CN114261787A - Bulk material rapid quantitative batching control system and method - Google Patents
Bulk material rapid quantitative batching control system and method Download PDFInfo
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Abstract
The invention relates to a bulk material rapid quantitative batching control system and a method, comprising the following steps: the four distribution gates are installed in a buffer bin of a loading station, seven of the eight gates are switch control mode gates, one gate is a linear control mode gate, each switch control mode gate is connected with a switch gate controller, a servo linear gate controller and a switch gate controller are connected with a central computing control unit, a buffer bin material distribution arithmetic unit and an active disturbance rejection controller are arranged in the central computing control unit, and the active disturbance rejection controller is provided with a tracking differential controller, a linear error feedback device and an expansion state observer. The invention monitors the materials above each gate plate, and determines the opening and closing state of each gate plate in the material proportioning process and the stepless control of the gate plate in a linear control mode by using active disturbance rejection control according to the buffer bin material level model so as to accurately achieve the material proportioning. In this way, the batching speed is improved, the influence of air pressure on batching precision is reduced, and the batching precision is improved by more than one time.
Description
Technical Field
The invention relates to a bulk material rapid quantitative batching control system and a bulk material rapid quantitative batching control method, in particular to an automatic transportation system and a bulk material automatic loading process method.
Background
The intelligent degree of traditional material loading system is than lower, and the batching process mode is more single, does not realize intelligent batching, and traditional batching mode is with 8 batching flashboards (two flashboards of every gate of four batching gates) as the control object, uses during the material of fixed gate switch compound mode in with the surge bin joined in marriage the ration storehouse, reaches batching mark and carries the value, and the batching error is about 0.1%. Traditional surge bin need reach a ration storehouse storage more than the twice with the batching, can start the batching procedure, this is because surge bin sets up four batching gates, although the bin of each gate top does not separate (there is the bin bottom to design for four cone-shaped bodies, there is certain division, but most do not cut apart), but in the blowing in-process because the nature of itself of material (like the particle size, do wet degree etc.), and stack complicated reasons such as inhomogeneous, make the speed of each gate blowing not identical, if the material volume in the surge bin is not enough, will go out to have the gate top still to pile up the material, and some gate has been emptied the material and idle.
The conventional loading station buffer bin with eight flashboards and four gates adopts a fixed batching mode, namely, when the starting gate is used for batching materials in a quantitative bin, all eight flashboards are completely opened, when a certain loading threshold value is reached (the loading threshold value is determined in advance, and the threshold value is usually a place where batching is to be finished), partial flashboards are closed, for example, the four flashboards are closed firstly, the batching speed is reduced, when a second threshold value is reached (the second threshold value is closer to a batching standard loading value), partial flashboards are closed, if three flashboards are closed, and then the last flashboard is closed when the batching standard loading value is reached. As mentioned above, for various reasons, this batching mode often causes that although some gates are opened during the batching process, the materials above the gates are insufficient and need to wait for the material supplement, and a large amount of materials are accumulated above the other gate plates, which affects the batching speed and thus the overall efficiency of the loading station. In addition, the control system is in a waiting state for a long time due to insufficient materials, and the problems of equipment damage, service life reduction and the like are caused. The traditional solution is to increase the storage capacity of surge bin, the material storage capacity of all flashboards top of the improvement of no difference to solve the problem that the batching gap appears. This solution, however, increases the capacity of the surge bin, increasing the height of the surge bin in practical designs, which means an overall increase in the steel structure, including the height and the width of the sub-frame for stability, with a significant increase in the overall cost of the truck-loading station construction, with consequent irreparable consequences.
In addition, the batching method has a problem that the real-time material detection value (mainly the output value of a weighing sensor) of the quantitative bin fluctuates due to large air pressure change of the gate in the opening and closing process, and the batching value can only be estimated when the last gate is closed, so that the batching precision of the quantitative bin cannot meet high requirements.
Along with the refinement of commercial activities, the requirement on loading and metering is higher and higher, so how to solve the uneven batching, and the problem that needs to be solved is to improve batching efficiency and batching precision.
