CN116550216A - Control method and related device for multi-paddle mixing vector control kneader - Google Patents
Control method and related device for multi-paddle mixing vector control kneader Download PDFInfo
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- CN116550216A CN116550216A CN202310848898.7A CN202310848898A CN116550216A CN 116550216 A CN116550216 A CN 116550216A CN 202310848898 A CN202310848898 A CN 202310848898A CN 116550216 A CN116550216 A CN 116550216A
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- 239000013598 vector Substances 0.000 title claims abstract description 52
- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000004898 kneading Methods 0.000 claims abstract description 206
- 239000012530 fluid Substances 0.000 claims abstract description 91
- 239000000463 material Substances 0.000 claims abstract description 86
- 230000000694 effects Effects 0.000 claims abstract description 36
- 238000012544 monitoring process Methods 0.000 claims abstract description 9
- 238000004088 simulation Methods 0.000 claims description 12
- 230000000007 visual effect Effects 0.000 claims description 12
- 238000003860 storage Methods 0.000 claims description 10
- 230000003993 interaction Effects 0.000 claims description 7
- 230000008569 process Effects 0.000 description 11
- 239000007788 liquid Substances 0.000 description 7
- 239000000084 colloidal system Substances 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000005457 optimization Methods 0.000 description 4
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- 230000005674 electromagnetic induction Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
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- 239000002699 waste material Substances 0.000 description 2
- 239000010754 BS 2869 Class F Substances 0.000 description 1
- 239000010755 BS 2869 Class G Substances 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 238000003723 Smelting Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000011365 complex material Substances 0.000 description 1
- 238000000748 compression moulding Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F35/00—Accessories for mixers; Auxiliary operations or auxiliary devices; Parts or details of general application
- B01F35/20—Measuring; Control or regulation
- B01F35/22—Control or regulation
- B01F35/2201—Control or regulation characterised by the type of control technique used
- B01F35/2209—Controlling the mixing process as a whole, i.e. involving a complete monitoring and controlling of the mixing process during the whole mixing cycle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F35/00—Accessories for mixers; Auxiliary operations or auxiliary devices; Parts or details of general application
- B01F35/20—Measuring; Control or regulation
- B01F35/22—Control or regulation
- B01F35/2201—Control or regulation characterised by the type of control technique used
- B01F35/2202—Controlling the mixing process by feed-back, i.e. a measured parameter of the mixture is measured, compared with the set-value and the feed values are corrected
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F35/00—Accessories for mixers; Auxiliary operations or auxiliary devices; Parts or details of general application
- B01F35/20—Measuring; Control or regulation
- B01F35/22—Control or regulation
- B01F35/221—Control or regulation of operational parameters, e.g. level of material in the mixer, temperature or pressure
- B01F35/2214—Speed during the operation
- B01F35/22142—Speed of the mixing device during the operation
- B01F35/221422—Speed of rotation of the mixing axis, stirrer or receptacle during the operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F35/00—Accessories for mixers; Auxiliary operations or auxiliary devices; Parts or details of general application
- B01F35/20—Measuring; Control or regulation
- B01F35/22—Control or regulation
- B01F35/221—Control or regulation of operational parameters, e.g. level of material in the mixer, temperature or pressure
- B01F35/2216—Time, i.e. duration, of at least one parameter during the operation
- B01F35/22161—Time, i.e. duration, of at least one parameter during the operation duration of the mixing process or parts of it
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F35/00—Accessories for mixers; Auxiliary operations or auxiliary devices; Parts or details of general application
- B01F35/20—Measuring; Control or regulation
- B01F35/22—Control or regulation
- B01F35/222—Control or regulation of the operation of the driving system, e.g. torque, speed or power of motors; of the position of mixing devices or elements
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Processing And Handling Of Plastics And Other Materials For Molding In General (AREA)
- Mixers Of The Rotary Stirring Type (AREA)
Abstract
The application discloses a control method and a related device of a multi-paddle mixing vector control kneader, wherein the method comprises the following steps: acquiring material related parameters of a target kneading task; selecting an initial kneading fluid model corresponding to a target kneading task according to the material related parameters, wherein the initial kneading fluid model comprises mixing time and shaft operation parameters; determining a current effective curve according to the initial kneading fluid model and the historical effective curve, wherein the current effective curve comprises a current effective power curve and a current effective auxiliary curve; calculating sectional control power information of a paddle shaft based on the current effective power curve, performing hybrid vector control on multiple shafts according to the sectional control power information, and monitoring kneading effect; if the kneading effect does not meet the preset kneading condition, the kneading fluid model is updated, and the step of determining the current effective curve is returned. The control efficiency of prior art is low, and lacks the flexibility, leads to the relatively poor technical problem of actual operating mode effect can be solved to this application.
