CN116317707A - Belt conveyor equipment, multi-machine linkage variable-frequency speed regulation system and control method thereof - Google Patents

Belt conveyor equipment, multi-machine linkage variable-frequency speed regulation system and control method thereof Download PDF

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Publication number
CN116317707A
CN116317707A CN202310344178.7A CN202310344178A CN116317707A CN 116317707 A CN116317707 A CN 116317707A CN 202310344178 A CN202310344178 A CN 202310344178A CN 116317707 A CN116317707 A CN 116317707A
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China
Prior art keywords
motor
speed
frequency converter
machine
belt
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CN202310344178.7A
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Chinese (zh)
Inventor
赵跃东
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Beijing Hekang Xinneng Frequency Conversion Technology Co ltd
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Beijing Hekang Xinneng Frequency Conversion Technology Co ltd
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Priority to CN202310344178.7A priority Critical patent/CN116317707A/en
Publication of CN116317707A publication Critical patent/CN116317707A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
    • B65G23/22—Arrangements or mountings of driving motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/40—Regulating or controlling the amount of current drawn or delivered by the motor for controlling the mechanical load
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • H02P5/50—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing electrical values representing the speeds
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Multiple Motors (AREA)
  • Control Of Conveyors (AREA)

Abstract

The invention discloses a belt conveyor device and a multi-machine linkage variable frequency speed regulation system and a control method thereof, wherein the multi-machine linkage variable frequency speed regulation system comprises a main machine frequency converter and at least one auxiliary machine frequency converter, the main machine frequency converter is suitable for driving a main machine motor, the auxiliary machine frequency converter is suitable for driving at least one of a belt middle section motor and a belt tail end motor, the main machine frequency converter is configured to control the rotating speed of the main machine motor according to a given speed, and the actual rotating speed and the given torque current of the main machine motor are sent to each auxiliary machine frequency converter; the slave frequency converter is configured to control the corresponding motor according to the given torque current, and to perform fault detection on the belt conveyor device according to the actual rotation speed of the handpiece motor and the running rotation speed of the corresponding motor. Therefore, the system can realize current balance control, reduce current fluctuation during working, greatly reduce current deviation, realize real-time fault monitoring of belt conveyor equipment and ensure normal operation of the belt conveyor equipment.

Description

Belt conveyor equipment, multi-machine linkage variable-frequency speed regulation system and control method thereof
Technical Field
The invention relates to the technical field of belt conveyor equipment, in particular to a multi-machine linkage variable frequency speed regulation system of belt conveyor equipment, the belt conveyor equipment and a control method of the belt conveyor equipment.
Background
With the gradual penetration of the concept of energy conservation and consumption reduction and the development of the power electronic technology, the belt transmission system gradually adopts a variable frequency speed regulation system to replace the original power frequency speed regulation system, and when the transmission materials are reduced, the belt running speed is reduced, so that the energy loss is reduced. The belt conveyor is generally long, and in order to balance and distribute belt tension, a belt is usually pushed to be transmitted in a manner of installing a plurality of motor-driven belt rollers at different positions of the belt.
The motor is driven by the electric signal output by the frequency converter, and in the related art, the frequency converter adopts a droop control method of current balance or power balance to achieve the purposes of constant-speed operation of the belt and compound balanced distribution. However, the control method has large current fluctuation in field application, and continuous production is affected. In addition, as the working time of the belt machine is prolonged, the belt system is possibly loosened due to abrasion fatigue, the motor load is increased due to abrasion aging of mechanical transmission shaft systems such as a speed reducer, and the like, the failure evaluation of the belt machine is difficult to realize in the running process, and equipment damage is possibly caused.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, the first aim of the invention is to provide a multi-machine linkage variable frequency speed regulating system of the belt conveyor equipment, which is characterized in that a main machine frequency converter is used for controlling the rotating speed of a machine head motor according to a given speed, a secondary machine frequency converter is used for controlling a secondary machine motor according to a given torque current sent by the main machine frequency converter, so that current balance control can be realized, current fluctuation in working is reduced, current deviation between the main machine motor and the secondary machine motor is greatly reduced, meanwhile, real-time fault monitoring is carried out on the belt conveyor equipment according to the actual rotating speed of the machine head motor and the operating rotating speed of the corresponding secondary machine motor, fault timely feedback is realized, and normal operation of the belt conveyor equipment is ensured.
A second object of the present invention is to propose a belt conveyor device.