Disclosure of Invention
In order to overcome the problems of the prior art, the invention provides a bulk material quick dosing control system and a bulk material quick dosing control method. According to the system and the method, the material level sensors are arranged in the buffer bin and the quantitative bin, the real-time dynamic material level model and the active disturbance rejection control model of the buffer bin are established, the material change condition of the buffer bin is monitored in real time, the opening and closing of the flashboards are controlled according to the real-time dynamic material level model and the active disturbance rejection control model, meanwhile, the last closed flashboard is controlled in a refined mode according to the material level and the weighing value of the buffer bin, and the loading efficiency and the accuracy are improved.
The purpose of the invention is realized as follows: a bulk material fast dosing control system comprising: four distribution gates arranged in the buffer bin of the loading station, wherein each distribution gate is provided with two split gate plates for eight gate plates, seven of the eight flashboards are switch control mode flashboards, one is a linear control mode flashboard, the linear control mode gate plate drives the oil cylinder to act by the proportional valve and is provided with a linear displacement sensor, the proportional valve is connected with a servo linear gate controller, each switch control mode gate plate is connected with a switch gate controller, the servo linear gate controller and the switch gate controller are connected with a central computing control unit, the central control computing unit is provided with a material distribution arithmetic unit of a buffer bin and an active disturbance rejection controller, the active disturbance rejection controller is provided with a tracking differential controller, a linear error feedback device and an extended state observer, the material distribution arithmetic device of the buffer bin is connected with a plurality of buffer bin material level sensors arranged in the buffer bin.
Furthermore, four material level sensors corresponding to the four batching gates are arranged in the buffer bin.
Furthermore, the quantitative bin material quantity sensor is a weighing sensor or a material level sensor, or the combination of the weighing sensor and the material level sensor.
A method for controlling a quick dosing of a spill using the system described above, the method comprising the steps of:
the method comprises the following steps: a model building process and a batching process;
and (3) model construction process:
step 2, constructing an active disturbance rejection model: taking the material quantity on each flashboard of the buffer bin as an input parameter, taking each switch control mode flashboard as an adjusting object, taking the material quantity required by the quantitative bin as an input parameter, taking the linear control mode flashboard as an adjusting object, and establishing an active disturbance rejection controller model;
the burdening process comprises the following steps:
step 3, monitoring the material quantity in the buffer bin: the belt conveyor conveys materials into the buffer bin, each material level sensor in the buffer bin monitors the material state above each gate in the buffer bin in real time, when the material level value of the buffer bin reaches a set value and meets the material mixing condition, material mixing is started, and when the material level value of the buffer bin is close to a full bin value, the belt conveyor stops conveying the materials into the buffer bin; when the material is proportioned to the quantitative bin, the level distribution arithmetic unit of the buffer bin finds that the material in the buffer bin is insufficient, and the belt conveyor is started to continuously feed the material to the buffer bin;
and step 4, starting a rapid batching process: when the buffer bin level value is higher than the two-time batching loading value, starting the first stage of the batching procedure: a rapid batching process; at the moment, all the gate plates except the linear control mode gate plate are opened;
step 5, entering a slow material distribution process: and (3) acquiring the distribution of the buffer bin level value in real time by using a level sensor, and determining to enter a second stage of a batching program by applying an active disturbance rejection control algorithm according to the calculation of a buffer bin level model: a slow batching process; at the moment, the gate plates are linearly controlled to be opened, and the other seven gate plates apply an active disturbance rejection control algorithm according to the distribution situation of the material quantity above the gate plates to determine the number of the closed gate plates and which gate plate needs to be closed;
and 6, entering an accurate batching flow: determining the third stage of the batching procedure by using the real-time material level value of the buffer bin obtained by the material level sensor of the buffer bin and applying an active disturbance rejection control algorithm according to the calculation of a material level model of the buffer bin: precise batching process; at the moment, all the flashboards in the switch control mode are closed, only the linear control flashboards are in an open state, at the moment, the accurate positions of the flashboards in the linear mode are monitored by using the linear displacement sensor, meanwhile, the material quantity in the quantitative bin is detected by the quantitative bin material level sensor, and the difference value between the current batching real-time value and the batching standard load value is calculated; and (3) regulating and controlling the opening of the linear control mode flashboard by using an active disturbance rejection control algorithm through a proportional valve until the material amount in the quantitative bin reaches the standard load value of the batching plan, and finishing batching in the quantitative bin.