Description
Technical Field
The application relates to the technical field of automatic control, in particular to a control method and a related device of a multi-paddle mixing vector control kneader.
Background
The kneader is a unique stirrer, can crush, break up, mix or knead materials with different properties, is a common multi-material kneading device, and can be applied to the fields of high-end chemical industry, new energy or new materials such as lithium battery production, rare earth smelting and the like.
Although the kneader can generate a flow field model formed by complex material flow tracks, the control process is single, the self-adaptive control efficiency is low, and the material state in the process cannot be subjected to targeted monitoring reaction, so that the control process lacks flexibility.
Disclosure of Invention
The application provides a control method and a related device for a multi-paddle mixing vector control kneader, which are used for solving the technical problems of low control efficiency, lack of flexibility and poor actual working condition effect in the prior art.
In view of this, a first aspect of the present application provides a control method of a multi-paddle mixing vector control kneader, comprising:
acquiring material related parameters of a target kneading task, wherein the material related parameters comprise material types and material proportions;
selecting an initial kneading fluid model corresponding to the target kneading task according to the material related parameters, wherein the initial kneading fluid model comprises mixing time and shaft operation parameters;
determining a current effective curve according to the initial kneading fluid model and the historical effective curve, wherein the current effective curve comprises a current effective power curve and a current effective auxiliary curve;
calculating sectional control power information of a paddle shaft based on the current effective power curve, performing mixed vector control on multiple shafts according to the sectional control power information, and monitoring kneading effect;
if the kneading effect does not meet preset kneading conditions, the mixing time and the shaft operating parameters are updated to obtain an updated kneading fluid model, and the step of determining the current effective curve from the initial kneading fluid model and the historical effective curve is returned.
Preferably, said determining a current effective curve from said initial kneading fluid model and a historical effective curve comprises:
generating a current kneading curve according to the initial kneading fluid model;
and comparing and correcting the current kneading curve with the historical effective curve to obtain the current effective curve.
Preferably, the determining the current effective curve according to the initial kneading fluid model and the historical effective curve further comprises:
3D simulation is carried out on the operation state of the kneader and the material kneading state based on the initial kneading fluid model, so that a visual 3D model is obtained;
and displaying the visual 3D model on a human-computer interaction interface.
Preferably, if the kneading effect does not satisfy a preset kneading condition, the mixing time and the shaft operation parameter are updated to obtain an updated kneading fluid model, and then further comprising:
replacing the initial kneading fluid model with the updated kneading fluid model, and storing in a model library.
A second aspect of the present application provides a control device for a multi-paddle mixing vector control kneader, comprising:
a parameter acquisition unit configured to acquire material-related parameters of a target kneading task, the material-related parameters including a material class and a material proportion;
a model selection unit for selecting an initial kneading fluid model corresponding to the target kneading task according to the material related parameters, the initial kneading fluid model including mixing time and axis operation parameters;
a curve determining unit for determining a current effective curve including a current effective power curve and a current effective auxiliary curve according to the initial kneading fluid model and the historical effective curve;
the vector control unit is used for calculating sectional control power information of the paddle shaft based on the current effective power curve, carrying out mixed vector control on multiple shafts according to the sectional control power information, and monitoring kneading effect;
and a kneading updating unit for updating the mixing time and the shaft operating parameter if the kneading effect does not satisfy a preset kneading condition, obtaining an updated kneading fluid model, and returning to the curve determining unit.