The third purpose of the invention is to provide a control method of the multi-machine linkage variable frequency speed regulation system.
To achieve the above object, an embodiment of a first aspect of the present invention provides a multi-machine linked variable frequency speed control system of a belt conveyor device, the belt conveyor device including at least one of a head motor, a belt middle motor, and a belt tail motor, the multi-machine linked variable frequency speed control system including a master frequency converter, at least one slave frequency converter, the master frequency converter being adapted to drive the head motor, the slave frequency converter being adapted to drive at least one of the belt middle motor and the belt tail motor, wherein the master frequency converter is configured to obtain a given speed, and to control a rotational speed of the head motor according to the given speed, and to send an actual rotational speed of the head motor and a given torque current to the slave frequency converter; the slave frequency converter is configured to control the corresponding motor according to the given torque current, acquire the running rotating speed of the corresponding motor, and perform fault detection on the belt conveyor equipment according to the actual rotating speed of the machine head motor and the running rotating speed of the corresponding motor.
According to the multi-machine linkage variable frequency speed regulation system of the belt conveyor device, the belt conveyor device comprises at least one of a machine head motor, a belt middle section motor and a belt tail end motor, the multi-machine linkage variable frequency speed regulation system comprises a host machine frequency converter and at least one slave machine frequency converter, the host machine frequency converter is suitable for driving the machine head motor, the slave machine frequency converter is suitable for driving at least one of the belt middle section motor and the belt tail end motor, the host machine frequency converter obtains a given speed and carries out rotating speed control on the machine head motor according to the given speed, the actual rotating speed and the given torque current of the machine head motor are sent to the slave machine frequency converter, the slave machine frequency converter controls the corresponding motor according to the given torque current and obtains the running rotating speed of the corresponding motor, and fault detection is carried out on the belt conveyor device according to the actual rotating speed of the machine head motor and the running rotating speed of the corresponding motor. Therefore, the system controls the rotating speed of the machine head motor according to the given speed through the host frequency converter, controls the slave motor according to the given torque current sent by the host frequency converter through the slave frequency converter, can realize current balance control, reduces current fluctuation in working, greatly reduces current deviation between the host motor and the slave motor, monitors real-time faults of belt conveyor equipment according to the actual rotating speed of the machine head motor and the running rotating speed of the corresponding slave motor, realizes timely feedback of faults, and ensures normal running of the belt conveyor equipment.
In addition, the multi-machine linkage variable frequency speed regulation system of the belt conveyor equipment according to the embodiment of the invention can also have the following additional technical characteristics:
according to one embodiment of the invention, each slave frequency converter is configured to determine that a belt slip failure of the belt conveyor device occurs when the operating speed of the respective motor is greater than the sum of the actual speed of the head motor and a first preset speed threshold.
According to one embodiment of the invention, each slave frequency converter is configured to increase the torque current of the respective motor when the operating speed of the respective motor is less than the difference between the actual speed of the head motor and the second preset speed threshold until the torque current of the respective motor is greater than or equal to the sum of the given torque current and the preset current threshold, and to determine that a mechanical failure of the belt conveyor device has occurred if the operating speed of the respective motor is still less than the difference between the actual speed of the head motor and the second preset speed threshold.
According to one embodiment of the invention, when any slave frequency converter determines that the belt conveyor equipment fails, the slave frequency converter sends failure state information to an upper computer which sends a given speed.
According to one embodiment of the invention, when any slave frequency converter determines that the belt conveyor equipment fails, the slave frequency converter sends failure state information to the master frequency converter so as to send the failure state information to an upper computer sending a given speed through the master frequency converter.
According to one embodiment of the invention, the master frequency converter controls the handpiece motor in a speed-free vector control speed mode, and the slave frequency converter controls the corresponding motor in a speed-free vector control torque mode.
According to one embodiment of the invention, when the host frequency converter controls the handpiece motor in a speed-vector-control-free speed mode, speed adjustment is performed according to a speed difference between a given speed and an actual rotation speed of the handpiece motor, so as to obtain a given torque current.
According to one embodiment of the invention, the head motor, the belt middle motor and the belt tail motor all use the same motor parameters.
In order to achieve the above purpose, an embodiment of the second aspect of the present invention provides a belt conveyor device, which includes the multi-machine linkage variable frequency speed regulation system.
