CN115327886A - Intelligent PID controller, control method and system for material weight process of high-pressure roller grinding process - Google Patents
Intelligent PID controller, control method and system for material weight process of high-pressure roller grinding process Download PDFInfo
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Abstract
The invention discloses an intelligent PID controller, a control method and a system for a material weight process of a high-pressure roller grinding process, wherein the intelligent PID controller for the material weight process of the high-pressure roller grinding process takes a material weight signal fed back by a material weight sensor arranged on a buffer bin and a belt motor current signal fed back by a current sensor arranged on a belt conveyer and close to one side of the buffer bin as input, and outputs the frequency of a vibrating feeder; updating a first parameter of the PID controller in real time according to the current working condition; the first parameter includes: sampling period, upper control output limit and lower control output limit. According to the invention, based on the working condition analysis, the conventional PID adjusting mode is changed by combining the actual heavy process characteristic of the high-pressure roller grinding material, and the sampling period T and the upper limit U of the control quantity of the PID controller are adjusted max Lower limit of control amount U min The parameters are used as the adjusting variables of the intelligent controller, and the high-pressure roller grinding material weight is controlled in the interval required by the process target by adjusting the frequency of the vibrating feeder, so that the working efficiency of the high-pressure roller grinding process is improved.
Description
Technical Field
The invention relates to the technical field of intelligent control, in particular to an intelligent PID controller, a control method and a system for a material weight process of a high-pressure roller grinding process based on working condition analysis.
Background
In the process of mineral separation production, the granularity of the crushed ore is a key index influencing the subsequent grinding and selecting process, the high-pressure roller mill is a key device for ore crushing, the extrusion crushing effect of a movable roller and a fixed roller of the high-pressure roller mill on the ore can be directly influenced by the weight of the material in a buffer bin above the high-pressure roller mill, the roller deviation is often caused by improper material weight, even the roller mill is shut down due to serious faults, and the effective continuous production in the mineral separation process is caused.
In the actual process of mineral separation, due to the influences of factors such as capital construction and investment, the executing mechanism (vibrating feeder) and the detecting mechanism (material weight sensor) in the material weight process are far away, and ores are often conveyed from the executing mechanism to the high-pressure roller mill buffer bin through a long-distance belt conveyor, so that a control system of the material weight of the high-pressure roller mill has large lag. And because the long-distance belt conveyor is adopted to convey mineral aggregate, the problem of overload load (current cannot exceed the limit) must be considered, otherwise, the excessive load causes the conditions of slipping, deviation, sliding blockage and the like of the belt conveyor, even causes the burning out of a motor, and influences the normal production of mineral separation. Meanwhile, the ore granularity fluctuation of the crushing and screening process is large, the crushing working condition of the high-pressure roller grinding equipment is variable, and the sand return quantity fluctuation of the unqualified-granularity ore ground by the roller grinding is large, so that the material weight fluctuation is frequent. For the above reasons, it is difficult to control the material weight process of the high-pressure roller milling process by adopting the conventional PID control strategy. The mode that adopts at present is that field operation personnel are in centralized control room, the frequency of manual regulation vibrating feeder, the feeding volume of adjustment surge bin, but the inevitable existence of this kind of manual control mode is difficult to stabilize the material weight in the problem of technology scope.
In addition, in the ore dressing production process, equipment often can operate under various operating modes, and the influence of different operating modes on parameter control is different, however, the operating mode of the equipment often can not be considered when the traditional PID control strategy is adopted for parameter control, and although corresponding parameter control can be realized, the good control effect is difficult to achieve. Such as the patent numbers: CN201010284893.9 "intelligent hierarchical control method and control device for ore grinding in concentrating mill" which completes concentration control by using traditional cascade PID control, but the disadvantages of cascade PID cause the parameters of the whole controller to be more complex, and the influence of operating conditions on concentration control is not considered in the process of controlling concentration. Patent numbers: CN201911110792.7, entitled "automatic control system and control method for liquid level of mineral separation flotation machine", has a PID control strategy to complete liquid level control, but it is also unable to adapt to changes in the mineral separation status and is difficult to control effectively.
Disclosure of Invention
In order to solve the problem of automatic control of the material weight of a buffer bin of a high-pressure roller grinding process of a current concentrating mill, the invention provides an intelligent PID controller, a control method and a system of the material weight process of the high-pressure roller grinding process based on working condition analysis.
