CN110803463A - Rigid-flexible coupled belt conveyor tension cooperative control method - Google Patents

Rigid-flexible coupled belt conveyor tension cooperative control method Download PDF

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Publication number
CN110803463A
CN110803463A CN201911230025.XA CN201911230025A CN110803463A CN 110803463 A CN110803463 A CN 110803463A CN 201911230025 A CN201911230025 A CN 201911230025A CN 110803463 A CN110803463 A CN 110803463A
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belt
sectional area
instantaneous
conveying belt
speed
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CN110803463B (en
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曾飞
黄书伟
宋杰杰
章生
严诚
刘欣
李志强
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Wuhan University of Science and Engineering WUSE
Wuhan University of Science and Technology WHUST
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Wuhan University of Science and Engineering WUSE
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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
    • B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
    • B65G23/44—Belt or chain tensioning arrangements
    • 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
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • 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
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/02—Control devices, e.g. for safety, warning or fault-correcting detecting dangerous physical condition of load carriers, e.g. for interrupting the drive in the event of overheating
    • 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
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/04—Control devices, e.g. for safety, warning or fault-correcting detecting slip between driving element and load-carrier, e.g. for interrupting the drive
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0275—Damage on the load carrier
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0291—Speed of the load carrier
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Structure Of Belt Conveyors (AREA)
  • Control Of Conveyors (AREA)

Abstract

The invention discloses a tension cooperative control method for a rigid-flexible coupling belt conveyor, which is characterized by calculating the average material sectional area, the average belt speed and the average material flow rate of a conveying belt and the average material transport capacity per unit length in the current acquisition period, calculating the optimal belt speed in the next sampling period of speed regulation, determining the optimal acceleration in the next sampling period of speed regulation and determining the distance of a driving roller needing to move. The speed regulation process is safe and reliable, the running efficiency of the belt conveyor can be kept to be optimal all the time, and the service life of equipment can be prolonged.

Description

Rigid-flexible coupled belt conveyor tension cooperative control method
Technical Field
The invention belongs to the technical field of sensing and intelligent control, and particularly relates to a rigid-flexible coupled conveying belt tension cooperative control method.
Background
The belt conveyor is frequently used for transporting bulk materials or whole finished products, has the advantages of large transportation amount, long material transportation distance and the like, and is widely used in the fields of ports, coal mines, transportation and the like. With the increase of productivity and the increase of industrial scale, the electric energy consumed by the belt conveyor in the use process is greatly increased, thereby bringing a series of problems of energy consumption and waste. The belt conveyor energy consumption influence factors comprise instantaneous material flow, load distribution, current belt speed and system working conditions. However, according to the investigation, the belt conveyor usually runs at a constant speed, and the power of the configured motor is much larger than the material transportation amount, so that the belt conveyor usually runs under no load or light load, the working efficiency is low, and the transportation cost is wasted. At present, an energy-saving control method for adjusting belt speed according to instantaneous flow of materials has certain energy-saving potential. However, the existing speed regulation control strategy has the following problems: (1) most of the existing energy consumption models only consider the optimization targets such as the minimum energy consumption of the belt conveyor and do not combine the optimization targets such as the optimal conveying efficiency of the belt conveyor. (2) The safety problem caused by the nonlinear dynamic characteristic of the viscoelastic conveyor belt under dynamic load is not fully considered. In practical application, a large amount of misjudgments exist, and manual prediction and correction are needed. Can be because of actual load uneven distribution, material load impact, conveyer belt slack side straining force to tight limit factor such as restraint when serious for the conveyer belt produces and skids, damaged tearing even, seriously influences harbour safety in production. In addition, the speed regulation control method of the large-scale belt conveyor is greatly different from that of the traditional machinery due to the coupling constraint of boundary conditions such as a control system (a driving system, a tensioning device and the like) and a mechanical system (a roller, a carrier roller and the like). Therefore, the development of the rigid-flexible coupling belt conveyor tension cooperative control system considering the nonlinear dynamic characteristics of the conveying belt has extremely important significance for realizing speed regulation and energy saving control of the large belt conveyor, and is more favorable for realizing the overall optimal performance of the safe and energy saving control of the large belt conveyor.
The invention aims to realize safe and energy-saving control of a belt conveyor through a rigid-flexible coupled belt conveyor tension cooperative control system and method, simultaneously optimize the system overall performance and have important significance for reducing the use cost of the belt conveyor.
