CN117289640A - Data driving control method and device for constant-current coal taking of gate bucket wheel machine - Google Patents
Data driving control method and device for constant-current coal taking of gate bucket wheel machine Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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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
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
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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
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
- B65G65/16—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with rotary pick-up conveyors
- B65G65/20—Paddle wheels
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
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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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/04—Bulk
- B65G2201/045—Sand, soil and mineral ore
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The application discloses a data driving control method and a device for constant-current coal taking of a gate type bucket wheel machine, relates to the technical field of gate type bucket wheel machine control, utilizes a bucket wheel trolley coal taking flow model to construct a nonlinear relation model of coal taking flow and translation speed, converts the nonlinear relation model by using a differential median theorem to obtain a data driving model of the bucket wheel trolley coal taking flow, then designs a data driving controller of the bucket wheel trolley constant-current coal taking, calculates the bucket wheel trolley translation speed through the data driving controller, outputs the bucket wheel trolley translation speed to a motor executing mechanism, and the motor executing mechanism drives the bucket wheel trolley to translate according to the bucket wheel trolley translation speed, so that the bucket wheel trolley coal taking flow tracks the appointed constant coal flow, the problem of constant-current coal taking of the gate type bucket wheel machine is solved, the control precision of the bucket wheel trolley is improved, and the constant-current coal taking of the gate type bucket wheel machine is ensured.
Description
Technical Field
The application relates to the technical field of gate type bucket wheel machine control, in particular to a data driving control method and device for constant-current coal taking of a gate type bucket wheel machine.
Background
The bucket wheel machine is the main equipment for stacking and taking materials of coal-fired power plants and large-scale steel plants, and the demand of the large bucket wheel machine in China is continuously increased along with continuous extension of a loading and bulk cargo port of a large-scale unit thermal power plant. In particular, the portal bucket wheel machine is an ideal device for high-efficiency continuous piling and taking of bulk materials because of the advantages of large output, high recovery rate and the like, and is widely applied to coal yards. At present, most of coal taking modes of the portal bucket wheel machine adopt a driver to manually operate the bucket wheel trolley, and the translational speed of the bucket wheel trolley is fixed to take coal. Because of the difference of the working experience of drivers and the approximate trapezoid of the coal taking shape of the same layer, the coal feeding is unstable and the fluctuation of the coal flow is large in the process of the reciprocating movement of the bucket wheel trolley, and automatic constant-flow coal taking cannot be realized, so that the material taking adhesive tape machine runs idle or is overloaded, the work efficiency of the material taking adhesive tape machine is low, and the coal feeding efficiency is influenced. So far, no control method for constant-current coal taking of the gate bucket wheel machine exists.
Disclosure of Invention
Therefore, the application provides a data driving control method and device for constant-current coal taking of a gate type bucket wheel machine, which are used for solving the problem that automatic constant-current coal taking cannot be realized due to unstable coal feeding and large fluctuation of coal flow in the process of coal taking of a bucket wheel trolley in a reciprocating manner in the prior art.
In order to achieve the above object, the present application provides the following technical solutions:
in a first aspect, a data driving control method for constant-current coal taking of a gate bucket wheel machine includes:
step 1: constructing a nonlinear relation model of coal taking flow and translation speed by utilizing a bucket wheel trolley coal taking flow model;
step 2: converting the nonlinear relation model by applying a differential median theorem to obtain a data driving model of the coal taking flow of the bucket wheel trolley;
step 3: designing a constant-current coal taking data driving controller of the bucket wheel trolley according to the data driving model;
step 4: calculating the translational speed of the trolley of the bucket wheel through the data driving controller;
step 5: and outputting the translational speed of the bucket wheel trolley to a motor executing mechanism, wherein the motor executing mechanism drives the bucket wheel trolley to translate according to the translational speed of the bucket wheel trolley, so that the coal taking flow of the bucket wheel trolley tracks the appointed constant coal flow.
Preferably, in the step 1, the bucket wheel trolley coal taking flow model is as follows:
wherein,represents coal density->Indicating that the coal layer is taken up at a certain position in one journey,/->Indicating the translational speed of the trolley of the bucket wheel, +.>Indicating the stepping length of the trolley of the bucket wheel each time.
