CN110950002B - Operation control method of high-voltage variable-frequency main coal flow intelligent conveying system - Google Patents
Operation control method of high-voltage variable-frequency main coal flow intelligent conveying system Download PDFInfo
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- CN110950002B CN110950002B CN201910985160.9A CN201910985160A CN110950002B CN 110950002 B CN110950002 B CN 110950002B CN 201910985160 A CN201910985160 A CN 201910985160A CN 110950002 B CN110950002 B CN 110950002B
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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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
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The invention discloses an operation control method of a high-voltage frequency conversion main coal flow intelligent conveying system, wherein the high-voltage frequency conversion main coal flow intelligent conveying system comprises a torque detection system, a control system and a high-voltage frequency conversion transmission system, and the high-voltage frequency conversion transmission system comprises a conveying belt driven by a plurality of frequency conversion motors; the torque detection system sends a torque sampling signal of the variable frequency motor to the control system, the control system converts the torque sampling signal into torque data, estimates the coal amount of the current conveyor belt load according to the torque data, controls the high-voltage variable frequency transmission system according to the torque data and/or the estimated coal amount, and adjusts the running speed of the conveyor belt. The coal flow conveying speed adjusting device has the advantages of sensitive adjustment, low failure rate, good energy-saving effect of the system and reduction of the operation cost of equipment.
Description
[ technical field ]
The invention relates to a high-voltage frequency conversion main coal flow intelligent conveying system, in particular to an operation control method of the high-voltage frequency conversion main coal flow intelligent conveying system.
[ background art ]
The mining high-voltage frequency converter is widely applied to underground coal mine conveying equipment, is an efficient, energy-saving and environment-friendly electrical product, and plays an important role in the coal industry. The existing underground coal mine conveying equipment is basically high-power equipment, and the consumed electric quantity is very large, so that energy conservation and consumption reduction are always important topics concerned for many years.
The invention with the patent number of CN201310503153.3 discloses a scraper conveyor under a coal mine well and a chain breakage prevention control method. The machine head and the machine tail of the scraper conveyor are respectively provided with an anti-chain-breaking controller, and the anti-chain-breaking controller of the machine head and the anti-chain-breaking controller of the machine tail respectively detect the torque of a machine head motor and the torque of a machine tail motor; when the torque of the head motor or the tail motor exceeds a set value, the chain breakage preventing controller which detects that the torque exceeds the set value gives an alarm and informs the other chain breakage preventing controller; the chain breakage preventing controller of the machine head and the chain breakage preventing controller of the machine tail respectively control the frequency converter of the machine head and the frequency converter of the machine tail to enable the motor of the machine head and the motor of the machine tail to be stopped simultaneously.
As described above, the underground coal mine conveying equipment generally uses two motors or more than two motors to drive the same section of belt (chain belt) to convey the coal mine, which has very strict requirements on the control performance of the whole system, some equipment uses coal flow detection to control the adjustment of the conveying speed of the coal flow, but the reaction of the adjustment of the conveying speed is not fast enough due to the inconsistent coal amount at each position on the whole section of belt, the fast time duration is too slow or the slow time duration is too fast, and some equipment even only uses manual adjustment alone, often is in a long-term unadjusted state, and the conveying speed does not meet the requirements; the conveying speed of the coal stream of such conveying systems is therefore adjusted to be a technical problem. Due to the severe underground use environment, the service life of equipment with the conveying speed which cannot meet the requirement is shortened seriously under the condition of long-term use, and the cost caused by equipment shutdown and maintenance or equipment loss is high.
[ summary of the invention ]
The invention aims to solve the technical problem of providing an intelligent high-voltage frequency conversion main coal flow conveying system with sensitive conveying speed adjustment and low failure rate.
In order to solve the technical problems, the invention adopts the technical scheme that the control method of the high-voltage frequency conversion main coal flow intelligent conveying system comprises a torque detection system, a control system and a high-voltage frequency conversion transmission system, wherein the high-voltage frequency conversion transmission system comprises a conveying belt driven by a plurality of frequency conversion motors; the torque detection system sends a torque sampling signal of the variable frequency motor to the control system, the control system converts the torque sampling signal into torque data, estimates the coal amount of the current conveyor belt load according to the torque data, controls the high-voltage variable frequency transmission system according to the torque data and/or the estimated coal amount, and adjusts the running speed of the conveyor belt.