Disclosure of Invention
The invention aims to provide a rigid-flexible coupling conveyor belt tension cooperative control method aiming at the problems in the prior art.
In order to achieve the purpose, the invention adopts the following technical measures:
a tension cooperative control method for a rigid-flexible coupling belt conveyor comprises the following steps:
step 1, arranging a laser scanner for collecting instantaneous sectional area of materials, arranging a rotary encoder for collecting instantaneous speed of a conveying belt, arranging a tension sensor for collecting tension of an upper conveying belt and a lower conveying belt close to a driving roller,
step 2, when the running state of the conveyer belt is stable and the materials are conveyed, acquiring the instantaneous sectional area S of the materials in a continuous sampling periodm(t)n1Instantaneous speed v of the conveyor beltm(t)jUpper belt tension F near the drive drumU(t)mAnd lower belt tension F near the drive rollerD(t)mWherein n1 is the sequence number of the instantaneous sectional area of the material collected in time sequence in the current collection period, m is the sequence number of the current sampling period, j is the sequence number of the instantaneous sectional area of the material collected in time sequence in the current collection period, and the collection starting time is ta，
Step 3, calculating the average sectional area of the materials in the current acquisition period
Figure BDA0002303278600000021
Step 4, calculating the average belt speed of the conveying belt in the current acquisition period
Figure BDA0002303278600000022
Step 5, calculating the average material flow in the current acquisition period
Figure BDA0002303278600000023
Step 6, average material transportation amount q per unit length in the current acquisition periodm，
Figure BDA0002303278600000024
Wherein rho is the density of the material, T is the time length of the acquisition period,
step 7, calculating the optimal belt speed of the next sampling period of speed regulation
Figure BDA0002303278600000025
The method specifically comprises the following steps:
step 7.1, establishing a target prediction model: max
Figure BDA0002303278600000026
Figure BDA0002303278600000027
Figure BDA0002303278600000028
Figure BDA0002303278600000029
Figure BDA00023032786000000210
N is the target coefficient, Pm+1The total power consumed in the next sampling period for the speed regulation of the conveyer belt, and C is the friction coefficient of the conveyer belt; k is the total length of the conveyor; g is the acceleration of gravity; m isR、mLThe mass of a carrier roller of the conveying belt and the mass of the conveying belt respectively, α is the inclination angle of the conveying belt, H is the rising height of the material on the conveying belt in the next sampling period of the speed regulation of the conveying belt, f is the friction coefficient between the conveying belt and the driving roller,
step 7.2, finding the maximum value of the target coefficient N
Figure BDA0002303278600000031
If it is
Figure BDA0002303278600000032
The optimal belt speed for the next sampling period of belt speed regulation isIf it is
Figure BDA0002303278600000034
Then will be
Figure BDA0002303278600000035
Reassign value as vmaxAs the optimal belt speed for the next sampling period of belt speed regulation.
A rigid-flexible coupling belt conveyor tension cooperative control method further comprises the following steps:
step 8, determining the optimal acceleration a in the next sampling period of speed regulationm+1The method specifically comprises the following steps:
step 8.1, according to the instantaneous speed of the last conveying belt acquired in the current acquisition period obtained in the step 4 and the optimal belt speed of the next sampling period of the speed regulation obtained in the step 7
Figure BDA0002303278600000036
The absolute value of the difference value of (a) is used as the absolute value of the speed regulation difference Deltav；
Step 8.2, the optimal acceleration a in the next sampling period of speed regulationm+1Is composed of
Figure BDA0002303278600000037
Wherein, tcThe starting time of the driving roller driving motor is pi, which is the circumferential rate.
A rigid-flexible coupling belt conveyor tension cooperative control method further comprises the following steps:
step 9, determining the distance that the driving roller needs to move, specifically:
step 9.1, calculate Fg(t)m＝FU(t)m-FD(t)m；
Fs＝Fm-mqam+1；
Figure BDA0002303278600000038
FmThe driving force required by the driving roller;
step 9.2, solving the deformation delta S of the conveying belt through the following formula
Figure BDA0002303278600000039
Wherein q isGThe mass of the conveyer belt per unit length, r the radius of the driving roller, α the wrap angle of the conveyer belt to the driving roller, and Y-Fg(t)m，Y0＝Fs，
Step 9.3, the length Δ l of the active roller required to move is 0.5 × Δ S
If Fg(t)m＞FsMoving the driving roller to reduce the tension of the conveying belt;
if Fg(t)m＜FsMoving the driving roller to increase the tension of the conveying belt;
if Fg(t)m＝FsNo moving active roller is required.
