CN113108658B - Emulsified base material flow control system and emulsified explosive mixed loading equipment - Google Patents
Emulsified base material flow control system and emulsified explosive mixed loading equipment Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42D—BLASTING
- F42D1/00—Blasting methods or apparatus, e.g. loading or tamping
- F42D1/08—Tamping methods; Methods for loading boreholes with explosives; Apparatus therefor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42D—BLASTING
- F42D3/00—Particular applications of blasting techniques
- F42D3/04—Particular applications of blasting techniques for rock blasting
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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
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses an emulsified base material flow control system and emulsified explosive mixed loading equipment. Wherein, this system includes: the control device, and a rotating speed sensor, a man-machine interaction device and an execution device which are in communication connection with the control device; the execution device comprises: the pump comprises a frequency converter, a motor and a pump body, wherein the motor is driven by the frequency converter and drives the pump body to work; the rotating speed sensor is used for acquiring the running rotating speed of the motor; the human-computer interaction device is used for receiving input parameters; the input parameters at least include: the control device is used for determining a current flow error parameter based on the target flow speed and the running rotating speed, controlling the output frequency of the frequency converter based on the flow error parameter, and then driving the motor to drive the pump body to work. The stable output of the emulsified base based on the input target flow rate can be realized, thereby facilitating the accurate flow control of the emulsified base.
Description
Technical Field
The invention relates to the technical field of emulsion explosive mixed loading control, in particular to an emulsion matrix flow control system and emulsion explosive mixed loading equipment.
Background
In mine operation, main operation links include punching, blasting, shovel loading, transportation and the like, in the four operation links, the level of mechanization and automation in the blasting field is low, only a small part of the current blasting loading links are loaded by a loading device, explosives are mainly loaded to blast holes by manpower, the loading efficiency is low, the labor intensity is high, the manpower is a huge test, and the mine development is seriously influenced. With the rapid improvement of scientific and technological development and economic level, the mine urgently needs an underground field charging vehicle to improve the blasting working environment, reduce the labor intensity of field workers and reduce the danger coefficient; the development is towards the direction of digitalized, networked and intelligent mines.
With the continuous development of the field mixed loading technology of the emulsion explosive, the research and development process of the field mixed loading explosive truck is greatly accelerated. The emulsion explosive field mixing technology has the obvious characteristics of high safety, low use cost, convenient operation, high automation degree, stable explosive performance, low comprehensive cost, less blasting toxic gas, small environmental pollution and the like, and the industrial explosive field preparation, field filling and blasting integrated technology becomes the development trend of the current industrial explosive production technology.
The on-site mixed loading of the emulsion explosive is mainly divided into three parts, namely a resistance reducing agent, a sensitizing agent and an emulsion explosive matrix, the emulsion explosive matrix is only a semi-finished explosive and can form explosive loaded by blasting only after being mixed and reacted with the sensitizing agent and the resistance reducing agent, and the quality and the blasting effect of the generated explosive can be influenced by the proportion of the three materials. The on-site mixed loading explosive truck integrates preparation, on-site loading and blasting, output control of the resistance reducing agent, the sensitizing agent and the emulsion explosive matrix is realized by adjusting the rotating speed of the motor in the preparation process, and the loading speed and the receiving and sending speed of the guide pipe are matched by calculating the output of the explosive and adjusting the rotating speed of the motor of the pipe coiling and feeding device during loading. The implementation of the above functions will depend on the flow data of the friction reducer, the sensitizer and the emulsion explosive matrix. The resistance reducing agent and the sensitizing agent belong to a liquid state, flow data can be measured by a flow sensor, the emulsion explosive matrix belongs to a colloid state, and the existing flow sensor is difficult to measure the colloid flow. In order to improve the blasting effect and the charging performance of a field mixed charging truck, the key problem of detecting the flow of the emulsified base material needs to be solved urgently.