Preferably, in the step 1, the nonlinear relation model of the coal taking flow rate and the translation speed is:
wherein,represents the coal taking flow of the bucket wheel trolley at the moment k,/->Indicating the translational speed of the trolley at time k,/->Is an unknown nonlinear function, ++>And->Representing a given positive integer.
Preferably, in the step 2, the data driving model of the bucket wheel trolley coal taking flow is:
wherein,indicating the translational speed error of the moment k and the moment k-1 of the trolley of the bucket wheel, +.>=/>，/>Representation->Estimated value of ∈10->Representing a variable;
wherein,and->Representing the adjustable parameter.
Preferably, in the step 3, the data driving controller is:
wherein,representing the adjustment parameters->Representing the adjustment parameters->Represents the constant flow of the specified coal,indicating the location of the coal pick-up point.
In a second aspect, a data driving control device for constant-current coal taking of a gate bucket wheel machine includes:
the nonlinear relation model building module is used for building a nonlinear relation model of coal taking flow and translation speed by utilizing a bucket wheel trolley coal taking flow model;
the data driving model construction module is used for converting the nonlinear relation model by applying a differential median theorem to obtain a data driving model of the bucket wheel trolley coal taking flow;
the data driving controller construction module is used for designing a constant-current coal taking data driving controller of the bucket wheel trolley according to the data driving model;
the calculation module is used for calculating the translational speed of the trolley of the bucket wheel through the data driving controller;
and the data output module is used for outputting the translational speed of the bucket wheel trolley to the motor executing mechanism, and the motor executing mechanism drives the bucket wheel trolley to translate according to the translational speed of the bucket wheel trolley, so that the coal taking flow of the bucket wheel trolley tracks the appointed constant coal flow.
In a third aspect, a computer device includes a memory and a processor, where the memory stores a computer program, and the processor implements a step of a data driving control method for constant-current coal taking of a gate bucket wheel machine when executing the computer program.
In a fourth aspect, a computer readable storage medium has stored thereon a computer program which when executed by a processor implements the steps of a data driven control method for constant current coal pick-up of a gate bucket wheel machine.
Compared with the prior art, the application has the following beneficial effects:
the utility model provides a data drive control method and device of constant-current coal taking of a gate type bucket wheel machine, through utilizing the bucket wheel trolley coal taking flow model to construct a nonlinear relation model of coal taking flow and translation speed, the data drive model of the bucket wheel trolley coal taking flow is obtained by converting the nonlinear relation model by applying differential median theorem, the data drive controller of the bucket wheel trolley constant-current coal taking is designed according to the data drive model, the bucket wheel trolley translation speed is calculated through the data drive controller, the bucket wheel trolley translation speed is output to a motor executing mechanism, the motor executing mechanism drives the bucket wheel trolley to translate according to the bucket wheel trolley translation speed, the bucket wheel trolley coal taking flow tracks the appointed constant coal flow, the problem of constant-current coal taking of the gate type bucket wheel machine is solved, moreover, the whole control method does not depend on the mathematical model of the gate type bucket wheel machine, only data information of the bucket wheel trolley coal taking flow and translation speed is used, the control precision of the bucket wheel trolley is improved, and constant-current coal taking of the gate type bucket wheel machine is ensured.
Drawings
For a more visual description of the prior art and the present application, exemplary drawings are presented below. It should be understood that the specific shape and configuration shown in the drawings should not be considered in general as limiting upon the practice of the present application; for example, based on the technical concepts and exemplary drawings disclosed herein, those skilled in the art have the ability to easily make conventional adjustments or further optimizations for the add/subtract/assign division, specific shapes, positional relationships, connection modes, dimensional scaling relationships, etc. of certain units (components).
Fig. 1 is a flowchart of a data driving control method for constant-current coal taking of a gate bucket wheel machine according to a first embodiment of the present application;
FIG. 2 is a working block diagram of a data driving control method for constant-current coal taking of a gate bucket wheel machine according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a reciprocating coal extraction of a gate bucket wheel machine according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a communication interface circuit according to an embodiment of the present application.
Detailed Description
The present application is further described in detail below with reference to the attached drawings.