According to the belt conveyor equipment provided by the embodiment of the invention, based on the multi-machine linkage variable frequency speed regulation system, current balance control is realized, current fluctuation during operation is reduced, current deviation between a host motor and a slave motor is greatly reduced, and meanwhile, the belt conveyor equipment is monitored for faults in real time according to the actual rotating speed of a machine head motor and the running rotating speed of a corresponding motor, so that timely feedback of the faults is realized, and normal running of the belt conveyor equipment is ensured.
To achieve the above objective, an embodiment of a third aspect of the present invention provides a control method of a multi-machine linked variable frequency speed control system, where the multi-machine linked variable frequency speed control system is applied to a belt conveyor device, the belt conveyor device includes at least one of a head motor, a belt middle section motor and a belt tail end motor, the multi-machine linked variable frequency speed control system includes a master frequency converter, at least one slave frequency converter, the master frequency converter is adapted to drive the head motor, the slave frequency converter is adapted to drive at least one of the belt middle section motor and the belt tail end motor, the control method includes: the host frequency converter obtains a given speed, controls the rotating speed of the machine head motor according to the given speed, and sends the actual rotating speed of the machine head motor and the given torque current to the slave frequency converter; the slave frequency converter controls the corresponding motor according to the given torque current, obtains the running rotating speed of the corresponding motor, and carries out fault detection on the belt conveyor equipment according to the actual rotating speed of the machine head motor and the running rotating speed of the corresponding motor.
The multi-machine linkage variable frequency speed control system is applied to belt conveyor equipment, the belt conveyor equipment comprises at least one of a machine head motor, a belt middle section motor and a belt tail end motor, the multi-machine linkage variable frequency speed control system comprises a main machine frequency converter and at least one auxiliary machine frequency converter, the main machine frequency converter is suitable for driving the machine head motor, the auxiliary machine frequency converter is suitable for driving at least one of the belt middle section motor and the belt tail end motor, the control method comprises the steps that firstly, after the main machine frequency converter obtains a given speed, the main machine frequency converter carries out rotating speed control on the machine head motor according to the given speed, and sends the actual rotating speed and the given torque current of the machine head motor to the auxiliary machine frequency converter, then, the auxiliary machine frequency converter carries out control on the corresponding motor according to the given torque current, and obtains the operating rotating speed of the corresponding motor, and fault detection is carried out on the belt conveyor equipment according to the actual rotating speed of the machine head motor and the operating rotating speed of the corresponding motor. According to the method, the machine head motor is controlled according to the given speed through the host frequency converter, the slave motor is controlled according to the given torque current sent by the host frequency converter through the slave frequency converter, so that current balance control can be realized, current fluctuation in working is reduced, current deviation between the host motor and the slave motor is greatly reduced, meanwhile, real-time fault monitoring is conducted on the belt conveyor equipment according to the actual rotating speed of the machine head motor and the running rotating speed of the corresponding slave motor, timely feedback of faults is realized, and normal running of the belt conveyor equipment is guaranteed.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a block schematic diagram of a multi-machine linked variable frequency speed control system of a belt conveyor apparatus according to one embodiment of the invention;
FIG. 2 is a schematic diagram of a connection between a belt conveyor device and a multi-machine linked variable frequency speed regulation system according to one embodiment of the present invention;
FIG. 3 is a block schematic diagram of a belt conveyor apparatus according to an embodiment of the invention;
fig. 4 is a flowchart of a control method of a multi-machine linkage variable frequency speed control system according to an embodiment of the invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
The following describes a multi-machine linkage variable frequency speed regulation system of belt conveyor equipment, the belt conveyor equipment and a control method of the multi-machine linkage variable frequency speed regulation system provided by the embodiment of the invention with reference to the accompanying drawings.
Fig. 1 is a block schematic diagram of a multi-machine linked variable frequency speed control system of a belt conveyor apparatus according to one embodiment of the invention.
Referring to fig. 1 and 2, in one embodiment of the present invention, belt conveyor apparatus 100 includes at least one of a head motor 110, a belt midsection motor 120, and a belt tail motor 130. The multi-machine linkage variable frequency speed control system 200 of the belt conveyor device comprises a master machine frequency converter 210 and at least one slave machine frequency converter 220, wherein the master machine frequency converter 210 is suitable for driving the machine head motor 110, and the slave machine frequency converter 220 is suitable for driving at least one of the belt middle section motor 120 and the belt tail end motor 130. Wherein, the host inverter 210 is used for obtaining a given speed Fm, performing rotational speed control on the handpiece motor 110 according to the given speed Fm, and comparing the actual rotational speed Fm of the handpiece motor 110 with a given torque current i Tm To each slave frequency converter 220. Each slave frequency converter 220 is configured to respond to a given torque current i Tm The respective motors are controlled and the operation speeds of the respective motors are obtained, and the belt conveyor apparatus 100 is subjected to fault detection based on the actual speed fm of the head motor 110, the operation speed fsi of the respective motors (where i=1, 2,3, … …, N).