Disclosure of Invention
In view of this, the embodiment of the invention provides an emulsified base material flow control system and an emulsified explosive mixed loading device, aiming at accurately measuring the flow of an emulsified base material, improving the loading performance of a field mixed loading truck and facilitating the statistics and management of the emulsified explosive.
The technical scheme of the embodiment of the invention is realized as follows:
in a first aspect, an embodiment of the present invention provides an emulsified base flow control system, including: the control device, and a rotating speed sensor, a man-machine interaction device and an execution device which are in communication connection with the control device;
the execution device comprises: the pump comprises a frequency converter, a motor and a pump body, wherein the motor is driven by the frequency converter and drives the pump body to work;
the rotating speed sensor is used for acquiring the running rotating speed of the motor;
the human-computer interaction device is used for receiving input parameters;
the input parameters at least include: the control device is used for determining a current flow error parameter based on the target flow rate and the operating rotating speed, controlling the output frequency of the frequency converter based on the flow error parameter, and further driving the motor to drive the pump body to work.
In some embodiments, the flow error parameter comprises: a flow error that is a difference between the target flow rate and a current flow rate determined based on the operating rotational speed, and a flow error variation that is a derivative of the difference with respect to time; based on flow error parameter control the output frequency of converter, and then drive the motor drives pump body work includes:
and taking the flow error and the flow error variation as input parameters of fuzzy Proportional Integral Derivative (PID) control, outputting corresponding voltage based on the fuzzy PID control to control the frequency converter to output corresponding frequency to control the motor to operate, and driving the pump body to work by the motor.
In some embodiments, the control device is further configured to determine a conversion relationship between an operating speed of the motor and a flow rate of the pump body based on historical operating parameters;
the control device determines the current flow rate of the pump body based on the conversion relation and the running rotating speed;
wherein the historical operating parameters include at least: the input set frequency value of the frequency converter, the detected working frequency value of the frequency converter in the working process, the weight of the emulsified substrate and the voltage value for driving the frequency converter to work.
In some embodiments, the control device is further configured to adjust fuzzy rule parameters of the fuzzy PID control based on simulation control, and determine final proportional coefficients, integral coefficients, and differential coefficients.
In some embodiments, the control device comprises a PLC (Programmable Logic Controller) Controller, the fuzzy rule parameters being configured to the PLC Controller; and the PLC controller obtains the proportional coefficient, the integral coefficient and the differential coefficient through a fuzzy algorithm based on the flow error and the flow error variable quantity, and controls and outputs voltage for driving the frequency converter to work based on fuzzy PID.
In some embodiments, the PLC controller further determines the flow rate of the pump body based on the operating speed of the motor collected by the speed sensor and the conversion relationship, and converts the operating speed to obtain the flow rate of the emulsified base.
In some embodiments, the human-computer interaction device is further configured to display a flow rate of the emulsified base.
In some embodiments, the pump body is a screw pump.
In a second aspect, the embodiment of the present invention further provides an emulsion explosive mixing and loading device, including the emulsion matrix flow control system according to the embodiment of the present application.
According to the technical scheme provided by the embodiment of the invention, the emulsified base material flow control system comprises: controlling means, rotational speed sensor, man-machine interaction device and final controlling element, final controlling element includes: a frequency converter, a motor and a pump body; aiming at the monitoring of the emulsified base material flow, a rotating speed sensor is adopted to replace a traditional flow sensor, the input target flow speed is received, the current flow error parameter is determined based on the target flow speed and the running rotating speed, the output frequency of a frequency converter is controlled based on the flow error parameter, and then a driving motor drives a pump body to work; the stable output of the emulsified base based on the input target flow rate can be realized, thereby facilitating the accurate flow control of the emulsified base.
Drawings
FIG. 1 is a schematic diagram of an embodiment of an emulsification matrix flow control system of the present invention;
FIG. 2 is a schematic flow diagram of a method for controlling the flow rate of an emulsified base in an exemplary application;
FIG. 3 is a schematic diagram of a fuzzy PID algorithm simulink simulation structure in an application example;
FIG. 4 is a schematic diagram of the effect of fuzzy PID algorithm simulink simulation in an application example;
FIG. 5 is a diagram illustrating the effect of a fuzzy PID algorithm simulink simulation.