Rigidity-flexibility coupled belt conveyor tension cooperative controlThe manufacturing method comprises the step 3 of averaging the sectional areas of the materials in the current acquisition period
Figure BDA0002303278600000041
Obtained by the following steps:
step 3.1, setting the range of instantaneous sectional area of material [ s ]min，smax]，
Step 3.2, the instantaneous sectional area S of the material collected in the current collection periodm(t)n1And the range [ s ] of the instantaneous sectional area of the material is set as described in the step 3.1min，smax]Comparing, and determining whether the instantaneous cross-sectional area of the material is within the range [ s ]min，smax]Instantaneous cross-sectional area S of material thereinm(t)n1Abandoning, and then setting the instantaneous cross-sectional area of the material within the range [ s ]min，smax]Instantaneous cross-sectional area S of material thereinm(t)n1The maximum value and the minimum value of the material are rounded off to obtain the instantaneous sectional area of the material Sm(t)nN is the range of instantaneous cross-sectional area of material [ s ]min，smax]And the rearranged serial numbers of the instantaneous sectional areas of the materials with the maximum value and the minimum value are discarded, and the instantaneous sectional area of the material is obtained as Sm(t)nTo obtain the average sectional area of the material in the current acquisition period
Figure BDA0002303278600000042
Compared with the prior art, the invention has the following beneficial effects:
1. the invention has high automation degree, can save manpower and material resources to a certain degree and can improve the transportation efficiency.
2. The self-adaptive speed regulation of the belt conveyor can be scientifically realized, the speed regulation process is safe and reliable, the running efficiency of the belt conveyor can be kept to be always optimal, and the service life of equipment can be prolonged.
Drawings
FIG. 1 is a system configuration diagram of the apparatus of the present invention.
Fig. 2 is a partial structural view of the driving roller.
In the figure, 1-upper conveying belt, 2-driving roller, 3-short shaft, 4-bearing seat, 5-lower conveying belt, 6-stepping motor, 7-screw seat, 8-ball screw, 9-coupling and 10-frame.
Detailed Description
The present invention will be described in further detail with reference to examples for the purpose of facilitating understanding and practice of the invention by those of ordinary skill in the art, and it is to be understood that the present invention has been described in the illustrative embodiments and is not to be construed as limited thereto.
As shown in figures 1 and 2, a rigid-flexible coupled belt conveyor tension cooperative control system comprises a driving roller and a driven roller, wherein the driving roller and the driven roller drive an annular conveying belt to rotate, an ascending part of the annular conveying belt is an upper conveying belt, a descending part of the annular conveying belt is a lower conveying belt, a material discharging opening is arranged above the upper conveying belt, a laser scanner for measuring the instantaneous sectional area of a material is also arranged above the upper conveying belt, a rotary encoder measures the instantaneous speed of the conveying belt, a tension sensor is arranged on the lower side surface of the upper conveying belt close to the driving roller and the upper side surface of the lower conveying belt close to the driving roller and is used for collecting the tension of the upper conveying belt and the lower conveying belt close to the driving roller, two ends of a rotating shaft of the driving roller are respectively arranged on a bearing seat through short shafts, a ball screw penetrates through an internal thread hole at the bottom of the, one end of the ball screw is connected with the stepping motor through the shaft coupler, and the stepping motor rotates to drive the ball screw to rotate, so that the bearing seat is driven to move along the ball screw, and the conveying belt is tensioned or loosened. The ball screw is arranged on the frame through the screw seat.
A tension cooperative control method for a rigid-flexible coupling belt conveyor comprises the following steps:
step 1, the laser scanner is used as a collecting device of the instantaneous sectional area of the material, the rotary encoder is used as a collecting device of the instantaneous speed of the conveying belt, and the tension sensor collects the tension of the upper conveying belt and the lower conveying belt close to the driving roller. The laser scanner is provided with an auxiliary mounting bracket which can move up and down, the laser scanner is suspended above the conveying belt, and the scanning area of the laser scanner is close to the blanking area (below the material blanking port) of the conveying belt; the tension sensor is arranged on the lower side face of the upper conveying belt close to the driving roller and the upper side face of the lower conveying belt close to the driving roller, and a fixing support of the tension sensor is installed on the rack.
