SU1286474A1 - Method of controlling double-drum belt conveyer - Google Patents

Abstract

The invention relates to the field of conveyor transport and allows the conveyor installation to be controlled with high precision during the course of dynamic modes. For this, the oscillations (K) of the running body, caused by the interaction of conveyor drives, are compensated. Depending on the change in the traffic flow, the frequency of rotation (CV) of the electric motors (ED) of the driving drums is changed. In this case, inertia and K are compensated for through the main channels. To compensate for the interplay of the ED, the conveyor drives for each ED generate a correction signal. First, the sum of the inverted signal FW of one ED and the signals due to static and tractive effort are found. Then the ratio of this amount to the signal component of the EF of another ED due to its pulling force is determined. The generated correction signals are created in the main channels K, which are in antiphase with K, caused by the interaction of the drives. The output values (PV drives) of each obtained independent drive control channel of each drive drum are directly proportional to the control signal. 3 il. (L

Description

gche

CX) O5

This invention relates to the field of automatic control of double drum belt conveyors.

The aim of the invention is to improve the accuracy of control of the conveyor system during the flow of dynamic modes by compensating for the oscillations of the traction unit.

This goal is achieved by compensating for vibrations due to the inter-structural scheme of the conveyor, vibrations that are out of phase with vibrations in cross-links.

FIG. I shows the flowchart of the pipeline as an object of regulation; in fig. 2 - block diagram of the device that implements the method; FIG. 3 - functional diagram of this device.

Rotational speed of the driving drums.

the influence of conveyor drives, by the form expressed through the transfer functions

tions on the input of the ACS, a corrective structural diagram of the conveyor

Signals that create in the main channels are presented in general terms as follows (see Fig. 1):

a), (P) F, (P) Wu (P) + F2 (P) -W, 2 (P) + FcT, (P) -Wcr, (P)

structural diagram of an oscillation conveyor that is out of phase with oscillations in cross-links.

FIG. I shows the flowchart of the pipeline as an object of regulation; in fig. 2 - block diagram of the device that implements the method; FIG. 3 - functional diagram of this device.

Rotational speed of the driving drums.

Fcr, (P),) WCT, (P), WCT, (P)

Wll (P), W22 (P), W, 2 (P), W2l (P)

X, (P), X2 (P)

a) 2 (P) F2 (P) W22 (P) + Fi where FI (P), F2 (P) are applied forces

from the drive engines; static load-side forces on the drive drums; transfer functions describing oscillations in a flexible traction device under stepwise application of a static load; transfer functions describing oscillations in the tape along the main channels and in cross-links expressing the mutual interaction of the drives when the control actions change; displacements at the corresponding points.

The device that implements the method of controlling the two-drum conveyor 1 includes systems for automatically controlling electric drives of two driving drums, each of which has a motor 2, a converter 3, a regulator block 4 and an oscillation compensation block 6 connected to it through an adder 5. the next drive drum, as well as the unit 7 intensity (Fig. 3).

The block of 4 regulators includes a series-connected adaptive current regulator 8, an adder 9, to which a current sensor 10 is connected, forming an inertia-compensation and oscillation assembly of a flexible tract in the main channel two proportional-integral (PI) regulators speeds 12 and 13 and adder 14.

Block 6 compensating for oscillations in the tape, caused by the influence of the adjacent drive drum, consists of amplifier 15, adder 16, divider 17 and integrator 18. Amplifier 15 is connected to adder 16 and to second input (denominator) divider 17,

0

five

0

five

) W2l (P) + FcT. (P) WcT. (P),

which is located in a similar block 6 of the adjacent drum drive control system. The integrator 18 is also connected to the adder 16, the output of the latter is connected to the first input (numerator) of the divider 17, with which the entire block 6 of oscillation in the tape, caused by the influence of the adjacent drive drum, is connected to the adder 5.

The rotational speed sensor 19 is connected to the adders 5, 9, 14 and 16 and to the intensity setting device 7, the output of which is connected to the amplifier 15 and the adder 5.

In addition, the device is equipped with blocks and sensors common to drive control systems of both drums.

The sensor 20 of the moment of inertia is connected to the adders 5 and 14 of each drive drum. The adders 5 are also connected to a block 21 for redistributing the load between the driving drums and the block 22 for isolating the static force, which is also connected to the blocks 6 for compensating for oscillations in the tape caused by the interaction of the driven drums by connecting to the integrators 18.

Conveyor scales 23 are connected to intensity sensors 7.

The method is carried out as follows.