Description of reference numerals:
a control device (1); a rotation speed sensor 2; a human-computer interaction device 3;
an execution device 4; a frequency converter 41; a motor 42; a pump body 43.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
In the related art, an emulsion matrix (such as an emulsion explosive matrix) belongs to a colloidal state, and the existing flow sensor is difficult to measure the colloidal flow. However, in the mixed loading application of the emulsion explosive, the emulsion explosive matrix is only a semi-finished explosive, and the explosive can be formed by mixing and reacting with the sensitizer and the resistance reducing agent.
In view of this, in various embodiments of the present invention, there is provided an emulsification matrix flow control system comprising: controlling means, speed sensor, human-computer interaction device and final controlling element, final controlling element includes: a frequency converter, a motor and a pump body; aiming at the monitoring of the emulsified base material flow, a rotating speed sensor is adopted to replace a traditional flow sensor, the input target flow speed is received, the current flow error parameter is determined based on the target flow speed and the running rotating speed, the output frequency of a frequency converter is controlled based on the flow error parameter, and then a driving motor drives a pump body to work; the stable output of the emulsified base based on the input target flow rate can be realized, thereby facilitating the accurate flow control of the emulsified base.
As shown in fig. 1, an emulsification matrix flow control system according to an embodiment of the present invention includes: the device comprises a control device 1, a rotating speed sensor 2, a man-machine interaction device 3 and an execution device 4. Wherein, the rotating speed sensor 2, the man-machine interaction device 3 and the execution device 4 are all in communication connection with the control device 1. The execution device 4 includes: converter 41, motor 42 and pump body 43, motor 42 is driven by converter 41 and drives pump body 43 work.
The rotation speed sensor 2 is used for acquiring the operation rotation speed of the motor 42, and the rotation speed sensor 2 may acquire the operation rotation speed of the motor, and may employ a rotation coding sensor, for example, a hall sensor or a magnetic induction rotation speed sensor, which is not specifically limited herein.
The human-computer interaction device 3 is used for receiving input parameters. Illustratively, the human-computer interaction device 3 may be a touch screen, a keyboard, a button, a display screen, and the like, which is not particularly limited in this application. In an application example, the human-computer interaction device 3 may adopt an industrial touch screen, so as to receive parameters input by a user and display related output parameters.
Illustratively, the frequency converter 41 may be a Mitsubishi FR-D740 series frequency converter, the motor 42 may be a variable frequency variable speed three-phase asynchronous motor, and the pump body may be a screw pump, for example, a G series single screw pump.
Illustratively, the control device 1 may be a PLC controller that can output an analog voltage, and control the output frequency of the frequency converter 41 based on the output analog voltage. The PLC controller may be connected to the rotation speed sensor 2 through a CAN protocol to receive the operation rotation speed of the motor 42 detected by the rotation speed sensor 2.
Exemplarily, the input parameters comprise at least: the control device 1 is used for determining a current flow error parameter based on the target flow rate and the operating speed, controlling the output frequency of the frequency converter 41 based on the flow error parameter, and driving the motor 42 to drive the pump body 43 to work.
It can be understood that, in the embodiment of the present invention, a rotation speed sensor is used to replace a conventional flow sensor, receive an input target flow speed (a user can reasonably set according to a requirement), determine a current flow error parameter based on the target flow speed and an operation rotation speed, control an output frequency of a frequency converter based on the flow error parameter, and further drive a motor to drive a pump body to work; the stable output of the emulsified base based on the input target flow rate can be realized, thereby facilitating the accurate flow control of the emulsified base.