And 2, when the running state of the conveyer belt is stable and under the condition of conveying materials, starting to collect the instantaneous sectional area of the materials, the instantaneous speed of the conveyer belt and the instantaneous tension. The acquisition start time is taWill be from taStarting to collect a plurality of periods, and recording the instantaneous sectional area of the material at the time t in the current collection period as Sm(t)n1(unit is m)2/s)(taIs the material blanking starting time), n1 is the sequence number of the instantaneous sectional area of the material collected according to the time sequence in the current collection period, m is the sequence number of the current sampling period, and the instantaneous speed of the conveying belt at the time t in the collection period is recorded as vm(t)j(unit is m/s), j is the number of instantaneous sectional area of the material collected in time sequence in the current collection period, m is the number of the sampling period, and the tension of the upper conveying belt close to the driving roller is recorded as FU(t)mAnd the lower belt tension near the active roller is denoted as FD(t)m。
The signals collected by the laser scanner are received by the MOXANPort serial port conversion module, the received data are uploaded to the computer through the Ethernet, and the instantaneous sectional area S of the material is generated by the data processing module of the computerm(t)n1. The torque signal collected by the rotary encoder (the model is E6B2-CWZ6C) is transmitted to a pulse encoder (the model is OTAC-01) to be converted into a pulse signal, the pulse signal is transmitted to a computer through a Modbus protocol RS485 interface converter, and a data processing module of the computer processes the pulse signal to generate the instantaneous speed v of the conveyor beltm(t)j. The signals output by the tension sensors of the upper conveying belt and the lower conveying belt close to the driving roller are converted into tension digital signals through an A/D converter, the tension digital signals are received by a single chip microcomputer, the tension digital signals are processed in the single chip microcomputer to generate instantaneous tension values, and the instantaneous tension values pass through a USB serial port moduleConnected with a computer, and further generates the tension F of the upper conveying belt close to the driving roller by a data processing module in the computerU(t)mAnd lower belt tension F near the drive rollerD(t)m。
Step 3, the data processing module carries out the measurement on the instantaneous sectional area S of the material at the time t in the current acquisition periodm(t)n1The following processing is carried out, and the average material sectional area in the current acquisition period is obtained
Figure BDA0002303278600000061
Step 3.1, setting the range of instantaneous sectional area of the material(s)min，smax]Conveying to a data processing module, and setting the instantaneous sectional area range [ s ] of the materialmin，smax]Can be generated according to the minimum value and the maximum value of the instantaneous sectional area of the material of the prior conveyer belt, and the data processing module is used for acquiring the instantaneous sectional area S of the materialm(t)n1Is limited to [ s ]min，smax]Within the interval, wherein sminTo set the minimum instantaneous cross-sectional area of the material, smaxThe maximum value of the instantaneous sectional area of the material is set. (irrespective of the empty-load condition of the conveyor, i.e. sminIs not zero. ) (ii) a
Step 3.2, the instantaneous sectional area S of the material collected in the current collection periodm(t)n1And the range [ s ] of the instantaneous sectional area of the material is set as described in the step 3.1min，smax]Comparing, and determining whether the instantaneous cross-sectional area of the material is within the range [ s ]min，smax]Instantaneous cross-sectional area S of material thereinm(t)n1Abandoning, and then setting the instantaneous cross-sectional area of the material within the range [ s ]min，smax]Instantaneous cross-sectional area S of material thereinm(t)n1The maximum value and the minimum value of the material are rounded off to obtain the instantaneous sectional area of the material Sm(t)nN is the range of instantaneous cross-sectional area of material [ s ]min，smax]And the rearranged order of the instantaneous cross-sectional area of the material of the maximum and minimum values is discarded. Calculating the instantaneous sectional area of the material to be Sm(t)nTo obtain the current acquisitionMean cross-sectional area of material in cycle
Figure BDA0002303278600000062
Step 4, acquiring the instantaneous speed v of the conveying belt in the current acquisition periodm(t)jThe average value is calculated (the unit is meter/second) to obtain the average belt speed of the conveying belt in the current acquisition period
Figure BDA0002303278600000063
Step 5, averaging the sectional areas of the materials in the current acquisition period obtained according to the step 3
Figure BDA0002303278600000064
And 4, obtaining the average belt speed of the conveying belt in the current acquisition periodCalculating the average material flow Q in the current collection periodm(unit is square meter/second) (m is the number of the current acquisition cycle.):
Figure BDA0002303278600000066
step 6, processing the average material flow Q in the current acquisition periodmConverting into average material transport quantity q per unit length in current collection periodm(in kg/m), the conversion rule is as follows:
Figure BDA0002303278600000071
qmthe unit is the average material transportation amount per unit length, and the unit is kilogram/meter;
Qmis the average material flow rate, and the unit is square meter/meter;
rho is the density of the material and has the unit of kilogram/square meter;
t is the time length of the acquisition period;
step 7,Calculating the optimal belt speed of the next sampling period of the speed regulation
Figure BDA0002303278600000072
Step 7.1, establishing the following target prediction model according to the energy-saving control target:
Figure BDA0002303278600000073
Mm+1the unit of the mass of the transported material in kilogram in the next acquisition period for speed regulation; l ism+1The distance transported by the material in the next acquisition cycle of speed regulation is given in meters. J. the design is a squarem+1The unit is kilowatt hour which is the energy consumed by the conveyer belt in the next collecting period of speed regulation. And N is a target coefficient.
