sampling is started. At the moment, the descending speed of the lifting motor is reduced, the lifting motor is controlled to drive the sampling head to descend at a second ascending and descending speed, and meanwhile, the rotating motor of the sampling head is controlled to rotate at a preset second rotating speed to sample the coal.
The torque of the lifting motor when the sampling head is in normal sampling is analyzed in advance, a normal sampling torque range can be determined, when the torque of the lifting motor is in the torque range, the sampling head is indicated to be in normal sampling, when the torque value exceeds the torque range, the position state of the sampling head is judged to be in a resistance state, and abnormal control is conducted. And the abnormal control is to control the lifting motor of the sampling head to stop descending and enter the ascending process of the sampling head.
In this embodiment, since there may be foreign matter such as metal blocks, stones, carriage tie bars, etc. in the coal material, the position of the foreign matter in the coal material is not fixed, and may be at any depth in the coal material, that is, the distance between the foreign matter or tie bar and the initial height of the sampling head is not fixed and unpredictable. Meanwhile, the bottom of the carriage is also inevitably arranged below the coal, and for the same carriage, the bottom of the carriage is fixed and can be predicted. Therefore, in this embodiment, the distress state is divided into a foreign material distress state and a chassis distress state. The method comprises the steps of setting a foreign matter resistance torque threshold value and a chassis resistance torque threshold value respectively aiming at a foreign matter resistance state and a chassis resistance state, wherein the foreign matter resistance torque threshold value is smaller than the chassis resistance torque threshold value, judging the foreign matter resistance state when the torque of a lifting motor is larger than the foreign matter resistance torque threshold value and smaller than the chassis resistance torque threshold value, and judging the chassis resistance state when the torque of the lifting motor is larger than or equal to the chassis resistance torque threshold value. And the torque threshold value is determined by calculation according to the torque value of the state in the material pile and a preset coefficient. The predetermined system of foreign body encounter conditions is preferably 1.2 and the predetermined coefficient of chassis encounter conditions is preferably 1.5. The torque value of the state in the material pile is an average value in a normal state obtained by analyzing the coal sampling process in advance.
In this embodiment, the stroke distance of the sampling head when the position state changes to the in-stock-pile state is used as the pile-face distance, and in the next descending process of the sampling head, when the stroke distance of the sampling head reaches the pile-face distance, the position state is determined to be the in-stock-pile state. And when the stroke distance of the sampling head reaches the lower limit distance in the next descending process of the sampling head, determining that the position state is the chassis distress state.
During the descending process of the sampling head, when the position state of the sampling head is changed from the state on the stock pile to the state in the stock pile, the travel distance of the sampling head is recorded, such as the distance H1 in figure 2, and when the position state of the sampling head is the state of the bottom plate being blocked, the travel distance of the sampling head is recorded, such as the distance H2 in figure 2. Because the coal face is relatively flat, and the carriage chassis is flat, so, when the sampling head is sampled to next sampling point, can regard torque and distance as the basis that the position state of sampling head judges simultaneously, when any triggers, changes the position state of sampling head to the safety of better assurance sampling process. If after the distance H2 is determined, when the next sampling point is sampled, when the stroke distance of the sampling head reaches H2, but the torque value of the lifting motor is not more than or equal to the chassis resistance torque threshold value, the lifting motor is controlled not to drive the sampling head to move downwards, but to end the sampling of the sampling point, and the sampling head ascends.
In the ascending process of the sampling head of the embodiment, when the stroke distance of the sampling head is smaller than the stacking surface distance, the rotating motor of the sampling head is controlled to stop running. By stopping the rotating motor, the noise of the equipment can be reduced, the coal is prevented from being scattered, and energy conservation and noise reduction are realized.
The sampler control device of the present embodiment includes a processor and a memory, the memory is loaded with a program that can implement any one of the above control methods, and the processor is used for executing the program.