In some embodiments, the flow error parameters include: a flow error and a flow error variation, the flow error being a difference between the target flow rate and a current flow rate determined based on the operating speed, the flow error variation being a derivative of the difference with respect to time; based on the output frequency of the flow error parameter control converter 41, and then the driving motor 42 drives the pump body 43 to work, including:
the flow error and the flow error variation are used as input parameters of fuzzy Proportional Integral Derivative (PID) control, corresponding voltage is output based on the fuzzy PID control to control the frequency converter 41 to output corresponding frequency to control the motor 42 to operate, and the motor 42 drives the pump body 43 to work.
It can be understood that the control device can convert the current flow speed of the pump body based on the current operation rotation speed of the motor, obtain a flow error based on the interpolation of the target flow speed and the current flow speed, obtain a flow error variable quantity based on the derivative of the flow error with respect to time, use the flow error and the flow error variable quantity as input parameters of the fuzzy PID control, and output corresponding voltage frequency converters based on the fuzzy PID control, and the frequency converters can output corresponding PWM (pulse width modulation) signals based on the driving voltage to control the motor to operate, so as to drive the pump body to stably work and output constantly.
In some embodiments, the control device 1 is also configured to determine, based on historical operating parameters, a conversion relationship between the operating speed of the motor 42 and the flow rate of the pump body 43;
the control device 1 determines the current flow rate of the pump body 43 based on the conversion relation and the operating rotational speed;
wherein, historical operating parameters at least include: the input set frequency value of the frequency converter, the working frequency value of the frequency converter detected in the working process, the weight of the emulsified base material and the voltage value for driving the frequency converter to work.
Illustratively, the rotation speed data x collected by a rotation speed sensor is recorded, the frequency data f of a frequency converter is recorded, and the frequency data f input by an industrial screen is recordedinUsing the data to pass u ═ α finCalculating the output voltage u of the PLC by the formula of + beta, recording the weight W of the emulsified base material output in each test and the test time delta t, and calculating the actual flow value in each test by using the data
Correcting parameters alpha and beta of the PLC output voltage and the frequency expression u of the frequency converter, namely alpha f + beta by using the frequency data f of the frequency converter and the voltage u of the PLC so that the actual frequency f of the frequency converter approaches the frequency f input by the industrial screenin. Obtaining a flow value by using the rotation speed data x and the actual flow value y through least square analysis
Relational expression with the rotation speed x (corresponding to the foregoing conversion relationship):
in some embodiments, the control device 1 is further configured to adjust fuzzy rule parameters of the fuzzy PID control based on the simulation control, and determine final proportional coefficients, integral coefficients, and differential coefficients.
Illustratively, the transfer function of the system is derived from the input frequency and output frequency data as
Carrying out simulation correction on a fuzzy PID fuzzy table through simulink, and taking a desired flow value as an input parameterCalculating flow error, fuzzifying the variation of flow error to obtain proportional coefficient KpIntegral coefficient KiDifferential coefficient KdAnd the PLC calculates the output voltage of the current PLC through the three parameters, and controls the variable frequency output frequency through the output voltage to ensure that the rotating speed of the motor is constant.
Illustratively, the basic discourse domain of three parameters, flow error variance and PID, can be converted into a fuzzy domain, which includes the following 7 fuzzy subsets: NB, NM, NS, ZE, PS, PM, PB, where N represents negative, P represents positive, ZE represents 0, S represents small, M represents medium, B represents large; from the 7 fuzzy subsets and data, 49 fuzzy rules can be determined. After fuzzy reasoning, resolving fuzzy to obtain a final proportionality coefficient, an integral coefficient and a differential coefficient, and then calculating an output voltage value of the PLC by using PID.
In some embodiments, the control apparatus 1 includes a PLC (Programmable Logic Controller) Controller to which the fuzzy rule parameters are configured; the PLC controller obtains the proportional coefficient, the integral coefficient and the differential coefficient through a fuzzy algorithm based on a flow error and a flow error variable quantity, and outputs a voltage for driving the frequency converter to work based on fuzzy PID control.