Preferably, the curve determining unit is specifically configured to:
generating a current kneading curve according to the initial kneading fluid model;
and comparing and correcting the current kneading curve with the historical effective curve to obtain the current effective curve.
Preferably, the method further comprises:
the 3D simulation unit is used for carrying out 3D simulation on the operation state of the kneader and the material kneading state based on the initial kneading fluid model to obtain a visual 3D model;
and the model display unit is used for displaying the visual 3D model on a human-computer interaction interface.
Preferably, the method further comprises:
and a replacement storage unit for replacing the updated kneading fluid model with the initial kneading fluid model and storing in a model library.
A third aspect of the present application provides a control apparatus for a multi-paddle mixing vector control kneader, the apparatus comprising a processor and a memory;
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the control method of the multi-paddle mixing vector control kneader according to the first aspect according to the instructions in the program code.
A fourth aspect of the present application provides a computer-readable storage medium storing program code for executing the control method of the multi-paddle mixing vector control kneader of the first aspect.
From the above technical solutions, the embodiments of the present application have the following advantages:
in the present application, a control method of a multi-paddle mixing vector control kneader is provided, including: acquiring material related parameters of a target kneading task, wherein the material related parameters comprise material types and material proportions; selecting an initial kneading fluid model corresponding to a target kneading task according to the material related parameters, wherein the initial kneading fluid model comprises mixing time and shaft operation parameters; determining a current effective curve according to the initial kneading fluid model and the historical effective curve, wherein the current effective curve comprises a current effective power curve and a current effective auxiliary curve; calculating sectional control power information of a paddle shaft based on the current effective power curve, performing hybrid vector control on multiple shafts according to the sectional control power information, and monitoring kneading effect; if the kneading effect does not satisfy the preset kneading conditions, the mixing time and the axis operating parameters are updated to obtain an updated kneading fluid model, and the step of determining the current effective curve from the initial kneading fluid model and the historical effective curve is returned.
According to the control method of the multi-paddle mixing vector control kneader, a pre-built initial kneading fluid model is selected according to material related parameters of a target kneading task, a control system is converted into an operation model, and segmented control power information for realizing vector control on a multi-paddle shaft is generated; if the kneading effect obtained by control cannot meet the preset kneading condition, the kneading fluid model can be optimally adjusted, and the sectional control power information is regenerated until the kneading effect specified by the preset kneading condition is reached; the control information generation process is based on actual kneading material information, and is more in accordance with the characteristics of actual working conditions, so that the control efficiency can be improved to a certain extent; and the control optimization can be performed according to the kneading effect generated by the actual kneader, so that the flexibility and reliability of the control effect can be ensured. Therefore, the control efficiency of the prior art is low, and the technical problem that the actual working condition effect is poor due to the lack of flexibility can be solved.
Drawings
Fig. 1 is a schematic flow chart of a control method of a multi-paddle mixing vector control kneader according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a control device of a multi-paddle mixing vector control kneader according to an embodiment of the present disclosure;
FIG. 3 is an exemplary graph of state parameters of a multi-paddle hybrid vector control operation for different materials according to an embodiment of the present application.
Detailed Description
In order to make the present application solution better understood by those skilled in the art, the following description will clearly and completely describe the technical solution in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
For ease of understanding, referring to fig. 1, an embodiment of a control method for a multi-paddle mixing vector control kneader provided in the present application includes:
step 101, acquiring material related parameters of a target kneading task, wherein the material related parameters comprise material types and material proportions.
Different target kneading tasks relate to different material compositions and proportions, so that the material-related parameters can comprise material properties, additives, material mixing temperatures and the like besides material types and material proportions, and the material-related parameters can be obtained according to actual conditions without limitation; material properties generally refer to bulk density, flowability, viscosity, elastic strain rate, self-flow angle, material weight, and the like. It will be appreciated that the various kneading tasks may involve liquid, gel, powder, particulate and bulk energy material states, so that the specific acquisition of which material-related parameters is determined according to the targeted kneading task.