Therefore, the invention provides the following technical scheme:
on one hand, the invention provides a PID controller for the material weight of a buffer bin before a high-pressure roller mill, wherein the PID controller takes a material weight signal fed back by a material weight sensor arranged on the buffer bin and a belt motor current signal fed back by a current sensor arranged on a belt conveyer and close to one side of the buffer bin as input and outputs the frequency of a vibrating feeder; updating a first parameter of the PID controller in real time according to the current working condition; the first parameter includes: a sampling period, an upper control output limit and a lower control output limit.
Further, the real-time updating of the first parameter of the PID controller according to the current working condition includes:
analyzing the working condition of the process from the vibrating feeder to the buffer bin material weight in the high-pressure roller grinding process according to the data fluctuation condition fed back by the controlled process;
performing decision output according to the analyzed working condition, and updating the first parameter of the PID controller;
and giving the frequency set value of the PID controller with updated parameters at the current moment to the vibrating feeder to obtain the data fluctuation condition fed back by the controlled process, returning to execute the data fluctuation condition fed back by the controlled process, and analyzing the working condition of the vibrating feeder of the high-pressure roller grinding process from the material weight of the buffer bin.
Further, the controlled process includes: a belt process and a surge bin process.
Further, the data fluctuation condition fed back by the controlled process comprises:
and the belt current feedback in the belt process and the buffer bin material weight feedback in the buffer bin process.
Further, the PID controller is a PID controller with a dead zone.
In another aspect, the present invention further provides an intelligent PID control method for the material weight process of the high pressure roller milling process, which utilizes the PID controller for the material weight of the buffering bin before the high pressure roller milling to control the material weight process of the high pressure roller milling process, and comprises:
initializing the first parameter of the PID controller according to the actual high-pressure roller abrasive weight process characteristic;
setting a second parameter of the buffer bin material weight PID controller before the high-pressure roller mill within a preset range of a material reset value; the second parameter includes: a proportional parameter, an integral parameter, and a derivative parameter;
updating the first parameter in real time according to the current working condition;
and giving the frequency set value of the current moment output by the PID controller after the parameters are updated to the vibrating feeder, and stabilizing the material weight in the high-pressure roller grinding process within the range of the process requirement.
Further, the setting of the second parameter of the high-pressure roller mill front buffer bin material weight PID controller comprises the following steps:
and (3) adjusting a second parameter of the PID controller of the buffer bin material before the high-pressure roller mill by adopting a trial and error method and engineering experience.
Further, still include: and initializing the dead zone parameters of the PID controller.
In another aspect, the invention provides an intelligent PID control system for a material weight process of a high-pressure roller grinding process, and the PID control system comprises the material weight PID controller of the high-pressure roller grinding front buffer bin.
The invention has the advantages and positive effects that: according to the invention, based on the working condition analysis, the conventional PID adjusting mode is changed by combining the actual heavy process characteristic of the high-pressure roller grinding material, and the sampling period T and the upper limit U of the control quantity of the PID controller are adjusted max Lower limit of control amount U min The parameters are used as the adjusting variable of the intelligent controller, and the high-pressure roller grinding material weight is controlled in the interval required by the process target by adjusting the frequency of the vibrating feeder, so that the working efficiency of the high-pressure roller grinding process is improved. By the method, the change of the production working condition of the high-pressure roller mill can be self-adapted, and the crushing efficiency of the high-pressure roller mill can be improved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flow chart of a high pressure roller milling process in an embodiment of the invention;
FIG. 2 is a schematic diagram of an intelligent PID control strategy for the material weight of a high-pressure roller grinding front buffer bin in the embodiment of the invention;
FIG. 3 is a schematic diagram of the analysis and decision-making of the operating conditions of a high pressure roller milling process according to an embodiment of the present invention;
FIG. 4 is a graph of the weight control trend of a high pressure roller mill feed in an embodiment of the invention;
fig. 5 is a current trend chart of a belt conveyor according to an embodiment of the present invention.
Detailed Description
The invention provides an intelligent PID controller, a control method and a control system for a material weight process of a high-pressure roller grinding process based on working condition analysis, and relates to a method for effectively controlling the material weight of the high-pressure roller grinding process in a mineral processing process within a target value range in real time by an advanced intelligent control technology combining process analysis, working condition identification and decision output, a PID control strategy and the like.