In some embodiments, the PLC controller further determines the flow rate of the pump body 43 based on the operation speed of the motor 42 collected by the speed sensor 2 and the conversion relationship, and converts the determined flow rate to obtain the flow rate of the emulsified base material.
In some embodiments, the human-computer interaction device 3 is also used to display the flow rate of the emulsified base.
In some embodiments, the pump body 43 is a screw pump.
The operation of the emulsion matrix flow control system of embodiments of the present invention is illustrated below with reference to an application example:
as shown in fig. 2, the method comprises the following steps:
step S1: and (6) data acquisition and analysis.
Recording the rotational speed data x collected by the rotational speed sensor, recording the frequency converterFrequency data f, recording frequency data f input by industrial touch screeninUsing the above data, by u ═ α finCalculating the voltage u of the PLC controller by the formula of beta, recording the weight W of the emulsified base material output in each test and the test time delta t, and calculating the actual flow value in each test by using the data
Parameters alpha and beta of the PLC output voltage and the frequency expression u of the frequency converter are corrected by using the frequency data f of the frequency converter and the voltage u of the PLC so that the actual frequency data f of the frequency converter approaches the frequency data f input by the industrial touch screenin. Based on the rotating speed data x and the actual flow value y, the flow value is obtained through least square analysis
Relational expression with rotation speed x:
exemplarily, the step S1 includes the following sub-steps:
s1.1: acquiring the current motor rotating speed through a rotating speed sensor, and receiving records by using a PLC (programmable logic controller);
s1.2: the motor rotating speed data and the weight data of the emulsified base material output in each test are sent to the PC end through the CAN protocol and provided for the test fuzzy table in the step S2 through the PLC;
s1.3: if the fuzzy table is already determined and no adjustment is needed, step S1.2 and step S2 may be skipped;
s1.4: inputting a frequency value through an industrial touch screen, calculating corresponding voltage value data by the PLC, inputting the actual output frequency of the current frequency converter through the industrial touch screen, and performing Lagrange interpolation correction parameters by the PLC to obtain the relation between the actual PLC output voltage and the frequency converter output frequency;
s1.5: and performing least square fitting on the rotating speed data acquired by the rotating speed sensor and the emulsified base weight data output by the test to obtain a relation between the actual flow value and the rotating speed.
Step S2: and determining parameters such as a fuzzy PID algorithm fuzzy table and the like.
Obtaining a transfer function of the system from the input frequency and the output frequency data as
The fuzzy PID fuzzy table is subjected to simulation correction through simulink, a flow error and a flow error variable quantity are calculated by taking an expected flow value as an input parameter, a Kp parameter, a Ki parameter and a Kd parameter are obtained through fuzzification design, the output voltage of the current PLC is calculated through the three parameters, and the PLC controls the variable frequency output frequency through the output voltage to ensure that the rotating speed of the motor is constant.
Firstly, converting basic domains of flow error, flow error variation and PID into fuzzy domains, wherein the fuzzy domains comprise the following 7 fuzzy subsets: NB, NM, NS, ZE, PS, PM, PB, where N represents negative, P represents positive, ZE represents 0, S represents small, M represents medium, B represents large; based on the 7 fuzzy subsets and data, 49 fuzzy rules are determined. After fuzzy reasoning, resolving fuzzy to obtain a final proportionality coefficient, an integral coefficient and a differential coefficient, and then calculating an output voltage value of the PLC by using PID.
Exemplarily, the step S2 includes the following sub-steps:
s2.1: firstly, building a system block diagram through simulink, and building a fuzzy PID and PID system as shown in FIG. 3, wherein the input of the fuzzy PID system is error and error variation, the output is a parameter of a PID actuator, and the PID actuator outputs a voltage value; the input of the PID system is error, and the output is voltage value.
S2.2: establishing a Fuzzy table and a Fuzzy rule through a Fuzzy module; the following table is a fuzzy rule summarized based on data and test experience:
table 1: fuzzy rule table of Kp, Ki and Kd
S2.3: test data is input, and output results are analyzed.