And 102, selecting an initial kneading fluid model corresponding to the target kneading task according to the material related parameters, wherein the initial kneading fluid model comprises mixing time and shaft operation parameters.
The initial kneading fluid model is a pre-constructed mathematical model, experimental data is obtained by carrying out a single-axis rotation experiment or a multi-axis rotation experiment according to the shape size, the paddle shaft position and the corresponding shape size of the kneading cavity and combining relevant parameters of materials, and then the initial kneading fluid model is constructed by carrying out mathematical model simulation according to the experimental data.
The initial kneading fluid model may provide twin operating parameters, i.e., mixing time and shaft operating parameters, for the multi-paddle shaft of the kneader, wherein the shaft operating parameters include shaft operating speed, rotation direction, motor power, acceleration change rate, swing angle, synchronous rotational speed difference, operating period, etc., and may further include other related parameters, such as pressure, vacuum degree, stage power, kneading power, timing component, time-sharing component, discharge inclination, etc., which are not described herein, and may be set according to practical situations.
It will be understood that different material-related parameters represent different kneading tasks, different initial kneading fluid models are required to be used for shaft driving for different target kneading tasks, and different kneading effects are achieved, so that a suitable initial kneading fluid model can be selected according to the material-related parameters, and the number of task types corresponds to the number of pre-stored kneading fluid models.
And step 103, determining a current effective curve according to the initial kneading fluid model and the historical effective curve, wherein the current effective curve comprises a current effective power curve and a current effective auxiliary curve.
Further, step 103 includes:
generating a current kneading curve according to the initial kneading fluid model;
and comparing and correcting the current kneading curve with the historical effective curve to obtain the current effective curve.
The historical effective curve can be a curve obtained by running based on the received primary data information or the current last data information, namely the generated historical effective curve; the current kneading curve is a kneading curve generated under the simulation of twin operation parameters provided by the initial kneading fluid model. In order to improve the accuracy and reliability of the curve, the embodiment adopts a curve comparison mode to carry out curve correction, and the curve can be optimized according to the curve comparison difference to obtain the current effective curve. In addition, the optimized curve can be obtained by optimizing the curve through some objective parameters, such as bulk density, flowability, viscosity, elastic strain speed, self-flow angle, material weight, mixing temperature, mixing time experience value and additives, and substituting the parameters into the curve.
It should be noted that, the current effective curve is divided into a current effective power curve and a current effective auxiliary curve, and the current effective power curve expresses and controls the rotation related parameter of the paddle shaft, namely the shaft vector and is associated with time; the current effective auxiliary curve is used for providing some operation auxiliary parameters, such as temperature, pressure, vacuum degree, discharge control inclination angle and the like, and is also related to time.
Further, step 103 further comprises:
3D simulation is carried out on the operation state of the kneader and the material kneading state based on the initial kneading fluid model, so that a visual 3D model is obtained;
and displaying the visual 3D model on a human-computer interaction interface.
The 3D simulated kneading fluid models are all current models, namely the initial kneading fluid models at present, and if the follow-up optimization exists, the updated kneading fluid models are generated, and then the updated kneading fluid models are displayed on a human-computer interaction interface. The visual 3D model mainly comprises two types of mapping, wherein one type is an operation device of the kneader and is used for displaying the operation condition of a paddle shaft in the kneading process; the other is a material kneading state for exhibiting a morphological change of a material during kneading, such as scattering or agglomerating, or the like.
It will be appreciated that the dimensions of the shaft and the operating parameters of the kneader are known or set, so that the 3D model is relatively true and accurate, but different material kneading forms are relatively difficult to quantitatively control, so that the material kneading state is generally expressed in a virtual mapping manner, and the 3D model can be constructed based on empirical parameters, which is not limited herein.