In particular, the belt machine 100 is typically long in length and, to equalize the distribution of belt tension, employs multiple motor-driven belt rollers 150 mounted at different locations on the belt 140 to facilitate belt transport. In fig. 2, the belt conveyor apparatus 100 is composed of a belt 140 and 1 to N belt conveyor rollers 150 (indicated by rollers 1, … …, N-1, N, respectively, in the advancing direction of the transport material), the belt 140 rotates in the same direction as the belt conveyor rollers 150, and the transport material is deposited above the belt 140. The belt conveyor rollers 150 are driven by corresponding motors respectively, the motor for driving the first belt conveyor roller (roller 1) is used as the machine head motor 110, the motor for driving the last belt conveyor roller (roller N) is used as the belt tail end motor 130, and the motor for driving the belt conveyor roller between the first belt conveyor roller (roller 1) and the last belt conveyor roller (roller N) is used as the belt middle section motor 120.
The belt conveyor apparatus 100 includes at least one of a head motor 110 and a belt midsection motor 120, and a belt end motor 130, wherein the head motor 110 serves as a master motor, the belt midsection motor 120 and the belt end motor 130 serve as slave motors, and the belt conveyor apparatus 100 includes a master motor and at least one slave motor.
In the multistage linkage variable frequency speed regulation system 200 of the belt conveyor device, a plurality of frequency converters are arranged, the frequency converters are in one-to-one correspondence with motors in the belt conveyor device 100, and drive control is performed on corresponding motors respectively, wherein the frequency converter for driving the machine head motor 110, namely a host motor, is a host frequency converter 210, and the frequency converter for driving the belt middle section motor 120 and the belt tail end motor 130, namely a slave motor, is a slave frequency converter 220. It can be understood that the frequency converter is composed of a rectifier, a filtering unit, an inverter, a driving unit, a detecting unit and other modules, and in the running process, the driving unit processes the received given signal and feedback signal according to a preset program and outputs a corresponding driving signal to control the switching-on and switching-off of an IGBT (Insulated Gate Bipolar Transistor ) in the inverter so as to adjust the output of the inverter and drive the motor. To highlight the invention of the present application, fig. 1 simplifies the structure of the frequency converter.
During operation, the host inverter 210 receives a given speed Fm transmitted by the host computer 300. Given speed Fm is handpiece motor 110The desired operating speed. After receiving the start command signal sent by the upper computer 300, the host frequency converter 210 outputs a corresponding control electric signal according to a given speed Fm, performs closed-loop speed adjustment on the handpiece motor 110, and calculates the current actual rotation speed Fm and the given torque current i of the handpiece motor 110 Tm . Host inverter 210 will calculate actual rotational speed fm and given torque current i of handpiece motor 110 Tm The given torque current i sent by the slave frequency converter 220 by the master frequency converter 210 is sent to the slave frequency converter 220 in the multistage linkage variable frequency speed regulation system 200 Tm The respective motors are speed-adjusted as a given current to perform closed-loop control. In the slave frequency converter 220 according to a given torque current i Tm In the process of performing speed adjustment on the corresponding motor, the operation rotation speed fsi of the corresponding motor is obtained through calculation, and the fault detection unit 221 in the slave frequency converter 220 further performs fault detection on the belt conveyor device 100 according to the magnitude relation between the operation rotation speed fsi of the corresponding motor and the actual rotation speed fm of the head motor 110.
The rotational speeds (actual rotational speed fm, running rotational speed fsi) of the motors may be obtained by speed sensors such as rotary encoders provided in the respective motors, or may be determined by obtaining output electric signals of the inverter shown in fig. 1 based on the speed-less sensors, without limitation.