In the description of the present application: unless otherwise indicated, the meaning of "a plurality" is two or more. The terms "first," "second," "third," and the like in this application are intended to distinguish between the referenced objects without a special meaning in terms of technical connotation (e.g., should not be construed as emphasis on degree or order of importance, etc.). The expressions "comprising", "including", "having", etc. also mean "not limited to" (certain units, components, materials, steps, etc.).
The terms such as "upper", "lower", "left", "right", "middle", and the like, as used in this application, are generally used for the purpose of facilitating an intuitive understanding with reference to the drawings and are not intended to be an absolute limitation of the positional relationship in actual products.
Example 1
Referring to fig. 1 and 2, the embodiment provides a data driving control method for constant-current coal taking of a gate bucket wheel machine, which includes:
s1: constructing a nonlinear relation model of coal taking flow and translation speed by utilizing a bucket wheel trolley coal taking flow model;
specifically, the bucket wheel trolley coal-taking flow model is as follows:
（1）
wherein,represents coal density->Indicating that the coal layer is taken up at a certain position in one journey,/->Indicating the translational speed of the trolley of the bucket wheel, +.>Indicating the stepping length of the trolley of the bucket wheel each time.
The method can be obtained by the formula (1), the coal taking flow is related to the translational speed of the bucket wheel trolley, and then a nonlinear relation model of the coal taking flow and the translational speed of the bucket wheel trolley is established as follows:
（2）
wherein,represents the coal taking flow of the bucket wheel trolley at the moment k,/->Indicating the translational speed of the trolley at time k,/->Is an unknown nonlinear function, ++>And->Representing a given positive integer.
S2: converting the nonlinear relation model by applying a differential median theorem to obtain a data driving model of the coal taking flow of the bucket wheel trolley;
specifically, the variation of the coal taking flow is causedObtainable according to formula (2):
（3）
according to the differential median theorem, formula (3) is written as follows:
（4）
in the formula (4), the amino acid sequence of the compound,
（5）
（6）
wherein,indicating the translational speed error of the moment k and the moment k-1 of the trolley of the bucket wheel, +.>Representation->About->Deviation value of->The expression (3) uses the remainder of the differential median theorem.
For each fixed coal pick-up instant k, there is an expressionEquation (6) can be written as follows:
（7）
the translational speed of the bucket wheel trolley at each moment is different, so that the bucket wheel trolley can be obtainedSo that there is at least one solution +.>Let equation (7) hold, then combining equation (4) and equation (7) can be obtained:
（8）
let variableFurther obtainable from formula (8):
（9）
in order to obtain a data-driven model of the coal-taking flow, the variables in formula (9) need to be changedAn estimation is made. Order theRepresentation->Defining an estimation error +.>. Design with recursive form->The estimated expression form is as follows:
（10）
wherein,and->Is an adjustable parameter->The reset algorithm of (2) is as follows:
，
if it isOr->Or-> （11）
Wherein,and->Indicating a given constant.
The intermediate formula of formula (10) is subtracted from both sides simultaneouslyThe method can obtain:
（12）
substitution of formula (9) into formula (12) yields:
（13）
in order to ensure constant-flow coal taking of the bucket wheel trolley, the actual coal taking flow of the bucket wheel trolley needs to be observed at any time, so that the sampling time of the gate type bucket wheel machine system is generally set to be shorter, and the variable formed by sampling data input and output by the system can be knownIs slowly time-varying, so that +.>This is obtainable by the formula (13):
（14）
further obtainable by formula (14):
（15）
by adjustable parametersAnd->The adjustment range of (2) shows that a constant +.>The following inequality is established:
（16）
the following inequality is obtained according to the formulas (15) and (16):
（17）
due toIs>Is bounded, so that the number of times of coal taking of the bucket wheel trolley is increased, the weight of the bucket wheel trolley is increased>Gradually converge to zero, thereby obtaining +.>Thus, the variable +.in equation (9) is obtained from equation (10)>Estimate of +.>Then, a data driving model of the coal taking flow of the bucket wheel trolley is established as follows:
（18）
s3: a data driving controller for constant-current coal taking of the bucket wheel trolley is designed according to the data driving model;
specifically, referring to fig. 3, the step length L of the bucket wheel cart is kept constant during one stroke of the bucket wheel cart for taking coal. Because the coal pile is generally conical, the coal taking shape of a certain layer is approximately trapezoidal, h changes along with the change of the position of the bucket wheel trolley when the coal is taken, h is smaller at two sides and larger in the middle, so that the coal taking flow is smaller at two sides and larger in the middle, and the coal taking is causedThe flow is uneven, so that the translational speed of the bucket wheel trolley needs to be controlled to realize constant-flow coal taking. The translation speed is then designedThe performance index function of (2) is as follows:
（19）
wherein,represents the constant flow of the specified coal, +.>For regulating parameters->Indicating the location of the coal pick-up point. For formula (19) about->The minimization calculation can be obtained:
（20）
according to equation (20), the design has parametersThe translational speed of the trolley with bucket wheels>The data driving controller of (a) is as follows:
（21）
wherein,representing the adjustment parameters.