And 104, calculating sectional control power information of the paddle shaft based on the current effective power curve, performing hybrid vector control on multiple shafts according to the sectional control power information, and monitoring the kneading effect.
It should be noted that, the kneader in this embodiment is provided with a main paddle, an auxiliary paddle and a third paddle, so that the multi-axis control refers to performing rotation vector control on three paddle axes, and the kneading chaos state of the material is to detect the kneading effect, and generally the chaos state of the material at different stages is described as different characteristic nodes, and different characteristic nodes also have different kneading effect requirements, and the mixing vector control is to achieve the requirement, and the actually obtained kneading effect is to monitor the kneading effect. In addition, the sectional control power information can be applied to equipment such as a main paddle direct-drive motor, an auxiliary paddle direct-drive motor, a third paddle direct-drive motor, an electromagnetic induction heating device, a vacuum pump, a booster pump, an electric drive rotary grid type automatic feeding bin, an electric drive flow control liquid drip storage tank and the like in a command mode.
The sectional control power information comprises the rotation direction, rotation speed, motor power, mixing time and kneading time of each paddle shaft in different working phases; and auxiliary parameters such as acceleration change rate, swing angle, synchronous rotation speed difference, rotation vector curve leading-in parameter, constant linear speed control parameter, single-segment execution period parameter, single-segment repetition number, heating and cooling temperature, pressure, vacuum degree, feed port control value, discharge control value, switching parameter and the like.
The system divides the main material types and the corresponding pre-existing flow field models according to the flowability and the mutual affinity of the materials. Two main materials: one with a ratio of 20-60% and the other with a ratio of more than 20%, the sum of the two being more than 80%, divided into 7 classes: class a (colloid and powder), class B (colloid and particle), class C (colloid and bulk), class D (colloid and liquid), class E (liquid and powder), class F (liquid and particle), class G (liquid and bulk). A main material: when the proportion of one material is more than 60% of the total amount, and any other material is less than 20% of the total amount, the system classifies the main materials and the corresponding pre-stored fluency models into 2 types: class H (liquid or colloid), class I (powder or granules or blocks). The material ratios are not classified as listed above, classification bits: class J.
The embodiment divides the whole operation process into 5 stages; referring to fig. 3, the method includes: pretreatment stage, initial stage, intermediate stage (preliminary kneading), peakA value stage (thorough kneading) and a later stage (proper dispersion of the integrally stuck material for discharge). Each stage of each classification sets power P, rotation speed V, rotation direction R (clockwise rotation is RR, counterclockwise rotation is RL) for the main paddle, the auxiliary paddle, and the third paddle respectively. In the pretreatment stage, the main paddle is provided with P 10 、V 10 、R 10 The auxiliary paddle is provided with P 20 、V 20 、R 20 The third paddle is provided with P 30 、V 30 、R 30 The method comprises the steps of carrying out a first treatment on the surface of the In the initial stage, the main paddle is provided with P 11 、V 11 、R 11 The auxiliary will be provided with P 21 、V 21 、R 21 The third paddle is provided with P 31 、V 31 、R 31 The method comprises the steps of carrying out a first treatment on the surface of the In the middle stage, the main paddle is provided with P 12 、V 12 、R 12 The auxiliary will be provided with P 22 、V 22 、R 22 The third paddle is provided with P 32 、V 32 、R 32 The method comprises the steps of carrying out a first treatment on the surface of the In peak stage, the main paddle is provided with P 13 、V 13 、R 13 The auxiliary will be provided with P 23 、V 23 、R 23 The third paddle is provided with P 33 、V 33 、R 33 The method comprises the steps of carrying out a first treatment on the surface of the In the later stage, the main paddle is provided with P 14 、V 14 、R 14 The auxiliary will be provided with P 24 、V 24 、R 24 The third paddle is provided with P 34 、V 34 、R 34 ；
In this embodiment, the main shaft, the auxiliary shaft, and the third shaft are arranged in a delta shape, for example, the main shaft is located at the lower left side, the auxiliary shaft is located at the lower right side, and the third shaft is located at the upper side.