FIG. 4 shows the output situation when the amplitude is expected to be 1 and the duty ratio is 1/2 square waves, passing through the fuzzy PID control system and the PID control system, and it can be seen from the figure that the output following performance is good through the fuzzy PID control system, and there is no overshoot linearity, and the output can quickly and stably reach the expected value; fig. 5 is a partial enlarged view of fig. 4, and it can be seen from the figure that under the same initial parameter condition, the output of the PID system has overshoot phenomenon and will reach the expected value through oscillation, and compared with the fuzzy PID control system, the output of the fuzzy PID control system can reach the expected value more quickly. Therefore, fuzzy PID control provides guarantee for the accuracy of emulsified base flow measurement.
Step S3: and writing the fuzzy PID algorithm and the parameters into the PLC.
The quantization factor K when the fuzzy table in the fuzzy PID algorithm of the step S2 is designede，KecScale factor Kp,Ki，KdAnd the fuzzy table is used for calculating parameters such as membership function, Kp, Ki, Kd updating formula and initial value and writing the parameters into the PLC.
Exemplarily, the step S3 includes the following sub-steps:
s3.1: calculating a quantization factor and a scale factor and writing the quantization factor and the scale factor into a PLC data register; basic discourse domain of error e [ a1, b1 ]]Basic discourse domain of error rate of change ec [ a2, b2 ]]Fuzzy domain [ -n, n]Quantization factor Ke，Kec：
p fundamental discourse [ a2, b2]I basic discourse [ a3, b3 ]]D basic discourse [ a4, b4]Scale factor Kp,Ki,KdThe calculation formula is as follows:
s3.2: selecting a triangular membership function, and calculating the membership degree; the triangular membership function expression is:
the triangle shape is determined by parameters a, b and c, wherein b is the x-axis coordinate corresponding to the vertex, and a and c are the left vertex and the right vertex respectively.
S3.3: writing the fuzzy table obtained in the step S2 into a PLC controller;
s3.4: writing the fuzzy PID parameter updating expression into the PLC; the expression is as follows:
in the formula, Kp, Ki and Kd are fuzzification calculation to obtain self-adaptive PID parameters, P0,I0,D0Is the initial value of the PID parameter.
S3.5: and adding a PID controller. And calculating the output voltage value of the PLC by utilizing a PID calculation formula:
where U is the voltage output, P, I, D are the results obtained in S3.4, e (k) is the current flow error, and ec (k) is the current error variation.
Step S4: and inputting target flow through a human-computer interaction module, and calculating errors and error variation.
Inputting a target flow rate through a human-computer interaction module
Inputting the collected rotating speed to a PLC controller, and calculating the current by the PLCFlow error of
And amount of flow error variation
Step S5: and taking the error and the error variable quantity as input parameters, obtaining a self-adaptive PID parameter through fuzzification calculation, and controlling the motor to stably operate.
The flow error and the flow error variable quantity are used as input parameters of a fuzzy PID controller, self-adaptive PID parameters are obtained through calculation of a fuzzification control algorithm designed in S2, corresponding voltage is controlled and output through the control of the PID algorithm to control the frequency corresponding to the output of a frequency converter to control the operation of a motor, and the motor drives a screw pump to work stably and output constantly.
Step S6: and calculating the current emulsifying base flow and the accumulated emulsifying base output through the conclusion of the data analysis of the step S1.
The PLC calculates the current flow of the emulsified base in real time through the collected rotating speed data and the relational expression of the flow and the rotating speed obtained by S1
Then pass through
The cumulative emulsion matrix output was calculated and displayed on an industrial touch screen.
The embodiment of the invention also provides emulsion explosive mixed loading equipment which comprises the emulsion matrix flow control system in the embodiment of the application. The specific process of controlling the flow rate of the emulsified base can refer to the foregoing description, and will not be described in detail herein. The emulsified base material flow control system based on the embodiment of the application can realize the accurate control of the flow of the emulsified base material, thereby meeting the requirements of the quality and the blasting effect of the emulsified explosive.