Figure BDA0002303278600000074
Figure BDA0002303278600000075
Rho is the density of the material and has the unit of kg/m3。
Figure BDA0002303278600000076
The average cross-sectional area of the material in the current sampling period.
Figure BDA0002303278600000077
Is the optimal tape speed for the next sampling period.
Figure BDA0002303278600000078
Pm+1The total power consumed in kw for the next sampling period (m +1 th sampling period) of the conveyor belt speed regulation.
C is the friction coefficient of the conveying belt (generally 0.02); k is the total length of the conveyor in meters; g is the acceleration of gravity; m isR、mLThe unit of the weight of the carrier roller of the conveying belt and the weight of the conveying belt is kilogram, α is the inclination angle of the conveying belt, q is the weight of the carrier roller of the conveying belt and the weight of the conveying beltmThe average material transportation volume per unit length in the current acquisition period is in units of kilograms/meters; h is the rising height of the material on the conveying belt in the next sampling period of the speed regulation of the conveying belt, the unit is meter, and f is the friction coefficient between the conveying belt and the driving roller.
Step 7.2, calculating the maximum value of the target coefficient N corresponding to the maximum value through the data processing module
Figure BDA0002303278600000081
If it is
Figure BDA0002303278600000082
≤vmaxThe optimal belt speed of the next sampling period of the belt speed regulation is
Figure BDA0002303278600000083
If it is
Figure BDA0002303278600000084
Then will be
Figure BDA0002303278600000085
Reassign value as vmaxAs the optimal belt speed for the next sampling period of belt speed regulation.
Step 8, determining the optimal acceleration a in the next sampling period of speed regulationm+1：
Step 8.1, obtaining the last conveyor belt instantaneous speed v acquired in the current acquisition period according to the step 4m(t)j2(j ∈ {1 to j2}) and the optimal belt speed for the next sampling period of the throttle obtained in step 7
Figure BDA0002303278600000086
And (3) calculating the absolute value delta v of the required speed regulation difference:
Figure BDA0002303278600000087
and 8.2, adopting a sine acceleration curve in order to ensure the safety of speed regulation in the conveying belt process. The sinusoidal acceleration formula is as follows:
Figure BDA0002303278600000088
a(t)m+1is the speed regulation acceleration in the next sampling period of the speed regulation; t is tcThe starting time of the driving roller driving motor is pi, which is the circumferential rate.
In order to ensure the shortest speed regulating time in the speed regulating process, the maximum value of the acceleration is required, and the maximum value is required when the speed is regulated
Figure BDA0002303278600000089
When the temperature of the water is higher than the set temperature,
Figure BDA00023032786000000810
optimal acceleration a in the next sampling period of the throttlem+1Is composed of
Figure BDA00023032786000000811
Step 9, determining the distance that the driving roller needs to move:
and 9.1, in the speed regulation process of the conveyer belt, the phenomena of overlarge tension of the conveyer belt and slippage of the conveyer belt are most easily caused at the driving roller. In order to ensure the safety as long as the mechanical property of the driving roller of the conveyer belt meets the requirement, the tension sensors respectively measure the tension F of the upper conveyer belt close to the driving rollerU(t)mAnd lower belt tension F near the drive rollerD(t)m。
The belt stress analysis was as follows:
Fg(t)m＝FU(t)m-FD(t)m(formula 10)
Fs＝Fm-mqam+1(formula 11)
Figure BDA0002303278600000091
FsFor an optimum acceleration am+1Lower and with FmCorresponding theoretical absolute tension of the conveying belt; fg(t)mIs the actual absolute tension of the conveyor belt; m isqThe unit is kg of the mass of the driving roller; fmThe driving force required by the driving roller; pm+1The total power consumed by the conveyor belt in the next sampling period of the speed regulation.