S4: calculating the translational speed of the trolley of the bucket wheel through a data driving controller;
specifically, the data driving controller can track the designated constant coal flow, and the tracking error of the coal taking flow tends to be zero, so that constant-flow coal taking of the gate bucket wheel machine is realized.
Defining coal taking flow of bucket wheel trolley at time k+1And a specified constant coal flow->The tracking error of (2) is:
（22）
substituting the data-driven model (18) into equation (22) yields the following expression:
（23）
due toAnd according to the parameter->And->The adjustment range of (2) can be obtained:
（24）
further, there is a constantThe method comprises the following steps of:
（25）
by combining the formula (23) and the formula (25), the tracking error of the coal taking flow can be satisfied:
（26）
as can be seen from the graph (26), the tracking error of the coal taking flow rate is increased along with the increase of the coal taking times of the bucket wheel trolleyHold, i.e.)>. Under the action of the data driving controller (21), constant-current coal taking is realized by controlling the translation speed of the bucket wheel trolley.
S5: and outputting the translational speed of the bucket wheel trolley to a motor executing mechanism, and driving the bucket wheel trolley to translate by the motor executing mechanism according to the translational speed of the bucket wheel trolley, so that the coal taking flow of the bucket wheel trolley tracks the appointed constant coal flow.
Specifically, referring to fig. 4, an STM32H7 serial single-chip microcomputer is used as a main controller, according to a constant coal-taking flow designated by a bucket-wheel trolleyAnd the actual coal taking flow rate->The main controller calculates the translation speed of the bucket wheel trolley according to a preset control algorithm, and provides the translation speed for the motor executing mechanism through the communication interface, and the motor executing mechanism drives the bucket wheel trolley to translate, so that constant-current coal taking of the gate type bucket wheel machine is realized.
The data driving control method for constant-current coal taking of the gate type bucket wheel machine solves the problem of constant-current coal taking of the gate type bucket wheel machine, realizes constant-current coal taking by controlling the translational speed of the bucket wheel trolley and considering the new view angle of the coal taking point position, and has important significance in meeting the requirement of fine management of coal yards and improving the operation efficiency of the coal yards, wherein the whole control scheme does not depend on the mathematical model of the gate type bucket wheel machine, only uses the data information of the coal taking flow and translational speed of the bucket wheel trolley, improves the control precision of the bucket wheel trolley, and ensures the constant-current coal taking of the gate type bucket wheel machine.
Example two
The embodiment provides a data drive controlling means of constant current coal pick-up of gate-type bucket wheel machine, includes:
the nonlinear relation model building module is used for building a nonlinear relation model of coal taking flow and translation speed by utilizing a bucket wheel trolley coal taking flow model;
the data driving model construction module is used for converting the nonlinear relation model by applying a differential median theorem to obtain a data driving model of the bucket wheel trolley coal taking flow;
the data driving controller construction module is used for designing a constant-current coal taking data driving controller of the bucket wheel trolley according to the data driving model;
the calculation module is used for calculating the translational speed of the trolley of the bucket wheel through the data driving controller;
and the data output module is used for outputting the translational speed of the bucket wheel trolley to the motor executing mechanism, and the motor executing mechanism drives the bucket wheel trolley to translate according to the translational speed of the bucket wheel trolley, so that the coal taking flow of the bucket wheel trolley tracks the appointed constant coal flow.