The combination of the movement directions of the main shaft and the auxiliary shaft in the embodiment is divided into three types: inward: the main shaft rotates clockwise, the auxiliary shaft rotates anticlockwise, and RI is used inwards; outward: the main shaft rotates anticlockwise, the auxiliary shaft rotates clockwise, and RO is outwards used for expressing; in the same direction: the two shafts rotate in the same direction and are denoted by RS. The direction of rotation of the third paddle may be clockwise or counter-clockwise.
The main paddle, the auxiliary paddle and the third paddle can be arranged in a balanced manner, and the main shaft and the third paddle are coaxial, so that details are omitted.
It should be noted that, the necessary adjustment of the relevant equipment of the kneader is favorable for the efficient execution of kneading control in combination with the above description and the actual working condition, the kneader in the embodiment is three-paddle mixing vector control, and the 3 paddles are driven by independent power respectively, and parameters such as an operation angle, an operation direction, a movement speed, an output torque and the like are included in the operation process. In addition, the three paddles can independently adjust the rotating speed, the steering, or the circular swing motion of small and 360 degrees or keep static, and the material is regularly disturbed through the swing motion. Depending on the shear force requirements, the profile of the third paddle may be designed to be tangential to the main or auxiliary paddle profile line tracking, including but not limited to profile line axial equi-linear or radial equi-linear.
Moreover, because the three paddles are precisely matched and controlled by the rotation vectors, the shapes of the three paddles can be designed to be changed into partial curved surface meshing, namely, the meshing surface is changed along the twisted paddles, and because the paddles are non-axisymmetric, the positions of the paddles are not completely closed when the paddles are mutually meshed, a more reasonable compression molding volume-variable space and a material flow passage are formed, and the kneading efficiency is greatly improved. Because the three paddles are precisely matched and controlled by the rotation vectors and realize position and angle interlocking, the meshing of variable-speed and variable-local curved surfaces can be realized, the space size formed by the matching of each paddle at each time point can be matched with the strain rate of the material in the kneading process, the waste of power caused by overlarge extrusion pressure formed by the matching of the shaft paddles is completely avoided, and the waste of working time caused by overlarge extrusion pressure is avoided; any one of the paddles can operate in a set constant power/constant torque mode under the condition of ensuring no collision with other paddles, namely, the rotating speed is automatically adjusted according to the change of the load and the change of the kneading degree, so that the power of a motor can be fully utilized, the energy-saving operation can be realized, and the automatic stop after the kneading is finished is realized. Finally, full-position closed-loop control can be carried out on the motor, so that the paddles are prevented from collision, and the control priority sequence of the motor is a main paddle, an auxiliary paddle and a third paddle; at the same time, the maximum current and the maximum power of the motor can be set, so that overload is avoided.
The process parameters in the actual kneading task include: the angular speed of the shaft propeller is 0-18000 degrees/min, the angular acceleration is 0-3 degrees/millisecond, and the repeated positioning accuracy of the rotating angle is 0.05-0.1 degrees. The rotation angle speed of the feeding of the rotary grid test feeding bin is 0-360 degrees/min. The drip control rate is 0-200 ml/min. The electromagnetic induction heating temperature is up to 200 ℃. The weighing range and the precision depend on the size of the cavity and the size of the propeller. The number of subroutines is 1-200. The optional length of time for the individual instructions is 0.01 seconds to 24 hours. The tipping bucket angle is-10 to +130 degrees.
Step 105, if the kneading effect does not meet the preset kneading condition, the mixing time and the axis operation parameters are updated to obtain an updated kneading fluid model, and the step of determining the current effective curve from the initial kneading fluid model and the historical effective curve is returned.
Further, step 105, further includes:
the updated kneading fluid model is replaced with the initial kneading fluid model and stored in a model library.