In this embodiment, the host frequency converter 210 controls the speed of the handpiece motor 110 according to a given speed Fm, and the slave frequency converter 220 outputs a given torque current i according to the host frequency converter 210 Tm The speed of the corresponding slave motor is regulated, current fluctuation in the operation process is reduced, current deviation of the current of the master motor and the current of the slave motor is reduced, meanwhile, the slave frequency converter 220 can realize fault monitoring in the operation process of the belt conveyor device 100 based on the operation rotating speed fsi of the corresponding motor and the actual rotating speed fm of the head motor 110 so as to judge whether the belt conveyor device 100 breaks down, and when the belt conveyor device 100 is determined to break down, the fault monitoring device can timely report to a user belt conveyor monitoring center such as the upper computer 300 so as to be referred by operators of a monitoring and dispatching center, and further damage to the belt conveyor device is avoided.In addition, the embodiment can quickly determine the fault occurrence position by detecting the fault of the belt conveyor device 100 through the slave frequency converter 220, so that further fault diagnosis and fault repair are facilitated. The upper computer 300 is used as an upper control system of the system, and can be connected with the multi-machine linkage variable-frequency speed regulation system 200 of the belt conveyor equipment through a communication network.
In one embodiment of the present invention, master inverter 210 controls handpiece motor 110 using a speed-free vector control speed mode, and each slave inverter 220 controls a corresponding motor using a speed-free vector control torque mode.
In one embodiment of the present invention, the same motor parameters are used for head motor 110, belt midsection motor 120, and belt tail motor 130.
The master frequency converter 210 and the slave frequency converter 220 control the corresponding motors in a speed-free vector control mode, and the head motor 110, the belt middle section motor 120 and the belt tail end motor 130 adopt the same motor parameters. Specifically, master inverter 210 controls head motor 110 using a no-speed vector control speed mode, and slave inverter 220 controls belt mid-section motor 120 or belt tail motor 130 using a no-speed vector control torque mode. In one embodiment of the present invention, when host inverter 210 controls handpiece motor 110 using a speed-free vector control speed mode, speed adjustment is performed according to a speed difference between a given speed Fm and an actual rotational speed Fm of handpiece motor 110 to obtain a given torque current i Tm 。
Specifically, referring to fig. 1, the given speed Fm output from the upper computer 300 is differentiated from the actual rotational speed Fm of the head motor 110 and input to the speed regulator 211, and the speed regulator 211 outputs a given torque current i according to a preset control rule according to the speed difference Tm To eliminate the speed difference between the given speed Fm and the actual rotational speed Fm, the actual rotational speed Fm of the handpiece motor 110 is maintained near the given speed Fm, ensuring the operational stability of the handpiece motor 110. While the main machine frequency converter 210 outputs a given torque current i from the speed regulator 211 Tm To slave frequency converter 220, slave becomesThe frequency device 220 is based on a given torque current i Tm The speed control is performed on either the mid-belt motor 120 or the tail-belt motor 130.
The fault of the belt conveyor apparatus 100 determined by the slave inverter 220 may include a belt slip fault, a mechanical fault, etc., and a process of detecting the fault of the belt conveyor apparatus 100 by the slave inverter 220 according to the actual rotation speed fm of the head motor 110 and the operation rotation speed fsi of the corresponding motor will be described in detail.
In one embodiment of the present invention, slave inverter 220 is further configured to determine that belt slip failure of belt conveyor apparatus 100 occurs when the operating speed fsi of the respective motor is greater than the sum of the actual speed fm of head motor 110 and the first preset speed threshold Δf1.
That is, when slave inverter 220 determines that the running rotational speed fsi of the motor it drives exceeds the actual rotational speed fm of head motor 110 by a first preset rotational speed threshold Δf1, it is considered that the belt in belt conveyor apparatus 100 may loose due to wear fatigue, and a belt slip failure occurs. The first preset rotational speed threshold Δf1 is used as a rotational speed difference allowable upper limit value between the running rotational speed fsi and the actual rotational speed fm, and may be determined according to the type of the belt conveyor device 100 and the actual failure determination requirement.
In one embodiment of the present invention, slave inverter 220 is further configured to increase torque current i of the respective motor when operation speed fsi of the respective motor is less than a difference between actual speed fm of handpiece motor 110 and a second preset speed threshold Δf2 Tsi Up to the torque current i of the corresponding motor Tsi Greater than or equal to a given torque current i Tm And a preset current threshold DeltaI T If the running rotation speed fsi of the corresponding motor is still smaller than the difference between the actual rotation speed fm of the head motor 110 and the second preset rotation speed threshold Δf2, it is determined that the belt conveyor apparatus 100 has a mechanical failure.