In the operation control method, the operation speed zone of the conveying belt is divided into N speed zones in advance, wherein N is a positive integer greater than 1; each speed interval is respectively corresponding to the judgment time of the coal quantity value and the conversion speed of the conveying belt; when the conveying belt runs in a certain speed interval, when the estimated coal amount calculated by the control system is continuously smaller than the coal amount value of the speed interval within the judging time of the speed interval, the control system outputs a signal to control the conveying belt to decelerate to a lower-level speed interval to run, and if the speed interval is the lowest speed interval, the conveying belt keeps running in the lowest speed interval; when the estimated coal amount calculated by the control system is continuously larger than the coal amount value of the speed interval within the judgment time of the speed interval, the control system outputs a signal to control the conveying belt to accelerate to a higher speed interval for running, and if the speed interval is the highest speed interval, the conveying belt keeps running in the highest speed interval.
In the above operation control method, the estimated coal amount is calculated according to the following formula:
Y＝kX+C
y: estimating the coal amount: the current coal quantity borne by the whole conveying belt;
k: estimating coefficients: the set value is determined by the density of the coal and the length and width of the conveying belt;
x: torque: the sum of the torques of all driving motors of the conveying belt;
c: compensation amount: and setting after comparing the actual coal output with the estimated coal amount.
The operation control method dynamically adjusts the judging time of the switching speed of the conveying belt, the judging time is shorter when the coal amount changes from small to large, and the judging time is correspondingly longer when the coal amount changes from large to small.
In the operation control method, one of the plurality of variable frequency motors is set as a master machine, and the rest are slave machines; when the torque of the slave is lower than that of the master, the control system controls the slave to increase the torque; when the torque of the slave is higher than that of the master, the control system controls the slave to reduce the torque.
In the operation control method described above, the adjusted slave torque is current slave output torque x (1+ Δ), and Δ is k1 × Δ 1+ Δ y;
Δ: dynamic difference in%;
k 1: adjusting the coefficient;
Δ 1: the ratio of the dynamic torque difference between the master and the slave to the difference of the rated load torque minus the no-load torque;
Δ y: the difference value compensation ratio of the coal transportation quantity is expressed in unit.
The coal flow conveying speed adjusting device has the advantages of sensitive adjustment, low failure rate, good energy-saving effect of the system and reduced operation cost of equipment.
[ description of the drawings ]
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic block diagram of a high-voltage variable-frequency main coal flow intelligent conveying system according to an embodiment of the invention.
FIG. 2 is a logic block diagram of torque control of the high-voltage variable-frequency main coal flow intelligent conveying system according to the embodiment of the invention.
[ detailed description of the invention ]
As shown in fig. 1, the mining high-voltage frequency-conversion main coal flow conveying system according to the embodiment of the present invention is driven by a 10kV (6kV) high-voltage frequency converter, and includes a torque detection system, an intelligent control system, and a high-voltage frequency-conversion transmission system.
The torque detection system, the intelligent control system and the high-voltage variable-frequency transmission system are all arranged in the mining explosion-proof and intrinsically safe box body, and the main working principle is as follows:
the output torque signal of the motor output by the torque detection system is sampled and then sent to the intelligent control system, the intelligent control system generates the signal into calculable torque data, the size of the coal quantity loaded by the current conveying belt is estimated and generated according to the group of data, the calculated and estimated coal quantity is compared with the corresponding coal quantity set by the current system, and finally the output of the current system is controlled according to the torque and/or the estimated coal quantity, so that the high-voltage variable-frequency transmission system is controlled, and the purposes of stabilizing the operation of the system and saving energy of the system are achieved.
In order to complete the control function, a multi-motor torque balance control method and a coal quantity estimation automatic energy-saving operation control method are adopted, the multi-motor torque balance control method mainly controls the output of the motor in the operation process, the coal quantity estimation automatic energy-saving operation control method mainly controls the overall operation speed of the system, the two controls are complementary to each other, the real-time control of the whole system is jointly completed, and the long-term and reliable operation of the system is ensured.