It should be noted that the preset kneading conditions are characteristic nodes of different states of the material during kneading, and each characteristic node has its preset kneading condition, that is, a certain kneading state is achieved, if the kneading effect does not reach the desired kneading state, the kneading fluid model needs to be updated, some parameters in the model, such as the mixing time and the axis operation parameters, may be adjusted, and other relevant parameters in the model, such as the speed of the batch addition or the batch addition amount, the temperature, may be adjusted, and the present embodiment is not limited thereto. It will be appreciated that the method of updating parameters in the model may be an empirical update or an algorithmic update, and is not limited in this regard.
The essence of the step of determining the current effective curve from the initial kneading fluid model and the historical effective curve is that the updated kneading fluid model is used instead of the initial kneading fluid model, and then the next effective curve is determined from the updated kneading fluid model and the current effective curve, which is an optimization process for the generation of control information.
After the initial kneading fluid model is replaced by the updated kneading fluid model, the kneading fluid model stored in the model library is the updated kneading fluid model, and is used in the subsequent control operation simulation task, and if the kneading fluid model is more optimized, the updating and replacing can be continued.
According to the control method of the multi-paddle mixing vector control kneader, a pre-built initial kneading fluid model is selected according to material related parameters of a target kneading task, a control system is converted into an operation model, and segmented control power information for realizing vector control on a multi-paddle shaft is generated; if the kneading effect obtained by control cannot meet the preset kneading condition, the kneading fluid model can be optimally adjusted, and the sectional control power information is regenerated until the kneading effect specified by the preset kneading condition is reached; the control information generation process is based on actual kneading material information, and is more in accordance with the characteristics of actual working conditions, so that the control efficiency can be improved to a certain extent; and the control optimization can be performed according to the kneading effect generated by the actual kneader, so that the flexibility and reliability of the control effect can be ensured. Therefore, the embodiment of the application can solve the technical problems that the control efficiency of the prior art is low, the flexibility is lacked, and the actual working condition effect is poor.
For ease of understanding, referring to fig. 2, the present application provides an embodiment of a control device of a multi-paddle mixing vector control kneader, comprising:
a parameter acquisition unit 201 for acquiring material-related parameters of the target kneading task, the material-related parameters including a material class and a material ratio;
a model selection unit 202 for selecting an initial kneading fluid model corresponding to the target kneading task according to the material-related parameters, the initial kneading fluid model including mixing time and axis operation parameters;
a curve determining unit 203 for determining a current effective curve including a current effective power curve and a current effective auxiliary curve based on the initial kneading fluid model and the historical effective curve;
the vector control unit 204 is used for calculating sectional control power information of the paddle shaft based on the current effective power curve, performing hybrid vector control on multiple shafts according to the sectional control power information, and monitoring kneading effect;
a kneading updating unit 205 for updating the mixing time and the axis running parameters if the kneading effect does not satisfy the preset kneading condition, obtaining an updated kneading fluid model, and returning to the curve determining unit.
Further, the curve determining unit 203 is specifically configured to:
generating a current kneading curve according to the initial kneading fluid model;
and comparing and correcting the current kneading curve with the historical effective curve to obtain the current effective curve.
Further, the method further comprises the following steps:
a 3D simulation unit 206 for performing 3D simulation on the kneader operation state and the material kneading state based on the initial kneading fluid model, to obtain a visualized 3D model;
the model display unit 207 is configured to display the visual 3D model on the human-computer interaction interface.
Further, the method further comprises the following steps:
and a replacement storage unit 208 for replacing the updated kneading fluid model with the initial kneading fluid model, and storing in a model library.
The application also provides control equipment of the multi-paddle mixing vector control kneader, which comprises a processor and a memory;
the memory is used for storing the program codes and transmitting the program codes to the processor;
the processor is configured to execute the control method of the multi-paddle mixing vector control kneader in the above method embodiment according to the instructions in the program code.
The present application also provides a computer-readable storage medium storing program code for executing the control method of the multi-paddle mixing vector control kneader in the above method embodiment.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions to execute all or part of the steps of the methods described in the embodiments of the present application by a computer device (which may be a personal computer, a server, or a network device, etc.). And the aforementioned storage medium includes: u disk, mobile hard disk, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.