That is, when the operation rotational speed fsi of the corresponding motor calculated by the slave inverter 220 is smaller than the difference between the actual rotational speed fm of the head motor 110 and the second preset rotational speed threshold Δf2, i.e., fs < fm- Δf2, the slave inverter 220 gradually increases the torque current i of the corresponding motor Tsi . When the torque current i of the corresponding motor Tsi Increasing to a given torque current i Tm And a preset current threshold DeltaI T The sum of i Tsi≥ i Tm+ △I T If fs < fm- Δf2 is the difference between the actual rotational speed fm of the corresponding motor currently obtained by the slave frequency converter 220 and the second preset rotational speed threshold Δf2, the slave frequency converter 220 determines that the belt conveyor apparatus 100 has a mechanical failure. Wherein, the current threshold DeltaI is preset T The second preset rotational speed threshold Δf2 may be determined according to the type of belt conveyor apparatus 100, the type of motor, and the actual failure determination requirements. In addition, the torque current i Tsi The determination can be made by coordinate transformation from the output electrical signals of the respective inverters.
In one embodiment of the present invention, when any one of the slave frequency converters 220 determines that the belt conveyor apparatus 100 is malfunctioning, the slave frequency converter 220 transmits the malfunction status information to the upper computer 300.
Assuming that the belt conveyor apparatus 100 includes one belt mid-section motor 120 and one belt tail-end motor 130, the slave inverter 220 includes a first slave inverter for driving the belt mid-section motor 120 and a second slave inverter for driving the belt tail-end motor 130. When the first slave frequency converter determines that the belt conveyor apparatus 100 fails according to the operation rotation speed fsi of the belt middle section motor 120 and the actual rotation speed fm of the head motor 110, the first slave frequency converter transmits corresponding failure state information to the upper computer 300. The fault state information may be a corresponding fault code, or parameter information within a preset time before and after the occurrence of a fault, and the like.
In another embodiment of the present invention, when any one of the slave frequency converters 220 determines that the belt conveyor apparatus 100 is failed, the slave frequency converter 220 transmits the failure state information to the master frequency converter 210 to transmit the failure state information to the upper computer 300 transmitting the given speed Fm through the master frequency converter 210.
That is, in addition to the above-described slave inverter 220 directly transmitting the fault state information to the upper computer 300, the slave inverter 220 may also forward the fault state information through the master inverter 210. Continuing taking the example of determining that the belt conveyor device 100 fails by the first slave frequency converter, the first slave frequency converter sends corresponding failure state information to the master frequency converter 210, and the master frequency converter 210 sends the failure state information to the upper computer 300 which sends the given speed Fm.
Further, in the present application, master frequency converter 210 controls handpiece motor 110 in a speed-vector-free control speed mode based on a received given speed Fm, and each slave frequency converter 220 is based on a given torque current i output by master frequency converter 210 Tm The corresponding motors are controlled by adopting a speed vector-free control torque mode, and the head motor 110, the belt middle motor 120 and the belt tail motor 130 adopt the same motor parameters, so that the technical problems of large current fluctuation, large field debugging parameter setting difficulty and poor parameter adaptability caused by a sagging control method of utilizing power balance and current balance by a plurality of frequency converters in a multi-machine linkage occasion of the belt conveyor are solved, meanwhile, the slave frequency converter 220 can perform fault detection on the belt conveyor equipment 100 according to the actual rotating speed fm of the head motor 110 and the running rotating speed fsi of the corresponding motor, and judge whether the belt conveyor equipment 100 has belt slip faults or mechanical faults or not so as to be referred by operators of a monitoring and dispatching center to realize timely feedback on the faults of the belt conveyor equipment 100.
In summary, according to the multi-machine linkage variable frequency speed regulation system of the belt conveyor device provided by the embodiment of the invention, the belt conveyor device comprises at least one of a head motor, a belt middle section motor and a belt tail end motor, the multi-machine linkage variable frequency speed regulation system comprises a master machine frequency converter and at least one slave machine frequency converter, the master machine frequency converter is suitable for driving the head motor, the slave machine frequency converter is suitable for driving at least one of the belt middle section motor and the belt tail end motor, the master machine frequency converter obtains a given speed and controls the head motor according to the given speed, the actual rotation speed and the given torque current of the head motor are sent to each slave machine frequency converter, and each slave machine frequency converter controls the corresponding motor according to the given torque current and obtains the operation rotation speed of the corresponding motor and carries out fault detection on the belt conveyor device according to the actual rotation speed of the head motor and the operation rotation speed of the corresponding motor. Therefore, the system controls the rotating speed of the machine head motor according to the given speed through the host frequency converter, controls the slave motor according to the given torque current sent by the host frequency converter through the slave frequency converter, can realize current balance control, reduces current fluctuation in working, greatly reduces current deviation between the host motor and the slave motor, monitors real-time faults of belt conveyor equipment according to the actual rotating speed of the machine head motor and the running rotating speed of the corresponding slave motor, realizes timely feedback of faults, and ensures normal running of the belt conveyor equipment.