Coal quantity estimation and automatic energy-saving operation control method
The estimated coal amount is calculated in real time in the intelligent control system, and the estimation formula is as follows:
Y＝kX+C
y: estimating the coal quantity (namely the coal quantity currently carried by the whole conveyor belt);
k: estimation coefficients (set values, determined by the density of the coal, the length and width of the conveyor belt);
x: torque (sum of all motor torques in the system);
c: and (4) compensating quantity (set after the actual coal output quantity is compared with the estimated coal quantity on site).
The adjustment control method for estimating the coal amount in real time is as follows (taking setting three-stage speed as an example):
the system sets three-stage speeds for the conveyer belt in advance, wherein the three speeds are respectively low speed, medium speed and high speed, and three coal quantity values and determination time of conversion speed under the three-stage speeds are set corresponding to the three speeds respectively.
When the system runs at a low speed, the estimated coal amount calculated by the intelligent control system is continuously less than or equal to the low-speed coal amount value set in the low-speed interval within the corresponding judgment time, the intelligent control system outputs a signal to control the running rotating speed of the system to be kept at the low speed for running, and when the estimated coal amount calculated by the intelligent control system is continuously greater than the low-speed coal amount value set in the low-speed interval within the corresponding judgment time, the intelligent control system outputs a signal to control the system to be accelerated to run at a medium speed.
When the system runs at a medium speed, the estimated coal amount calculated by the intelligent control system is continuously smaller than the set medium-speed coal amount value in the medium-speed interval within the corresponding judgment time, the intelligent control system outputs a signal to control the running rotating speed of the system to be decelerated to a low-speed running, and when the estimated coal amount calculated by the intelligent control system is continuously larger than the set medium-speed coal amount value in the medium-speed interval within the corresponding judgment time, the intelligent control system outputs a signal to control the system to be accelerated to the high-speed running.
When the system is in high-speed operation, the estimated coal amount calculated by the intelligent control system is continuously smaller than the set high-speed coal amount value in the high-speed interval within the corresponding judgment time, the intelligent control system outputs a signal to control the operation rotating speed of the system to be decelerated to medium-speed operation, and when the estimated coal amount calculated by the intelligent control system is continuously equal to or larger than the set high-speed coal amount in the high-speed interval within the corresponding judgment time of speed change, the intelligent control system outputs a signal to control the system to be kept in high-speed operation.
When the coal quantity is increased, the system is required to respond as fast as possible, when the coal quantity is decreased, the system is instantaneously decreased and continuously decreased, if the quantity is not increased any more, the system is required to respond faster, and if the quantity is not increased any more continuously, the system is required to respond slower.
Therefore, after the determination time for switching the speed is set at three speeds in the system, in each operation, in order to ensure that the system has a faster speed response, the determination time for the speed change of the rotating speed from the lower speed to the higher speed is shorter, and the determination time for the speed change from the higher speed to the lower speed is longer, the determination time for the speed change in the speed reduction is automatically adjusted by the system according to the real-time estimated coal amount, the faster the coal amount is changed from small to large, the shorter the determination time for the speed change is, and the slower the coal amount is changed from large to small, the longer the determination time for the speed change is.
This dynamic adjustment of the decision time for the speed change results in a better energy saving without further influence on the coal transport quantity.
The problem that the energy-saving effect of the system is not obvious is solved by estimating the coal load of the system to adjust the running speed of the system, all the coal load on a conveying belt of the whole system is estimated, so that the problem that the adjustment is not timely or long-time and no adjustment is caused by different coal quantities at all sections of the conveying belt in coal flow detection is solved, the whole process is automatic adjustment, manual interference is not needed after parameters are set, and the system runs in a fully automatic energy-saving mode.