It should be noted that: "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
In addition, the technical solutions described in the embodiments of the present invention may be arbitrarily combined without conflict.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. An emulsification matrix flow control system comprising: the control device, and a rotating speed sensor, a man-machine interaction device and an execution device which are in communication connection with the control device;
the execution device comprises: the pump comprises a frequency converter, a motor and a pump body, wherein the motor is driven by the frequency converter and drives the pump body to work;
the rotating speed sensor is used for acquiring the running rotating speed of the motor;
the human-computer interaction device is used for receiving input parameters;
the input parameters at least include: the control device is used for determining a current flow error parameter based on the target flow rate and the operating rotating speed, controlling the output frequency of the frequency converter based on the flow error parameter and further driving the motor to drive the pump body to work; the flow error parameters include: a flow error that is a difference between the target flow rate and a current flow rate determined based on the operating rotational speed, and a flow error variation that is a derivative of the difference with respect to time; based on flow error parameter control the output frequency of converter, and then drive the motor drives pump body work includes:
taking the flow error and the flow error variation as input parameters of fuzzy PID control, and outputting corresponding voltage based on the fuzzy PID control to control the frequency converter to output corresponding frequency to control the motor to operate, wherein the motor drives the pump body to work;
the control device is further used for determining a conversion relation between the running rotating speed of the motor and the flow rate of the pump body based on historical working parameters;
the control device determines the current flow rate of the pump body based on the conversion relation and the running rotating speed;
wherein the historical operating parameters include at least: inputting a set frequency value of the frequency converter, a working frequency value of the frequency converter detected in the working process, the weight of the emulsified substrate and a voltage value for driving the frequency converter to work.
2. The emulsification matrix flow control system of claim 1,
the control device is also used for adjusting fuzzy rule parameters of the fuzzy PID control based on simulation control, and determining final proportional coefficient, integral coefficient and differential coefficient.
3. The emulsification matrix flow control system of claim 2,
the control device comprises a PLC controller to which the fuzzy rule parameters are configured; and the PLC controller obtains the proportional coefficient, the integral coefficient and the differential coefficient through a fuzzy algorithm based on the flow error and the flow error variable quantity, and controls and outputs voltage for driving the frequency converter to work based on fuzzy PID.
4. The emulsification matrix flow control system of claim 3,
the PLC also determines the flow rate of the pump body based on the running speed of the motor acquired by the speed sensor and the conversion relation, and obtains the flow of the emulsified base material through conversion.
5. The emulsification matrix flow control system of claim 4,
the human-computer interaction device is also used for displaying the flow rate of the emulsified base.
6. The emulsification matrix flow control system of claim 1,
the pump body is a screw pump.
7. An emulsion explosive charging apparatus comprising the emulsion matrix flow control system according to any one of claims 1 to 6.
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|---|---|---|---|---|
| CN1062984A (en) * | 1990-12-29 | 1992-07-22 | 长沙矿山研究院 | Microcomputer metering control device of emulsion explosive mixed loading vehicle |
| US7925385B2 (en) * | 2006-03-08 | 2011-04-12 | Itt Manufacturing Enterprises, Inc | Method for optimizing valve position and pump speed in a PID control valve system without the use of external signals |
| CN202599262U (en) * | 2012-05-23 | 2012-12-12 | 湖南金能科技股份有限公司 | Full-automatic control system for on-site mixed lading emulsion explosive vehicle |
| CN205103652U (en) * | 2015-11-12 | 2016-03-23 | 葛洲坝易普力新疆爆破工程有限公司 | On --spot mixing -Charging explosive control system |
| CN112390694B (en) * | 2020-11-12 | 2021-11-23 | 中国葛洲坝集团易普力股份有限公司 | Dry operation protection device and method for mixed emulsion explosive truck |
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