The signal taken from conveyor scales 23 and proportional to the quantity of cargo flow entering the conveyor 1 is the value of setting the speed of the conveyor belt 1 and is fed to the inputs of drive control systems of each drum through intensity settings 7, which allows the formation of a driving signal according to the requirements NS technology taking into account the maximum allowable values of transport installations

Double application of the modified principle of subordinate regulation. on each drive drum (blocks of 4 regulators) allows the transfer 55 functions of the electrical part of the system, consisting of drive motors of each drum 2, converters 3 and blocks of 4 regulators, together with the main

0

The heater 2 can be reduced to a proportional link 1 / Kt. The transfer function of the inertia and oscillations compensation node 11 in the main channel is flexible and the transfer function of this main channel in the structural scheme of the conveyor 1 is almost mutually canceled, and here the compensation of inertia and oscillations in the ribbon is achieved. . But due to the presence of interconnected drive drums, expressed by cross-links in the block diagram of the conveyor (Fig. 1), the transfer function of unit 11 in the ACS driven by a single drum is connected in series with the transfer function expressing the mechanical effect of this drum. on the next (Fig. 2).

Consequently, in addition to eliminating the mutual drive drums, due to their mechanical connection in the midst of where. The CT-feedback factor for the 20th flexible traction body produces

channels of the mechanical part, expressed by the transfer functions Wit (P) and W22 (P) of the structural diagram of the conveyor (Fig. 2), to polynomials with transfer functions close to the amplifying links m.

The node 11 to compensate for the inertia and oscillations of the flexible traction organ in the main channel, being connected on one driving drum, influences the transient process dynamics on the other drum (Fig. 2).

An adaptive current regulator 8 is used to compensate for the electromagnetic time constant. Therefore, the transfer function of the optimized closed current loop is

1 / ct

WK.T. (P) 2TjP42T P-f 1

current;

T is the sum of uncompensated constant time.

The negligence of the magnitude of the TC, the current loop, into which the series-connected transfer functions of the adaptive current regulator 8 are included, the converter 3, dvOJ, (P) U3l (P) Kl + U32 (P) K2Wy.K.2 (P) Wl2 (P ) + FcT, (P) WcT, (P) P2 (P) U32 (P) K2 + U3l (P) K | Wy.K. | (P) W2l (P) + FcT. (P) WcT, (P ),

where) is the transfer function of the node of the stiffness and oscillations along the main 11 inertial channel compensation.

"Laca (P) -U3i (P) Ki-Fc. (P) W., (P)

Wy.K.2 (P) W, 2 (P)

 ) 2 (P -) - y32 (P) K2-FcT. (P) Wcr. (P)

Wy.K, (P) W2, (P) (j3i (P) I,

Since these transfer functions are parallel to the main channels (see Fig. 2), to compensate for them,

-Wy.K.2 (P) W, 2 (P) -. (P) + U |. (P) K. + Fc .., (P) WcMP)

U32V J

(on the first drum) and

-Wy.M (P) W2. (P) (P) (P) K2 + FcMP) Wc. (P)

Uai (.and)

presence of main signals in the main channels:

(on the second drum).

The transfer functions WCT, (P) and WcTj (P) in real conditions, when a change in the static load of the conveyor occurs

-Wy-K.2 (P) Wl2 (P)

(on the first drum) and

-u) i (P) + U3i (P) Ki + FcT, (P) U32 (P) K2

W (P) + U52 (P K2 + FcT. (P).

-wy.K.i (p) W2, (p) -IJ3; (P) K,

(to the second drum). In order to form a correction signal, the indicated correction signals from the signal on the first driving drum give a signal in the main channels of oscillation, which is found from the static force extraction unit 22, which is out-of-phase with vibrations that are passed through the integrator 18, they add up the interplay of actuators with the task set signal Uz with setpoint and 7 to intensify the mutual interference caused by the introduction of the inertia-compensation and oscillations of the flexible traction unit through the main channels on each drive drum. conveyor 1.

Therefore, expressions for speeds can be represented as follows:

presence in the main channels of the correction signals:

smoothly can be reduced to integrating

links l // IiP and l / bP.

And on the inputs of the ACS serves corrective

signals:

-u) i (P) + U3i (P) Ki + FcT, (P) U32 (P) K2

i

multiplicity multiplied by proportionality Ki

(effort20

by coefficient

Ш | (Р

U3i (P)

15), subtract the signal from the rotation speed sensor 19 and divide by 17 dividers the reference signal on the second driving drum multiplied by the coefficient C02 (P) /

proportionality factor K2 JTp) (

15 on the second drive drum). Q

The formation of the correction signal on the second drive drum is carried out similarly. Feedbacks must be made at all output speed coordinates.

A device that implements the method works as follows.

The conveyor scale 23 measures the linear load on the conveyor.