Corresponding to the embodiment, the invention further provides belt conveyor equipment.
As shown in fig. 3, the belt conveyor apparatus 100 according to the embodiment of the present invention includes the multi-machine linkage variable frequency speed control system 200 described above.
According to the belt conveyor equipment provided by the embodiment of the invention, based on the multi-machine linkage variable frequency speed regulation system, current balance control is realized, current fluctuation during operation is reduced, current deviation between a host motor and a slave motor is greatly reduced, meanwhile, the belt conveyor equipment is monitored in real time according to the actual rotating speed of a machine head motor and the operating rotating speed of a corresponding slave motor, so that timely feedback of faults is realized, and normal operation of the belt conveyor equipment is ensured.
Corresponding to the embodiment, the invention also provides a control method of the multi-machine linkage variable frequency speed regulation system.
In one embodiment of the invention, the multi-machine linked variable frequency speed control system is applied to belt conveyor equipment, the belt conveyor equipment comprises at least one of a machine head motor, a belt middle section motor and a belt tail end motor, the multi-machine linked variable frequency speed control system comprises a master machine frequency converter and at least one slave machine frequency converter, the master machine frequency converter is suitable for driving the machine head motor, and the slave machine frequency converter is suitable for driving at least one of the belt middle section motor and the belt tail end motor.
Referring to fig. 4, the control method of the multi-machine linkage variable frequency speed control system according to the embodiment of the invention may include the following steps:
s1, a host frequency converter obtains a given speed, and carries out rotation speed control on a machine head motor according to the given speed, and sends the actual rotation speed and the given torque current of the machine head motor to each slave frequency converter;
s2, each slave frequency converter controls the corresponding motor according to the given torque current, obtains the running rotating speed of the corresponding motor, and carries out fault detection on the belt conveyor equipment according to the actual rotating speed of the machine head motor and the running rotating speed of the corresponding motor.
It should be noted that, for details not disclosed in the control method of the multi-machine linkage variable frequency speed control system according to the embodiment of the present invention, please refer to details disclosed in the multi-machine linkage variable frequency speed control system of the belt conveyor device according to the above embodiment of the present invention, and details thereof are not described herein.
The multi-machine linkage variable frequency speed control system is applied to belt conveyor equipment, the belt conveyor equipment comprises at least one of a machine head motor, a belt middle section motor and a belt tail end motor, the multi-machine linkage variable frequency speed control system comprises a main machine frequency converter and at least one auxiliary machine frequency converter, the main machine frequency converter is suitable for driving the machine head motor, the auxiliary machine frequency converter is suitable for driving at least one of the belt middle section motor and the belt tail end motor, the control method comprises the steps that firstly, after the main machine frequency converter obtains a given speed, the main machine frequency converter carries out rotating speed control on the machine head motor according to the given speed, and sends the actual rotating speed and the given torque current of the machine head motor to the auxiliary machine frequency converter, then, the auxiliary machine frequency converter carries out control on the corresponding motor according to the given torque current, and obtains the operating rotating speed of the corresponding motor, and fault detection is carried out on the belt conveyor equipment according to the actual rotating speed of the machine head motor and the operating rotating speed of the corresponding motor. According to the method, the machine head motor is controlled according to the given speed through the host frequency converter, the slave motor is controlled according to the given torque current sent by the host frequency converter through the slave frequency converter, so that current balance control can be realized, current fluctuation in working is reduced, current deviation between the host motor and the slave motor is greatly reduced, meanwhile, real-time fault monitoring is conducted on the belt conveyor equipment according to the actual rotating speed of the machine head motor and the running rotating speed of the corresponding slave motor, timely feedback of faults is realized, and normal running of the belt conveyor equipment is guaranteed.