In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
As shown in fig. 1, a flow diagram of a high pressure roller milling process is shown. The ore enters the ore storage bin before the 1# roller mill after the self-crushing and screening process, the ore in the ore storage bin before the 1# roller mill is transmitted to the belt conveyor through the vibrating feeder, the belt conveyor conveys the ore to the buffer bin above the high-pressure roller mill through a belt, the high-pressure roller mill performs ore crushing on the ore, the vibrating screen is used for ore screening, the ore with qualified granularity enters the next step of selecting and grinding, and the ore with unqualified granularity returns to the ore storage bin before the 1# roller mill.
In order to realize the control of the material weight process in the high-pressure roller milling process flow, the embodiment of the invention designs a material weight PID controller of a buffering cabin before the high-pressure roller milling, the material weight intelligent PID controller takes a material weight signal fed back by a material weight sensor W arranged on the buffering cabin and a belt motor current signal fed back by a current sensor M arranged on one side, close to the buffering cabin, of a belt conveyer as input to output the frequency of a vibrating feeder, the vibrating feeder is executed according to the output frequency to influence the belt process and the buffering cabin process, and the material weight feedback y of the buffering cabin is 1pv And returning to the input end of the material weight intelligent PID controller to form closed-loop control of the material weight process. The intelligent PID control strategy is shown in figure 2, combines the process with the actual production condition, and sets the value y 1sp Under the condition of a nearby stable working condition, according to engineering experience and material weight dynamic characteristics, initializing and setting parameters of a PID controller of the material weight of the buffering bin before the high-pressure roller mill: proportional parameter K of controller P Integral parameter K I Differential parameter K D (ii) a A controller dead zone parameter D; controlling output upper limit initial parameter U max0 (ii) a Controlling output lower limit initial parameter U min0 (ii) a Initial parameter T of sampling period 0 。
Feedback y of belt current according to feedback of controlled process (belt process and surge bin process) 2pv And buffer bin weight feedback y 1pv Analyzing the working condition of the process from the vibrating feeder to the buffer bin material weight in the high-pressure roller grinding procedure, determining the judgment condition of the working condition analysis, and outputting the judgment condition through decisionUpdating sampling period T and control output upper limit U of material weight PID control max Lower limit of control output U min The PID control is self-adaptive according to the parameters, and the material weight of the high-pressure roller mill is controlled within the range of the process requirement.
Based on the PID controller for the material weight of the high-pressure roller grinding front buffering bin in the embodiment, the intelligent PID control system for the material weight process of the high-pressure roller grinding process can be obtained.
Based on the PID controller for the material weight of the high-pressure roller grinding front buffer bin in the embodiment, the invention provides the intelligent PID control method for the material weight process of the high-pressure roller grinding process, which specifically comprises the following steps:
step 1: according to the characteristics of short material weight change period and limited control output in the actual high-pressure roller grinding material weight process, the sampling period T and the upper limit U of the control output of the PID controller are adjusted max And a lower limit U of control output min Is initialized to T 0 、U max0 、U min0 ；
And 2, step: within the preset range of the set value y1sp, adopting a trial and error method and engineering experience to carry out proportional parameter K on the PID controller P Integral parameter K I Differential parameter K D Setting is carried out;
wherein, the parameters of each controller are as follows:
|e error of the measurement |≥e 1 When, K P ＝p 0 ,K I ＝i 0 ,K D ＝d 0 ；
e 2 ≤|e Error of the measurement |＜e 1 When, K p ＝p 1 ,K I ＝i 1 ,K D ＝d 1 ；
|e Error of the measurement |＜e 2 And e 2 -e Error of the measurement |＜e 1 ，K P ＝p 2 ,K I ＝i 2 ,K D ＝d 2 ；
|e Error of the measurement |＜e 2 And e 2 -e Error of the measurement |＞e 1 ，K P ＝p 3 ,K I ＝i 3 ,K D ＝d 3 ；
Wherein e is a calculation error, and p, i and d are respectively a proportional regulating coefficient, an integral regulating coefficient and a differential regulating coefficient.