Two-motor and multi-motor torque balance control method
The multi-motor torque balance control method (taking the system as an example that N motors are operated, the system is divided into 1 host and N-1 slave machines, and the setting of the host and the slave machines does not influence the control process):
the dynamic difference Δ is estimated as follows:
Δ＝k1*Δ1+Δy
Δ: dynamic difference
k 1: adjusting coefficient (the adjusting coefficient directly reflects the magnitude of dynamic difference speed regulation amplitude, the parameter is set during field debugging, if the value is set too small, the system dynamic adjustment is too slow, if the value is set too large, the system is easy to generate oscillation, the adjustment is too violent)
Δ 1: load unbalance between master and slave (ratio of dynamic torque difference between master and slave to rated load torque minus no-load torque)
Δ y: the coal conveying quantity difference compensation ratio (the value is a fixed value and is set during field debugging, the value is only set in a slave machine, can be positive compensation or negative compensation, the value of a master machine is default to 0, and the adjustment of the value mainly compensates the error of the speed of a conveying belt caused by the mechanical error between the master machine and the slave machine at the same rotating speed, so that the corresponding coal conveying quantity also has a difference.)
Compensated slave torque x (1+ Δ) is the current slave output torque
In the running process of the system, the intelligent control system automatically gives out a dynamic delta difference value according to the torque balance condition between the load and the multiple motors and participates in the torque balance control of the multiple motors, and the control process is shown in figure 2. When the torque of the slave machine is lower than that of the main machine, the intelligent control system controls the slave machine to increase the output torque properly by the output signal, and when the torque of the slave machine is higher than that of the main machine, the intelligent control system controls the slave machine to decrease the output torque properly by the output signal.
The adjustment amplitude, the adjustment coefficient, the acceleration and deceleration time of the system, the speed of each section of automatic energy-saving operation, the coal quantity value corresponding to each section of speed and the judgment time of corresponding speed change in the whole system can be set with different parameters according to different fields.
The multi-motor torque balance control method effectively solves the problem of unbalanced output of the master motor and the slave motor, and can effectively solve the problem of multi-motor torque balance precision under the condition of stable speed by adopting a dynamic difference delta compensation algorithm when load disturbance occurs and if the torque imbalance among the multiple motors occurs in a multi-motor torque balance operation system.
According to the embodiment of the invention, torque detection participation control is added in system control, and the sampled torque signal is calculated in the intelligent data calculation module and then is controlled in real time, so that the output of the motor is guaranteed as a control target in the acceleration process, the deceleration process or the speed stabilization process, the problem that the energy saving effect of equipment is not remarkable in use is solved, meanwhile, the system is adjusted more quickly and more stably in operation, the impact on the equipment caused by adjustment can be basically ignored, the energy saving effect of the whole system is obvious, the impact on the equipment in operation is greatly reduced, the problems of serious electric energy waste and serious equipment loss of most of underground coal mine equipment are fully solved, and the operation cost of users of the equipment is reduced. Thereby ensuring that the whole system can operate stably and efficiently for a long time.
Claims (4)
1. The operation control method of the high-voltage frequency conversion main coal flow intelligent conveying system is characterized in that the high-voltage frequency conversion main coal flow intelligent conveying system comprises a torque detection system, a control system and a high-voltage frequency conversion transmission system, wherein the high-voltage frequency conversion transmission system comprises a conveying belt driven by a plurality of frequency conversion motors; the torque detection system sends a torque sampling signal of the variable frequency motor to the control system, the control system converts the torque sampling signal into torque data, estimates the coal amount loaded on the current conveying belt according to the torque data, controls the high-voltage variable frequency transmission system according to the torque data and/or the estimated coal amount, and adjusts the running speed of the conveying belt;
the estimated coal amount is calculated according to the following formula:
Y＝kX+C
y: estimating the coal amount: the current coal quantity borne by the whole conveying belt;
k: estimating coefficients: the set value is determined by the density of the coal and the length and width of the conveying belt;
x: torque: the sum of the torques of all driving motors of the conveying belt;
c: compensation amount: setting after comparing the actual coal output with the estimated coal amount;
one of the plurality of variable frequency motors is set as a host, and the rest are slaves; when the torque of the slave is lower than that of the master, the control system controls the slave to increase the torque;
the adjusted slave torque is equal to the current slave output torque x (1+ Δ), and Δ is equal to k1 × Δ 1+ Δ y;
Δ: dynamic difference in%;
k 1: adjusting the coefficient;
Δ 1: the ratio of the dynamic torque difference between the master and the slave to the difference of the rated load torque minus the no-load torque;
Δ y: the difference value compensation ratio of the coal transportation quantity is expressed in percentage.