The invention has the advantages and beneficial effects that: the invention utilizes the buffer bin level sensor to monitor the materials above each gate plate, and uses the active disturbance rejection control method according to the buffer bin level model to determine the on-off state of each gate plate in the batching process, namely, in the batching process, more materials above the gate plate are opened, and less materials are closed. And meanwhile, a linear control mode flashboard is designed, when the batching reaches the final stage, under the condition that other flashboards are closed, the linear displacement sensor is used for monitoring, and an active disturbance rejection control method is used for controlling the proportional valve through the servo controller so as to perform stepless control on the linear control mode flashboard, so that the batching amount is accurately reached. Compared with a traditional single batching mode, the method can increase the batching speed and reduce the influence of air pressure on the batching precision, effectively improve the batching speed of the whole loading station, reduce batching errors and improve the batching precision by more than one time.
Drawings
The invention is further illustrated by the following figures and examples.
FIG. 1 is a block diagram of a bulk material fast batching control system according to an embodiment of the present invention;
fig. 2 is a block diagram of an active disturbance rejection controller according to an embodiment of the present invention;
fig. 3 is a flow chart of a method according to the fourth embodiment of the present invention.
Detailed Description
The first embodiment is as follows:
the present embodiment is a bulk material fast batching control system, as shown in fig. 1. The embodiment comprises the following steps: four distribution gates arranged in the buffer bin of the loading station, wherein each distribution gate is provided with two split gate plates for eight gate plates, seven of the eight flashboards are switch control mode flashboards, one is a linear control mode flashboard, the linear control mode gate plate drives the oil cylinder to act by the proportional valve and is provided with a linear displacement sensor, the proportional valve is connected with a servo linear gate controller, each switch control mode gate plate is connected with a switch gate controller, the servo linear gate controller and the switch gate controller are connected with a central computing control unit, the central control computing unit is provided with a material distribution arithmetic unit of a buffer bin and an active disturbance rejection controller, the active disturbance rejection controller is provided with a tracking differential controller, a linear error feedback device and an extended state observer, the material distribution arithmetic device of the buffer bin is connected with a plurality of buffer bin material level sensors arranged in the buffer bin.
One basic structure of the loading station described in this embodiment is a loading station of a conventional type, that is, facilities such as a belt conveyor, a buffer bin, a dosing bin, and a chute, which are arranged above a loading vehicle (including a train car or an automobile car). The system described in this embodiment is mainly installed in the surge bin and the dosing bin.
The present embodiment is mainly directed to a surge bin having four gates, each of which is provided with two gate plates, for a total of eight gate plates.
The switch control gate plate means that the control of the gate plate has only two states: on and off, i.e. either fully open or fully closed, without intermediate half-open and half-closed states, i.e. control is very simple. The switch control gate plate is pushed by a traditional oil cylinder, and can only have two working states of full opening and full closing, the gate plate can not stop in the middle of movement, and the movement speed of opening and closing can only be adjusted by manually adjusting oil pressure.
The linear control mode gate plate is a gate plate with the opening degree capable of being adjusted at will in the stroke, the gate plate controls the proportional valve to adjust the movement of the oil cylinder by using the servo controller, and the operation speed and the operation position of the gate plate can be accurately adjusted and controlled in real time under the accurate monitoring of the linear displacement sensor, so that the flow of materials can be accurately adjusted and controlled.
The computing control unit is an electronic device with computing and storage functions, and can be an industrial PC or other similar equipment. The material distribution arithmetic unit of the buffer bin and the active disturbance rejection controller can be software installed in a computer or hardware facilities specially designed to realize the same function.