And step 3: according to buffer bin material weight feedback y 1pv And current feedback y of belt conveyor 2pv The working condition is analyzed, and the buffer bin material is fed back again by combining the technical process of the high-pressure roller mill and the actual production condition 1pv And current feedback y of belt conveyor 2pv Dividing different working condition intervals, and determining critical value parameter X of interval 1 、X 2 、…、X 8 And belt conveyor current I;
step 4, decision output is carried out according to the analyzed working conditions, and PID sampling period parameters T of different working conditions are determined by adopting a trial and error method and engineering experience in different working condition intervals 1 、T 2 、…、T 7 Controlling the upper limit of output U max1 、U max2 、…、U max5 Control the lower limit U of output min1 、U min2 、…、U min4 Specifically, as shown in fig. 3, the operating condition analysis includes: rule 1: y is 1pv Greater than X 1 (ii) a Rule 2: y is 1pv Greater than X 2 (ii) a Rule 3: y is 1pv Less than X 3 (ii) a Rule 4: y is 1pv Less than X 4 (ii) a Rule 5: y is 1pv Greater than X 5 And is less than X 6 (ii) a Rule 6: y is 1pv Greater than X 7 And is less than X 8 (ii) a Rule 7: y is 2pv Is greater than I. The decision output corresponding to each rule of the working condition analysis is as follows in sequence: PID output upper limit U max1 Sampling period T 1 (ii) a PID output Upper Limit U max2 Sampling period T 2 (ii) a PID output Upper Limit U max1 Sampling period T 3 (ii) a PID output Upper Limit U max2 Sampling period T 4 (ii) a PID output Upper Limit U max3 Lower limit of output U min3 Sampling period T 5 (ii) a PID output Upper Limit U max4 Lower limit of output U min4 Sampling period T 6 (ii) a Upper limit of PID outputU max5 Sampling period T 7 。
And 5: determining a sampling period parameter T of the controller according to the step 1 and the step 3 1 、T 2 、…、T 7 Controlling the upper limit of output U max1 、U max2 、…、U max5 Controlling the lower limit of output U min1 、U min2 、…、U min4 Updating sampling period T with dead zone PID formula and controlling output upper limit U max Lower limit of control output U min ；
Wherein, the PID formula with dead zone is as follows:
wherein k-1 is data of the last sampling moment, k is data of the current sampling moment, and u is control quantity output.
And 6: and (3) giving the frequency set value u (k) of the PID controller with updated parameters at the current moment to the vibrating feeder of the high-pressure roller mill, returning to the step 3, and repeatedly and alternately performing the steps to stabilize the material weight in the high-pressure roller milling process within the range of the process requirement.
The sampling period T is updated according to the alternate identification result of the PID controller parameters, so that the updating timeliness of the parameters of the whole controller can be changed according to different sampling periods, the control error caused by time lag is avoided, meanwhile, the setting of the dead zone parameter D of the controller is controlled, the fault tolerance of the controller in the face of interference is greatly improved, and the performance deterioration of the controller caused by random interference is avoided.
In the embodiment, based on the working condition analysis, the conventional PID adjusting mode is changed by combining the actual heavy process characteristic of the high-pressure roller grinding material, and the sampling period T and the upper limit U of the control quantity of the PID controller are adjusted max Lower limit of control amount U min The parameters are used as the adjusting variables of the intelligent controller, and the high-pressure roller grinding material weight is controlled in the interval required by the process target by adjusting the frequency of the vibrating feeder, so that the working efficiency of the high-pressure roller grinding process is improved. By the method, the production condition of the high-pressure roller mill can be adaptedThe crushing efficiency of the high-pressure roller mill can be improved.
For the sake of understanding, the following describes a method for intelligently controlling PID of the material weight process of the high-pressure roller milling process with a specific example.
The relevant parameters of the material weight controller of the high pressure roller mill of a certain mill are determined as follows: material reset set value y 1sp =10t, fluctuation range [9t,11t]Maximum value y of motor current of belt conveyor 2max =200A, ratio parameter K p =0.02, integral parameter K i =2, differential parameter K d =0.2, a controller dead zone parameter D =0.1, and a control output upper limit initial parameter U max0 =50, control output lower limit initial parameter U min0 =20, initial parameter of sampling period T 0 ＝0.1s。
The parameters related to the working condition analysis and decision output are as follows:
rule 1: x 1 ＝10.7、U max1 ＝40、T 1 ＝0.2s；
Rule 2: x 2 ＝10.4、U max2 ＝45、T 2 ＝0.3s；
Rule 3: x 3 ＝9.5、U min1 ＝38、T 3 ＝0.3s；
Rule 4: x 4 ＝9.2、U min2 ＝42、T 4 ＝0.2s；
Rule 5: x 5 ＝9.7、X 6 ＝10.3、U min3 ＝28、U max3 ＝40、T 5 ＝0.4s；
Rule 6: x 7 ＝9.8、X 8 ＝10.2、U min4 ＝32、U max4 ＝38、T 6 ＝0.5s；
Rule 7: x 9 ＝190A、U max5 ＝38、T 7 ＝0.5s。
Through the parameters, a high-pressure roller abrasive weight intelligent PID control strategy is designed, and the intelligent PID control strategy is applied to a certain ore dressing plant, wherein the material weight is 40 minutes at 8, 11 and 2020 and 3 minutes at 11, 8 and 11 and 2020 and the actual operation trend of the belt conveyor current are shown in FIGS. 4 and 5.