The above embodiments are merely for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (10)
1. A control method of a multi-paddle mixing vector control kneader, characterized by comprising:
acquiring material related parameters of a target kneading task, wherein the material related parameters comprise material types and material proportions;
selecting an initial kneading fluid model corresponding to the target kneading task according to the material related parameters, wherein the initial kneading fluid model comprises mixing time and shaft operation parameters;
determining a current effective curve according to the initial kneading fluid model and the historical effective curve, wherein the current effective curve comprises a current effective power curve and a current effective auxiliary curve;
calculating sectional control power information of a paddle shaft based on the current effective power curve, performing mixed vector control on multiple shafts according to the sectional control power information, and monitoring kneading effect;
if the kneading effect does not meet preset kneading conditions, the mixing time and the shaft operating parameters are updated to obtain an updated kneading fluid model, and the step of determining the current effective curve from the initial kneading fluid model and the historical effective curve is returned.
2. The control method of a multi-paddle mixing vector control kneader according to claim 1, characterized in that the determining of the current effective curve from the initial kneading fluid model and the historical effective curve includes:
generating a current kneading curve according to the initial kneading fluid model;
and comparing and correcting the current kneading curve with the historical effective curve to obtain the current effective curve.
3. The control method of a multi-paddle mixing vector control kneader according to claim 1, characterized in that the determining of the current effective curve from the initial kneading fluid model and the historical effective curve is followed by:
3D simulation is carried out on the operation state of the kneader and the material kneading state based on the initial kneading fluid model, so that a visual 3D model is obtained;
and displaying the visual 3D model on a human-computer interaction interface.
4. The control method of a multi-paddle mixing vector control kneader according to claim 1, characterized in that the mixing time and the shaft operation parameters are updated if the kneading effect does not satisfy a preset kneading condition, resulting in an updated kneading fluid model, and thereafter further comprising:
replacing the initial kneading fluid model with the updated kneading fluid model, and storing in a model library.
5. A control device of a multi-paddle mixing vector control kneader, characterized by comprising:
a parameter acquisition unit configured to acquire material-related parameters of a target kneading task, the material-related parameters including a material class and a material proportion;
a model selection unit for selecting an initial kneading fluid model corresponding to the target kneading task according to the material related parameters, the initial kneading fluid model including mixing time and axis operation parameters;
a curve determining unit for determining a current effective curve including a current effective power curve and a current effective auxiliary curve according to the initial kneading fluid model and the historical effective curve;
the vector control unit is used for calculating sectional control power information of the paddle shaft based on the current effective power curve, carrying out mixed vector control on multiple shafts according to the sectional control power information, and monitoring kneading effect;
and a kneading updating unit for updating the mixing time and the shaft operating parameter if the kneading effect does not satisfy a preset kneading condition, obtaining an updated kneading fluid model, and returning to the curve determining unit.
6. The control device of a multi-paddle mixing vector control kneader according to claim 5, characterized by the curve determination unit, in particular for:
generating a current kneading curve according to the initial kneading fluid model;
and comparing and correcting the current kneading curve with the historical effective curve to obtain the current effective curve.
7. The control device of the multi-paddle mixing vector control kneader according to claim 5, further comprising:
the 3D simulation unit is used for carrying out 3D simulation on the operation state of the kneader and the material kneading state based on the initial kneading fluid model to obtain a visual 3D model;
and the model display unit is used for displaying the visual 3D model on a human-computer interaction interface.
8. The control device of the multi-paddle mixing vector control kneader according to claim 5, further comprising:
and a replacement storage unit for replacing the updated kneading fluid model with the initial kneading fluid model and storing in a model library.
9. A control device for a multi-paddle mixing vector control kneader, characterized in that the device comprises a processor and a memory;
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the control method of the multi-paddle mixing vector control kneader according to any one of claims 1 to 4 according to the instructions in the program code.
10. A computer-readable storage medium storing a program code for executing the control method of the multi-paddle mixing vector control kneader of any one of claims 1 to 4.
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