An Active Disturbance Rejection Controller (ADRC), the structural block diagram of which is shown in fig. 2, mainly includes three main parts: tracking derivative controller (TD), nonlinear error feedback control law (NLSEF), Extended State Observer (ESO). The ADRC (active disturbance rejection controller) does not depend on an accurate model of the system, the effects of model internal disturbance (perturbation of the model and parameters) and undetectable external disturbance are summarized into the total disturbance of the system, the total disturbance is estimated in real time by using an error feedback method and compensated, and the robust performance is high. The extended state observer is the core of the active disturbance rejection control theory, and an original system model is modified by adopting a double-channel compensation structure of the extended state observer, so that the nonlinear and uncertain system is approximately linearized and determinized. The controller is designed on the basis, the special nonlinear effect is fully utilized, the convergence speed can be effectively accelerated, the dynamic performance of a control system is improved, and the possibility of improving the batching speed and precision is provided.
The tracking differential controller model applied in the batching control method is shown as follows:
v (t) is an input signal, v1(t) tracking v (t), v2(t) is v1The differential of (t) is the generalized differential of v (t), h is the step size, r0Is the "velocity factor", h, which determines the tracking velocity1Is the "filter factor" that determines the filtering effect. r is0The larger the TD tracking input is; h is1The larger the TD, the better the filtering effect.
The nonlinear error feedback control law model is shown as follows:
the extended state observer model is shown as follows:
wherein, theta>0，β1>0，β1>0，β1>0, is provided with
α1＝α，α2＝2α-1，α3＝3α-2，。
And
the active disturbance rejection control model can be used for estimating the real-time weight of the material above each gate according to the real-time model of the material level of the buffer bin, so that the on-off state of each gate can be adjusted, and the purpose of optimizing the control of the gates is achieved.
Buffer bin level sensor can install a plurality ofly, correspond a level sensor for a gate generally, four level sensor of four gates, for more accurate also can set up a level sensor specially at central point, totally five level sensor, or more.
The dosing bin material quantity sensor may directly use the output value of a conventional weighing sensor as a feedback parameter. The material level sensor can be specially arranged in the quantitative bin and is combined with the weighing sensor, so that the feedback control quantity is more accurate.
Example two:
the present embodiment is an improvement of the above-mentioned embodiment, and is a refinement of the above-mentioned embodiment about the level sensors of the surge bin, and the surge bin described in the present embodiment is provided with four level sensors corresponding to four ingredient gates.
Each level sensor monitors the blanking condition of a gate, namely the level sensor monitors the blanking condition of a gate, and the control of the gate is two gate plates. The two gate plates of one gate can realize the function of adjusting the flow of one gate through time difference, namely one gate plate opens and one gate plate closes.
Example three:
the present embodiment is an improvement of the above-mentioned embodiment, and is a refinement of the above-mentioned embodiment regarding a quantitative bin material sensor, and the quantitative bin material sensor described in the present embodiment is a load cell or a level sensor, or a combination of a load cell and a level sensor.
The weighing sensor is usually installed in the quantitative bin of the conventional loading station to measure the weight of the finally loaded material, and the purpose of arranging the material level sensor in the quantitative bin in the embodiment is to calculate the material in the quantitative bin more accurately. Because factors such as the humidity of material, the material volume of the same weight is not completely unanimous, for the batching gate of control surge bin, can the exclusive use level sensor, monitor the material in the ration storehouse, also can directly feed back weighing sensor's monitoring value to central calculation controller unit to the state that the ration storehouse of feedback accepted the material.
Example four:
this embodiment is a method for controlling a quick dosing of a spill using the system described in the above embodiments.
According to the traditional method, 8 distribution gates are used as control objects of a distribution mode, materials in a buffer bin are distributed into a quantitative bin in a fixed gate switch combination mode, and a gate plate is only in two states of being fully opened and fully closed. The material loading system has a single material distribution process mode, and the precision of the material distribution error is low and is about 0.1%.
Because the material change state of monitoring surge bin gate top does not exist, this kind of fixed batching mode often can lead to the batching in-process gate to appear opening, but the gate top material is not enough, need wait for the condition of feed supplement to and the gate is too big at the switch in-process atmospheric pressure causes the condition that quantitative storehouse material real-time detection value appears undulant.