Claims (10)

1. The multi-machine linkage variable frequency speed regulation system of the belt conveyor equipment comprises at least one of a machine head motor, a belt middle section motor and a belt tail end motor, and is characterized in that the multi-machine linkage variable frequency speed regulation system comprises a main machine frequency converter and at least one auxiliary machine frequency converter, wherein the main machine frequency converter is suitable for driving the machine head motor, the auxiliary machine frequency converter is suitable for driving at least one of the belt middle section motor and the belt tail end motor,
the master frequency converter is configured to acquire a given speed, control the rotating speed of the handpiece motor according to the given speed, and send the actual rotating speed of the handpiece motor and the given torque current to the slave frequency converter;
the slave frequency converter is configured to control the corresponding motor according to the given torque current, acquire the running rotating speed of the corresponding motor, and perform fault detection on the belt conveyor equipment according to the actual rotating speed of the head motor and the running rotating speed of the corresponding motor.
2. The multi-machine linked variable frequency speed control system of claim 1, wherein the slave frequency converter is further configured to determine that the belt conveyor apparatus is experiencing a belt slip fault when the operational speed of the respective motor is greater than a sum of the actual speed of the head motor and a first preset speed threshold.
3. The multi-machine linked variable frequency speed control system of claim 1, wherein the slave frequency converter is further configured to increase the torque current of the respective motor when the operational speed of the respective motor is less than the difference between the actual speed of the head motor and a second preset speed threshold until the torque current of the respective motor is greater than or equal to the sum of the given torque current and a preset current threshold, and determine that a mechanical failure of the belt conveyor apparatus occurs if the operational speed of the respective motor is still less than the difference between the actual speed of the head motor and the second preset speed threshold.
4. A multi-machine linked variable frequency speed control system according to any one of claims 1-3, wherein when any one of the slave frequency converters determines that the belt conveyor apparatus is faulty, the slave frequency converter transmits fault status information to an upper computer that transmits the given speed.
5. A multi-machine linked variable frequency speed control system according to any one of claims 1-3, wherein when any one of the slave frequency converters determines that the belt conveyor apparatus is faulty, the slave frequency converter transmits fault state information to the master frequency converter so as to transmit the fault state information to an upper computer transmitting the given speed through the master frequency converter.
6. A multi-machine linked variable frequency speed control system according to any one of claims 1-3 wherein the master frequency converter controls the machine head motor in a speed-free vector control speed mode and the slave frequency converter controls the corresponding motor in a speed-free vector control torque mode.
7. The multi-machine linked variable frequency speed control system of claim 6 wherein when the host frequency converter controls the machine head motor in a speed vector control-less speed mode, speed adjustment is performed based on a speed difference between the given speed and an actual rotational speed of the machine head motor to obtain the given torque current.
8. The multiple machine linked variable frequency speed control system of any of claims 1-3 wherein the machine head motor, the belt mid-section motor and the belt tail end motor all employ the same motor parameters.
9. A belt conveyor apparatus comprising a multi-machine linked variable frequency speed control system according to any one of claims 1-8.
10. The utility model provides a control method of multi-machine linkage variable frequency speed control system, characterized in that, multi-machine linkage variable frequency speed control system is applied to belt feeder equipment, belt feeder equipment includes at least one of aircraft nose motor, belt middle section motor and belt tail end motor, multi-machine linkage variable frequency speed control system includes host computer converter, at least one slave machine converter, the host computer converter is suitable for driving the aircraft nose motor, slave machine converter is suitable for driving at least one of belt middle section motor and belt tail end motor, the method includes:
the host frequency converter obtains a given speed, controls the rotating speed of the machine head motor according to the given speed, and sends the actual rotating speed and the given torque current of the machine head motor to the slave frequency converter;
the slave frequency converter controls the corresponding motor according to the given torque current, obtains the running rotating speed of the corresponding motor, and detects faults of the belt conveyor equipment according to the actual rotating speed of the head motor and the running rotating speed of the corresponding motor.
CN202310344178.7A 2023-03-31 2023-03-31 Belt conveyor equipment, multi-machine linkage variable-frequency speed regulation system and control method thereof Pending CN116317707A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310344178.7A CN116317707A (en) 2023-03-31 2023-03-31 Belt conveyor equipment, multi-machine linkage variable-frequency speed regulation system and control method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310344178.7A CN116317707A (en) 2023-03-31 2023-03-31 Belt conveyor equipment, multi-machine linkage variable-frequency speed regulation system and control method thereof

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Publication Number Publication Date
CN116317707A true CN116317707A (en) 2023-06-23

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