The foregoing is considered as illustrative of the preferred embodiments of the invention and is not to be construed as limiting the invention in any way. Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.
Claims (8)
1. A control method of a sampler is characterized in that: in the descending process of the sampling head, determining the position state of the sampling head according to the torque of a lifting motor, and determining the descending speed of the lifting motor and the rotating speed of a rotating motor according to the position state;
the position states comprise a material pile upper state, a material pile middle state and a resistance encountering state; when the torque belongs to a preset first torque interval, judging that the position state of the sampling head is a stockpile upper state; when the torque jumps in the material pile state, judging that the position state of the sampling head is changed from the material pile state to the material pile state; in a material pile state, when the torque is larger than a preset torque threshold value, judging that the position of the sampling head is in a resistance meeting state; when the material pile is in the on-state, controlling the sampling head lifting motor to descend according to a preset first lifting speed; when the material pile is in the middle state, controlling the sampling head lifting motor to descend according to a preset second lifting speed, and controlling the sampling head rotating motor to rotate according to a preset second rotating speed; when the sampling head is in a resistance meeting state, controlling a sampling head lifting motor to stop descending and entering a sampling head ascending process; the first lifting speed is greater than the second lifting speed.
2. The sampler control method according to claim 1, wherein: and the torque threshold value is determined by calculation according to the torque value of the state in the material pile and a preset coefficient.
3. The sampler control method according to claim 2, wherein: and in the next descending process of the sampling head, when the stroke distance of the sampling head reaches the pile surface distance, determining that the position state is the in-pile state.
4. The sampler control method according to claim 3, wherein: the resistance encountering state comprises a foreign matter resistance encountering state and a chassis resistance encountering state.
5. The sampler control method according to claim 4, wherein: the preset coefficient of the foreign matter meeting state is preferably 1.2, and the preset coefficient of the chassis meeting state is preferably 1.5.
6. The sampler control method according to claim 4, wherein: and when the position state is changed into the chassis resistance meeting state, the stroke distance of the sampling head is taken as a lower limit distance, and in the next descending process of the sampling head, when the stroke distance of the sampling head reaches the lower limit distance, the position state is determined to be the chassis resistance meeting state.
7. The sampler control method of claim 6, wherein: and in the ascending process of the sampling head, when the stroke distance of the sampling head is smaller than the stacking surface distance, controlling the rotating motor of the sampling head to stop running.
8. A sampler control device characterized in that: comprising a processor and a memory, said memory being loaded with a program enabling the control method according to any one of claims 1 to 7, said processor being adapted to execute said program.
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| CN201711420556.6A CN108225823B (en) | 2017-12-25 | 2017-12-25 | Control method and device for sampler |
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| CN201711420556.6A CN108225823B (en) | 2017-12-25 | 2017-12-25 | Control method and device for sampler |
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| CN108225823A CN108225823A (en) | 2018-06-29 |
| CN108225823B true CN108225823B (en) | 2020-10-30 |
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| CN110987524B (en) * | 2020-01-01 | 2022-08-02 | 新疆天业（集团）有限公司 | Sampling method for coal-carrying transportation of power plant fuel vehicle |
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2017
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| US4259628A (en) * | 1977-08-17 | 1981-03-31 | Kabushiki Kaisha Yaskawa Denki Seisakusho | Control device of AC motor |
| CN101223424A (en) * | 2005-06-03 | 2008-07-16 | 托尔文·温瑟·汉森 | Weight confirming method and weighing device for load carried by elevator of elevator apparatus |
| CN103080483A (en) * | 2010-08-27 | 2013-05-01 | 西门子公司 | Method for controlling a turboset |
| CN103946756A (en) * | 2011-11-17 | 2014-07-23 | 生物梅里埃公司 | Optical method for controlling the movement of a sampling tool |
| CN105091978A (en) * | 2014-05-23 | 2015-11-25 | 神华集团有限责任公司 | A material-detecting type material level detection method and system |
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