For solving above-mentioned problem, this embodiment uses traditional fixed batching mode as the basis, and the material level of real time monitoring surge bin changes to according to the switching of material level change adjustment surge bin gate, realize the surge bin to the intelligent batching in ration storehouse, for improving the batching precision, use servo linear controller with last accurate batching gate to control.
The material level height distribution above each gate is monitored to the buffer bin level sensor to material distribution model in the buffer bin calculates the sectional area of each part of buffer bin, and further calculates the material volume above each gate, and then obtains the material weight above each gate. Then, an intelligent active disturbance rejection control method is used to solve the problem of single coal blending mode, and the specific solution is as follows: the material distribution model in the buffer bin is used as an input reference of the active disturbance rejection controller, the switching sequence of the distribution gate is calculated according to the material distribution model, the switching sequence instruction is sent to the gate controller, the switching state of the distribution gate is controlled by the gate controller, and the active disturbance rejection controller has the advantage that the switching state of each gate plate can be changed in real time according to the material model above each gate plate in the gate distribution process. In the process of batching, the material above the flashboard is opened more and the material is closed less, so that the batching speed and the influence of air pressure on the batching precision can be increased compared with a single batching mode.
For precise dosing this example uses a gate that can stop at will during a linear stroke, the linear control mode gate described. The linear control mode gate plate drives the oil cylinder by using the proportional valve, the movement speed and the position of the oil cylinder are adjusted in a stepless mode, the gate plate can be opened or closed at a high speed or a low speed and can stay at a certain position, and the degree of freedom is high in adjustment of opening and closing. The linear control mode flashboard is also in the control range of the active disturbance rejection controller, so that the final batching amount is more accurate, and compared with the traditional single batching mode, the batching error can be reduced by more than one time.
The method of this embodiment includes the following specific steps, and the flow of the method is shown in fig. 3:
the scattering rapid quantitative batching control method comprises the following steps: a model building process and a batching process; the constructed models mainly comprise a buffer bin level model and an active disturbance rejection model. The process aims at specific conditions of a loading station, including constraints such as the geometric shape of a buffer bin, the installation of each sensor, the characteristics of materials loaded frequently and the like, and is modeled. After the model is built, the model can be used for a long time, and the model is not built every time the model is charged, but the building process is necessary. The dosing process is directed to a loading cycle during which the dosing bin is filled during loading.
And (3) model construction process:
Establishing a buffer bin level model: and determining the material level height above each blanking port according to the material level sensor, and establishing a real-time dynamic material level model of the buffer bin by combining the structure diagram of the buffer bin. The bottom of some four-gate buffer bins is designed into four conical shapes, namely the four materials are divided into four parts when the materials approach the bottom of the buffer bin, and in this case, monitoring calculation of the material change state above the gate plate is particularly needed, so that relatively uniform material quantity is maintained in the four divisions.
Step 2, constructing an active disturbance rejection model: and establishing an active disturbance rejection controller model by taking the material quantity on each flashboard of the buffer bin as an input parameter, each switch control mode flashboard as an adjusting object, the material quantity of the quantitative bin required balance weight as an input parameter and the linear control mode flashboard as an adjusting object.
The active disturbance rejection model has two actual working conditions, one is a fast and slow control working condition, and the other is an accurate control working condition. In the fast and slow batching process, according to the buffer bin level model, in combination with the actual batching condition, an active disturbance rejection controller model is established for adjusting the switching state of the switching control mode flashboards and the switching sequence of each flashboard in the batching process, and according to the level model above the flashboards, the dynamic change process of the flashboards in the batching process is optimized by using the active disturbance rejection controller, the batching speed is optimized, and the quantitative bin is filled at the highest speed. The second working condition is that the active disturbance rejection control model takes the material amount in the quantitative bin and the position information of the linear control mode flashboard output by the linear displacement sensor as input parameters, and the linear control mode flashboard is accurately adjusted, including the opening and closing speed, the opening and closing position and the like, so that the material amount of the batching material in the quantitative bin is accurately controlled, and the loading precision is improved.