Step 9.2, solving the deformation delta S of the conveying belt through the following formula:
Figure BDA0002303278600000092
qGthe unit length of the conveyer belt is kilogram/meter, r is the radius of the driving roller and is meter, α is the wrap angle of the conveyer belt to the driving roller, Delta S is the deformation of the conveyer belt, namely the moving distance of a bearing seat connected with the driving roller, and Y is Fg(t)m，Y0＝Fs。
Step 9.3, determining the direction in which the screw rod needs to rotate (the screw rod rotates in different directions to drive the bearing seat to move in different directions, and then drives the driving roller connected with the bearing seat to be close to the driven roller or to be far away from the driven roller) and the length Δ l of the bearing seat connected with the driving roller, which needs to move, is 0.5 × Δ S:
if Fg(t)m＞FsThe screw rod rotates clockwise to reduce the actual equivalent conveyer belt tension;
if Fg(t)m＜FsAnd the screw rod rotates anticlockwise to increase the equivalent tension of the actual equivalent conveying belt.
If Fg(t)m＝FsAnd the adjusting screw rod is not needed.
Step 9.4, determining the number of turns of the stepping motor connected with the screw rod according to the moving distance of the bearing seat (driving roller):
and step 10, connecting the computer with a PLC (programmable logic controller), wherein the PLC is connected with a stepping motor for driving the ball screw, and is also connected with a frequency converter, and the frequency converter is connected with a driving roller driving motor. Computer optimum belt speed
Figure BDA0002303278600000093
Optimum acceleration am+1The number of turns of the stepping motor and the rotating direction of the stepping motor are transmitted to the PLC, and the PLC generates matched pulses to control the stepping motor according to the number of turns of the stepping motor and the rotating direction of the stepping motor. After the adjustment of the stepping motor is finished, the PLC is used for adjusting the optimal belt speed
Figure BDA0002303278600000094
Optimum acceleration am+1Outputting corresponding control signals to a frequency converter so as to drive a driving roller driving motor to realize optimal acceleration am+1Speed regulation is carried out to achieve the optimal belt speed
Figure BDA0002303278600000095
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the protection scope of the present invention, and although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims (4)

1. A rigid-flexible coupling belt conveyor tension cooperative control method is characterized by comprising the following steps:
step 1, arranging a laser scanner for collecting instantaneous sectional area of materials, arranging a rotary encoder for collecting instantaneous speed of a conveying belt, arranging a tension sensor for collecting tension of an upper conveying belt and a lower conveying belt close to a driving roller,
step 2, when the running state of the conveyer belt is stable and the materials are conveyed, instantly intercepting the collected materials in a continuous sampling periodArea Sm(t)n1Instantaneous speed v of the conveyor beltm(t)jUpper belt tension F near the drive drumU(t)mAnd lower belt tension F near the drive rollerD(t)mWherein n1 is the sequence number of the instantaneous sectional area of the material collected in time sequence in the current collection period, m is the sequence number of the current sampling period, j is the sequence number of the instantaneous sectional area of the material collected in time sequence in the current collection period, and the collection starting time is ta，
Step 3, calculating the average sectional area of the materials in the current acquisition period
Figure FDA0002303278590000011
Step 4, calculating the average belt speed of the conveying belt in the current acquisition period
Figure FDA0002303278590000012
Step 5, calculating the average material flow in the current acquisition period
Figure FDA0002303278590000013
Step 6, average material transportation amount q per unit length in the current acquisition periodm，
Figure FDA0002303278590000014
Wherein rho is the density of the material, T is the time length of the acquisition period,
step 7, calculating the optimal belt speed of the next sampling period of speed regulation
Figure FDA0002303278590000015
The method specifically comprises the following steps:
step 7.1, establishing a target prediction model:
Figure FDA0002303278590000016
Figure FDA0002303278590000017
Figure FDA0002303278590000019
Figure FDA00023032785900000110
n is the target coefficient, Pm+1The total power consumed in the next sampling period for the speed regulation of the conveyer belt, and C is the friction coefficient of the conveyer belt; k is the total length of the conveyor; g is the acceleration of gravity; m isR、mLThe mass of a carrier roller of the conveying belt and the mass of the conveying belt respectively, α is the inclination angle of the conveying belt, H is the rising height of the material on the conveying belt in the next sampling period of the speed regulation of the conveying belt, f is the friction coefficient between the conveying belt and the driving roller,
step 7.2, finding the maximum value of the target coefficient N
Figure FDA0002303278590000021
If it is
Figure FDA0002303278590000022
The optimal belt speed for the next sampling period of belt speed regulation is
Figure FDA0002303278590000023
If it is
Figure FDA0002303278590000024
Then will be
Figure FDA0002303278590000025
Reassign value as vmaxAs the optimal belt speed for the next sampling period of belt speed regulation.