The specific implementation content of each module in the data driving control device for constant-current coal taking of the gate bucket wheel machine can be referred to as limitation of the data driving control method for constant-current coal taking of the gate bucket wheel machine, and the description is omitted here.
Example III
The embodiment provides computer equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of a data driving control method for constant-current coal taking of a gate bucket wheel machine when executing the computer program.
Example IV
The embodiment provides a computer readable storage medium, on which a computer program is stored, the computer program realizing the steps of a data driving control method for constant-current coal taking of a gate bucket wheel machine when being executed by a processor.
Any combination of the technical features of the above embodiments may be performed (as long as there is no contradiction between the combination of the technical features), and for brevity of description, all of the possible combinations of the technical features of the above embodiments are not described; these examples, which are not explicitly written, should also be considered as being within the scope of the present description.
Claims (8)
1. The data driving control method for constant-current coal taking of the gate bucket wheel machine is characterized by comprising the following steps of:
step 1: constructing a nonlinear relation model of coal taking flow and translation speed by utilizing a bucket wheel trolley coal taking flow model;
step 2: converting the nonlinear relation model by applying a differential median theorem to obtain a data driving model of the coal taking flow of the bucket wheel trolley;
step 3: designing a constant-current coal taking data driving controller of the bucket wheel trolley according to the data driving model;
step 4: calculating the translational speed of the trolley of the bucket wheel through the data driving controller;
step 5: and outputting the translational speed of the bucket wheel trolley to a motor executing mechanism, wherein the motor executing mechanism drives the bucket wheel trolley to translate according to the translational speed of the bucket wheel trolley, so that the coal taking flow of the bucket wheel trolley tracks the appointed constant coal flow.
2. The method for data driving control of constant-current coal taking of a gate bucket wheel machine according to claim 1, wherein in the step 1, the bucket wheel trolley coal taking flow model is as follows:
wherein,represents coal density->Indicating that the coal layer is taken up at a certain position in one journey,/->Indicating the translational speed of the trolley of the bucket wheel, +.>Indicating the stepping length of the trolley of the bucket wheel each time.
3. The method for controlling the constant-current coal taking data driving of the gate bucket wheel machine according to claim 2, wherein in the step 1, the nonlinear relation model of the coal taking flow and the translation speed is as follows:
wherein (1)>Represents the coal taking flow of the bucket wheel trolley at the moment k,/->Indicating the translational speed of the trolley at time k,/->Is an unknown nonlinear function, ++>And->Representing a given positive integer.
4. The method for data driving control of constant-current coal taking of a gate bucket wheel machine according to claim 3, wherein in the step 2, a data driving model of the coal taking flow of the bucket wheel trolley is as follows:
wherein (1)>Indicating the translational speed error of the moment k and the moment k-1 of the trolley of the bucket wheel, +.>=/>，/>Representation->Estimated value of ∈10->Representing a variable;
wherein (1)>And->Representing the adjustable parameter.
5. The method for data driving control of constant-current coal taking of a gate bucket wheel machine according to claim 4, wherein in the step 3, the data driving controller is:
wherein (1)>Representing the adjustment parameters->Representing the adjustment parameters->Represents the constant flow of the specified coal, +.>Indicating the location of the coal pick-up point.
6. The utility model provides a gate-type bucket wheel machine constant current is got data drive controlling means of coal which characterized in that includes:
the nonlinear relation model building module is used for building a nonlinear relation model of coal taking flow and translation speed by utilizing a bucket wheel trolley coal taking flow model;
the data driving model construction module is used for converting the nonlinear relation model by applying a differential median theorem to obtain a data driving model of the bucket wheel trolley coal taking flow;
the data driving controller construction module is used for designing a constant-current coal taking data driving controller of the bucket wheel trolley according to the data driving model;
the calculation module is used for calculating the translational speed of the trolley of the bucket wheel through the data driving controller;
and the data output module is used for outputting the translational speed of the bucket wheel trolley to the motor executing mechanism, and the motor executing mechanism drives the bucket wheel trolley to translate according to the translational speed of the bucket wheel trolley, so that the coal taking flow of the bucket wheel trolley tracks the appointed constant coal flow.
7. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 5 when the computer program is executed.
8. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 5.
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