The burdening process comprises the following steps:
step 3, monitoring the material quantity in the buffer bin: the belt conveyor conveys materials into the buffer bin, each material level sensor in the buffer bin monitors the material state above each gate in the buffer bin in real time, when the material level value of the buffer bin reaches a set value and meets the material mixing condition, material mixing is started, and when the material level of the buffer bin is close to a full bin value, the belt conveyor stops conveying the materials into the buffer bin; when the buffer bin is used for dosing to the quantitative bin, the material level distribution arithmetic unit of the buffer bin finds that if the material in the buffer bin is insufficient, the belt conveyor is started to continuously feed the material to the buffer bin.
The belt conveyor is a conveying device with continuous feeding, and materials conveyed continuously must catch up with a short-time quick material conveying mode of a quantitative bin, so that a belt usually continuously conveys materials into a buffer bin, and the conveying is stopped when the materials in the buffer bin are sufficient. To the material accumulation in the surge bin, a plurality of level sensors can give different height values, so that the distribution condition of the level of the surge bin needs to be given by a surge bin level model.
The following steps are three burdening processes. The conditions for entering the three batching flows are determined by the difference value of the batching standard load and the real-time weight of the quantitative bin, and the working states of the three batching flows are determined by a buffer bin material level model and an active disturbance rejection control algorithm.
And step 4, starting a rapid batching process: when the buffer bin level value is higher than the two-time batching loading value, starting the first stage of the batching procedure: a rapid batching process; at this time, the remaining shutters are all opened except for the linear control mode shutter.
When the batching is started, all the other flashboards are opened except the linear control flashboards, and when the real-time material level value of the quantitative bin reaches the critical value of the slow batching flow, the fast batching flow is ended. Most of the materials are poured into the quantitative bin in the step, the planned standard loading amount of the materials is approached at the fastest speed, and the main points of the step are as follows: and (4) quickly batching.
Step 5, entering a slow material distribution process: and (3) acquiring the distribution of the buffer bin level value in real time by using a level sensor, and determining to enter a second stage of a batching program by applying an active disturbance rejection control algorithm according to the calculation of a buffer bin level model: a slow batching process; at the moment, the linear control gate plates are opened, and the other seven gate plates determine the number of the closed gate plates and which gate plate needs to be closed by applying an active disturbance rejection control algorithm according to the distribution situation of the material quantity above the gate plates.
After entering a slow material distribution process, linearly controlling the gates to be opened, calculating a plurality of gates to be closed according to the buffer bin material level model and the active disturbance rejection controller model, adjusting the opening and closing state of each gate in real time in the material distribution process, and finishing the slow material distribution process when the real-time material level value of the quantitative bin reaches the critical value of the accurate material distribution process.
The flow of material has certain inertia, need slow down the speed that the material flows when being close to filling up, and the main points of this step are: slowing down the batching.
And 6, entering an accurate batching flow: determining the third stage of the batching procedure by using the real-time material level value of the buffer bin obtained by the material level sensor of the buffer bin and applying an active disturbance rejection control algorithm according to the calculation of a material level model of the buffer bin: precise batching process; at the moment, all the flashboards in the switch control mode are closed, only the linear control flashboards are in an open state, at the moment, the accurate positions of the flashboards in the linear mode are monitored by using the linear displacement sensor, meanwhile, the material quantity in the quantitative bin is detected by the quantitative bin material level sensor, and the difference value between the current batching real-time value and the batching standard load value is calculated; and (3) regulating and controlling the opening of the linear control mode flashboard by using an active disturbance rejection control algorithm through a proportional valve until the material amount in the quantitative bin reaches the standard load value of the batching plan, and finishing batching in the quantitative bin.
After entering the accurate batching flow, only the linear control gate is in an open state, all the other gates are in a closed state, in the batching process, the opening amplitude of the linear control gate is gradually reduced along with the fact that the real-time material level value of the quantitative bin approaches to the batching load value, the reduction amplitude is obtained through an active disturbance rejection control algorithm until the real-time material level value of the quantitative bin reaches the load value, all the gates are closed, and batching is finished.
Finally, it should be noted that the above is only for illustrating the technical solution of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred arrangement, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solution of the present invention (such as the form of loading station, the form of control system, the sequence of steps, etc.) without departing from the spirit and scope of the technical solution of the present invention.