2. A coordinated rigid-flexible coupled belt conveyor tension control method as claimed in claim 1, further comprising the steps of:
step 8, determining the optimal acceleration a in the next sampling period of speed regulationm+1The method specifically comprises the following steps:
step 8.1, according to the instantaneous speed of the last conveying belt acquired in the current acquisition period obtained in the step 4 and the optimal belt speed of the next sampling period of the speed regulation obtained in the step 7The absolute value of the difference value of (1) is used as the absolute value of the speed regulation difference delta v;
step 8.2, the optimal acceleration a in the next sampling period of speed regulationm+1Is composed of
Figure FDA0002303278590000027
Wherein, tcThe starting time of the driving roller driving motor is pi, which is the circumferential rate.
3. A coordinated rigid-flexible coupled belt conveyor tension control method as claimed in claim 2, further comprising the steps of:
step 9, determining the distance that the driving roller needs to move, specifically:
step 9.1, calculate Fg(t)m＝FU(t)m-FD(t)m；
Fs＝Fm-mqam+1；
Figure FDA0002303278590000028
FmThe driving force required by the driving roller;
step 9.2, solving the deformation delta S of the conveying belt through the following formula
Figure FDA0002303278590000029
Wherein q isGThe mass of the conveyer belt per unit length, r the radius of the driving roller, α the wrap angle of the conveyer belt to the driving roller, and Y-Fg(t)m，Y0＝Fs，
Step 9.3, the length Δ l of the active roller required to move is 0.5 × Δ S
If Fg(t)m＞FsMoving the driving roller to reduce the tension of the conveying belt;
if Fg(t)m＜FsMoving the driving roller to increase the tension of the conveying belt;
if Fg(t)m＝FsNo moving active roller is required.
4. The cooperative tension control method for rigid-flexible coupled belt conveyors as claimed in claim 1, wherein in the step 3, the average material cross-sectional area in the current collection period
Figure FDA0002303278590000032
Obtained by the following steps:
step 3.1, setting the range of instantaneous sectional area of material [ s ]min，smax]，
Step 3.2, the instantaneous sectional area S of the material collected in the current collection periodm(t)n1And the range [ s ] of the instantaneous sectional area of the material is set as described in the step 3.1min，smax]Comparing, and determining whether the instantaneous cross-sectional area of the material is within the range [ s ]min，smax]Instantaneous cross-sectional area S of material thereinm(t)n1Abandoning, and then setting the instantaneous cross-sectional area of the material within the range [ s ]min，smax]Instantaneous cross-sectional area S of material thereinm(t)n1The maximum value and the minimum value of the material are rounded off to obtain the instantaneous sectional area of the material Sm(t)nN isWithin the range of instantaneous sectional area of material(s)min，smax]And the rearranged serial numbers of the instantaneous sectional areas of the materials with the maximum value and the minimum value are discarded, and the instantaneous sectional area of the material is obtained as Sm(t)nTo obtain the average sectional area of the material in the current acquisition period
Figure FDA0002303278590000031
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CN112298926A (en) * 2020-11-09 2021-02-02 武汉科技大学 Automatic control electric spiral tensioning device and method for belt conveyor
CN115027907A (en) * 2022-04-13 2022-09-09 武汉科技大学 Conveying belt tension cooperative self-adaptive adjusting method based on PID control

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CN109941698A (en) * 2019-04-03 2019-06-28 武汉科技大学 A kind of belt conveyor speed adjusting method considering fatigue rupture
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