2. The operation control method according to claim 1, characterized in that the operation speed zone of the conveyor belt is divided into N speed sections in advance, N being a positive integer greater than 1; each speed interval is respectively corresponding to the judgment time of the coal quantity value and the conversion speed of the conveying belt; when the conveying belt runs in a certain speed interval, when the estimated coal amount calculated by the control system is continuously smaller than the coal amount value of the speed interval within the judging time of the speed interval, the control system outputs a signal to control the conveying belt to decelerate to a lower-level speed interval to run, and if the speed interval is the lowest speed interval, the conveying belt keeps running in the lowest speed interval; when the estimated coal amount calculated by the control system is continuously larger than the coal amount value of the speed interval within the judgment time of the speed interval, the control system outputs a signal to control the conveying belt to accelerate to the higher speed interval for running, and if the speed interval is the highest speed interval, the conveying belt keeps running in the highest speed interval.
3. The operation control method according to claim 2, wherein the determination time of the switching speed of the conveyor belt is dynamically adjusted, the determination time is shorter as the amount of coal changes from small to large faster, and the determination time is correspondingly longer as the amount of coal changes from large to small slower.
4. The operation control method according to claim 1, wherein the control system controls the slave to reduce the torque when the slave torque is higher than the torque of the master.
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| CN111689170B (en) * | 2020-06-17 | 2021-11-30 | 青岛中加特电气股份有限公司 | Scraper conveyor and self-adaptive speed regulation method thereof |
| CN112340387A (en) * | 2020-09-30 | 2021-02-09 | 中煤科工集团上海有限公司 | Belt conveyor intelligent control system and control method based on machine vision |
| CN113620024B (en) * | 2021-06-21 | 2022-10-25 | 国网浙江省电力有限公司湖州供电公司 | Data-driven multi-drive conveyor torque control method and device |
| CN114013954B (en) * | 2021-12-15 | 2023-08-18 | 国家能源集团乌海能源有限责任公司 | Power automatic balancing method and system based on multi-loop frequency converter of scraper conveyor |
| CN115283122A (en) * | 2022-07-08 | 2022-11-04 | 上海山潜智能科技有限公司 | Speed regulating method of conveyor |
| CN116674957B (en) * | 2023-06-06 | 2024-08-02 | 华能国际电力江苏能源开发有限公司 | Optimization method and system for coal conveying belt drive |
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| CN101898681B (en) * | 2010-08-20 | 2012-04-18 | 上海电器科学研究所（集团）有限公司 | Method for load predicative control of belt conveyor |
| JP2013112483A (en) * | 2011-11-30 | 2013-06-10 | Ube Machinery Corporation Ltd | Control method of belt conveyor device and belt conveyor facility |
| CN104444211B (en) * | 2014-09-30 | 2016-08-10 | 宁夏天地奔牛实业集团有限公司 | The method of underground coal mine Scraper Conveyor in Mining Face intelligent speed-regulating |
| CN204802572U (en) * | 2015-02-13 | 2015-11-25 | 中煤张家口煤矿机械有限责任公司 | Frequency conversion control speed governing type scraper conveyor |
| CN207595938U (en) * | 2017-11-27 | 2018-07-10 | 中国矿业大学银川学院 | It is a kind of can automatic speed regulation rubber conveyer |
| CN108910405B (en) * | 2018-04-13 | 2020-03-17 | 宁夏天地奔牛实业集团有限公司 | Coal seam height control device on underground mining scraper conveyor and working method thereof |
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Effective date of registration: 20220812 Address after: 453600 2 km east of Zhaogu township government, Huixian City, Xinxiang City, Henan Province Patentee after: JIAOZUO COAL (GROUP) XINXIANG ENERGY CO.,LTD. Patentee after: Shenzhen kumak Technology Co.,Ltd. Address before: 453600 2 km east of Zhaogu township government, Huixian City, Xinxiang City, Henan Province Patentee before: JIAOZUO COAL (GROUP) XINXIANG ENERGY CO.,LTD. Patentee before: Shenzhen Cumark New Technology Co.,Ltd. |