Claims (4)
1. A bulk material fast dosing control system comprising: four distribution gates arranged in the buffer bin of the loading station, wherein each distribution gate is provided with two split gate plates for eight gate plates, it is characterized in that seven of the eight flashboards are switch control mode flashboards, one is a linear control mode flashboard, the linear control mode gate plate drives the oil cylinder to act by the proportional valve and is provided with a linear displacement sensor, the proportional valve is connected with a servo linear gate controller, each switch control mode gate plate is connected with a switch gate controller, the servo linear gate controller and the switch gate controller are connected with a central computing control unit, the central control computing unit is provided with a material distribution arithmetic unit of a buffer bin and an active disturbance rejection controller, the active disturbance rejection controller is provided with a tracking differential controller, a linear error feedback device and an extended state observer, the material distribution arithmetic device of the buffer bin is connected with a plurality of buffer bin material level sensors arranged in the buffer bin.
2. The system of claim 1, wherein four level sensors corresponding to four ingredient gates are provided in the surge bin.
3. The system of claim 2, wherein the dosing bin material level sensor is a load cell or a level cell, or a combination of a load cell and a level cell.
4. A method for controlling a spill quick dispense using the system of claim 2, said method comprising the steps of:
the method comprises the following steps: a model building process and a batching process;
and (3) model construction process:
step 1, constructing a buffer bin level model: establishing a buffer bin level model by taking a real-time buffer bin level value and a real-time buffer bin level height acquired by a level sensor in a buffer bin as working condition parameters so as to calculate the material amount on each buffer bin gate plate;
step 2, constructing an active disturbance rejection model: taking the material quantity on each flashboard of the buffer bin as an input parameter, taking each switch control mode flashboard as an adjusting object, taking the material quantity required by the quantitative bin as an input parameter, taking the linear control mode flashboard as an adjusting object, and establishing an active disturbance rejection controller model;
the burdening process comprises the following steps:
step 3, monitoring the material quantity in the buffer bin: the belt conveyor conveys materials into the buffer bin, each material level sensor in the buffer bin monitors the material state above each gate in the buffer bin in real time, when the material level value of the buffer bin reaches a set value and meets the material mixing condition, material mixing is started, and when the material level of the buffer bin is close to a full bin value, the belt conveyor stops conveying the materials into the buffer bin; when the buffer bin is used for dosing to the quantitative bin, the material level distribution arithmetic unit of the buffer bin finds that if the material in the buffer bin is insufficient, the belt conveyor is started to continuously feed the material to the buffer bin;
and step 4, starting a rapid batching process: when the buffer bin level value is higher than the two-time batching loading value, starting the first stage of the batching procedure: a rapid batching process; at the moment, all the gate plates except the linear control mode gate plate are opened;
step 5, entering a slow material distribution process: and (3) acquiring the distribution of the buffer bin level value in real time by using a level sensor, and determining to enter a second stage of a batching program by applying an active disturbance rejection control algorithm according to the calculation of a buffer bin level model: a slow batching process; at the moment, the gate plates are linearly controlled to be opened, and the other seven gate plates apply an active disturbance rejection control algorithm according to the distribution situation of the material quantity above the gate plates to determine the number of the closed gate plates and which gate plate needs to be closed;
and 6, entering an accurate batching flow: determining the third stage of the batching procedure by using the real-time material level value of the buffer bin obtained by the material level sensor of the buffer bin and applying an active disturbance rejection control algorithm according to the calculation of a material level model of the buffer bin: precise batching process; at the moment, all the flashboards in the switch control mode are closed, only the linear control flashboards are in an open state, at the moment, the accurate positions of the flashboards in the linear mode are monitored by using the linear displacement sensor, meanwhile, the material quantity in the quantitative bin is detected by the quantitative bin material level sensor, and the difference value between the current batching real-time value and the batching standard load value is calculated; and (3) regulating and controlling the opening of the linear control mode flashboard by using an active disturbance rejection control algorithm through a proportional valve until the material amount in the quantitative bin reaches the standard load value of the batching plan, and finishing batching in the quantitative bin.
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