The signal from the weighing conveyor 23 is supplied to the control unit 7 of the intensity of the ACS driven by each driving drum. ;

Each intensity setting unit 7 receives negative feedback in rotation frequency (in intensity setting 7, a signal from belt scales 23 is compared with a signal from a rotation speed sensor 19 25 proportional to the current value of the rotation frequency of the electric motor on the drive drum). The setpoint signal Uz formed in the intensity adjuster 7, folding in the adder 5 with correction signals coming from the rotation speed sensor 19, from the inertia moment sensor 20, from the load redistribution unit 21 between the driving drums and from the static gain extractor 22 the incoming signal to the block of 4 regulators. Here, a control system is organized based on the twofold application of a modified principle of subordinate control, which allows for the optimization of current contours and speed along the main channels. Due to this, inertia is expressed in the main channels, which are expressed by electromagnetic and electromechanical time constants, and oscillations of the flexible tract when changing control actions.

Mathematically, this is expressed by practically reducing the proportional link of the series-connected transfer functions of the block 4 of regulators, converter 3 and motor 2 of the electrical circuit diagram and the corresponding main channel of the conveyor block diagram on each drive drum (see Fig. 2).

Only those oscillations that are

35

40

The block 6 compensates for oscillations in the belt caused by the influence of the adjacent driving drum. With the help of block 6 in the main channel, artificially create oscillations that are mutually annihilated with real-life oscillations caused by the influence of the adjacent driving drum.

The correction signal creating such vibrations is obtained as follows.

In block 6, the reference signal U is amplified by the amplifier 15 with the gain Ki, and fed to the adder 16, where it is added to the inverted signal from the rotation speed sensor 19 and to the signal passed through the integrator 18, proportional to the applied static force on the corresponding drive drum, taken from a static force extraction unit 22.

The output signal of the adder 16 is divided by divider 17 by the reference signal of another drive drum, amplified in a similar amplifier 15 with a gain factor of K2.

The division by zero in the divider 17 is excluded, since the operations on the formation of a correction signal aimed at eliminating the mutual interaction of the driving drums are performed as a second step after compensating for the inertia and oscillations along the main channels, and therefore, already with the setting signal.

As a result of the operation of the blocks of 4 regulators and the blocks 6 of the compensation of oscillations in the tape, caused by the interaction of the driving drums, there are two independent channels for controlling the drive of each driving drum.

The output values, which are the rotational speeds of the driving drum motors, are directly proportional to the control signals.

Claims (1)

Invention Formula 45 A method of controlling a two-drum belt conveyor based on a change in the rotational speed of the motors depending on the change in the traffic flow, characterized in that, in order to improve the control accuracy during the flow of dynamic modes by compensating for the oscillations of the body caused by the mutual influence of the conveyor drives, the correction signal for each motor as the ratio of the resultant, which is the sum of the inverted signal of the rotation frequency of the first motor and the signals generated by static and traction conditions are caused by the interaction of drive 55 lines to the component of the frequency the drums. To eliminate them, they are introduced into the ACS by the drive of each drive baravracia of the second electric motor, due to its pulling force. The block 6 compensates for oscillations in the belt caused by the influence of the adjacent driving drum. With the help of block 6 in the main channel, artificially create oscillations that are mutually annihilated with real-life oscillations caused by the influence of the adjacent driving drum. The correction signal creating such vibrations is obtained as follows. In block 6, the reference signal U is amplified by the amplifier 15 with the gain Ki, and fed to the adder 16, where it is added to the inverted signal from the rotation speed sensor 19 and to the signal passed through the integrator 18, proportional to the applied static force on the corresponding drive drum, taken from a static force extraction unit 22. The output signal of the adder 16 is divided by divider 17 by the reference signal of another drive drum, amplified in a similar amplifier 15 with a gain factor of K2. The division by zero in the divider 17 is excluded, since the operations on the formation of a correction signal aimed at eliminating the mutual interaction of the driving drums are performed as a second step after compensating for the inertia and oscillations along the main channels, and therefore, already with the setting signal. As a result of the operation of the blocks of 4 regulators and the blocks 6 of the compensation of oscillations in the tape, caused by the interaction of the driving drums, there are two independent channels for controlling the drive of each driving drum. The output values, which are the rotational speeds of the driving drum motors, are directly proportional to the control signals. Invention Formula A method of controlling a double drum conveyor belt, based on a change in the rotational speed of the engines depending on the change in the traffic flow, characterized in that, in order to improve the control accuracy during the flow of dynamic modes by compensating for the oscillations of the body caused by the mutual drive of the conveyor drives, corrective signal for each motor as the resultant ratio, which is the sum of the inverted signal of the rotational speed of the first motor and the signals copulating static and the traction force E to the signal component of frequency rotation of the second motor, due to its thrust force. CpUB.J UZT Z Sh Kontir TOKO Zbeno electric fur yfj, u u nical / W eleven U32 1 FCT, (P) Wll Sh IU / / W  2 3