As can be seen from the figures 4 and 5, the absolute error sum (IAE) and the Mean Square Error (MSE) of the performance evaluation indexes of the intelligent controller adopted by the invention are obviously reduced compared with the manual control, and the material weight and the belt conveyor current can be controlled within the target range determined by the process under the working condition of lagging and variable material weight process.
In the embodiments provided in the present invention, it should be understood that the disclosed technical contents can be implemented in other manners. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is substantially or partly contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, and various media capable of storing program codes.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A PID controller for the material weight of a buffering bin before a high-pressure roller mill is characterized in that the PID controller takes a material weight signal fed back by a material weight sensor arranged on the buffering bin and a belt motor current signal fed back by a current sensor arranged on a belt conveyer and close to one side of the buffering bin as input and outputs the frequency of a vibrating feeder; updating a first parameter of the PID controller in real time according to the current working condition; the first parameter includes: sampling period, upper control output limit and lower control output limit.
2. The PID controller for the material weight of the high pressure roller mill front buffer bin according to claim 1, wherein the first parameter of the PID controller is updated in real time according to the current working condition, and comprises:
analyzing the working condition of the process from the vibrating feeder to the buffer bin material weight in the high-pressure grinding process according to the data fluctuation condition fed back by the controlled process;
performing decision output according to the analyzed working condition, and updating the first parameter of the PID controller;
and giving the frequency set value of the current moment output by the PID controller after the parameters are updated to the vibrating feeder to obtain the data fluctuation condition fed back by the controlled process, returning to execute the data fluctuation condition fed back by the controlled process, and analyzing the working condition from the vibrating feeder to the buffer bin material weight process in the high-pressure roller grinding process.
3. The PID controller for the high pressure roller mill front buffer bin material weight according to claim 2, characterized in that the controlled process comprises: a belt process and a surge bin process.
4. The PID controller for the material weight of the high-pressure roller mill buffering bin is characterized in that the data fluctuation condition fed back by the controlled process comprises the following steps:
and the belt current feedback in the belt process and the buffer bin material weight feedback in the buffer bin process.
5. The PID controller for the high pressure roller mill front buffer bin material weight of claim 1, wherein the PID controller is a PID controller with dead zone.
6. An intelligent PID control method for the material weight process of a high-pressure roller grinding process is characterized in that the PID controller for the material weight of the buffering bin before the high-pressure roller grinding, which is disclosed by any one of claims 1 to 5, is used for controlling the material weight process of the high-pressure roller grinding process, and comprises the following steps:
initializing the first parameter of the PID controller according to the actual high-pressure roller abrasive weight process characteristic;
setting a second parameter of the material weight PID controller of the high-pressure roller mill front buffer bin in a preset range of the material weight setting value; the second parameter includes: proportional, integral and derivative parameters;
updating the first parameter in real time according to the current working condition;
and giving the frequency set value of the PID controller after the parameters are updated at the current moment to the vibrating feeder, and stabilizing the material weight in the high-pressure roller grinding process within the range of the process requirement.
7. The intelligent PID control method for the process material weight of the high pressure roller mill according to claim 6 is characterized in that the setting of the second parameter of the PID controller for the buffer bin material weight before the high pressure roller mill comprises:
and (3) setting a second parameter of the PID controller of the buffer bin material before the high-pressure roller mill by adopting a trial and error method and engineering experience.
8. The intelligent PID control method for the material weight process of the high pressure roller milling process according to claim 1 is characterized by further comprising: and initializing the dead zone parameters of the PID controller.
9. An intelligent PID control system for the material weight process of a high-pressure roller grinding process is characterized in that the PID control system comprises the PID controller for the material weight of the high-pressure roller grinding front buffering bin according to any one of claims 1 to 5.
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