WO2022092092A1 - Crusher crushing load control device and method - Google Patents

Abstract

This crusher crushing load control device comprises: a load response acquisition unit for acquiring, as an unprocessed load response, a load response obtained as a response for a given command value outputted with respect to a given control subject of a crusher; a pre-processing unit for pre-processing the unprocessed load response to obtain a load response; a feedback control unit for generating a new command value on the basis of the deviation between the load response and a prescribed target load value; and a control parameter adjustment unit for adjusting a control parameter of the feedback control unit on the basis of the load response. The pre-processing unit has a steady-state characteristic extraction filter for attenuating a crushing oscillation unique to the crusher that is included in the unprocessed load response.

Description

Crusher load control device and method

The present disclosure discloses a crushing load control device for a rotary crusher and an impact crusher used for crushing rocks and ores, and a crusher such as a uniaxial shear crusher used for crushing waste and the like. Regarding the method.

Conventionally, a crushing chamber has been formed between a conical cylindrical concave and a truncated cone-shaped mantle arranged inside the concave, and the rough stone (crushed material) supplied from the raw material hopper to the crushing chamber is used as the concave and the mantle. A rotary crusher configured to bite and crush between the two is known. The mantle is driven by an electric motor to make an eccentric turning motion. The gap between the two crushed surfaces of the concave and mantle changes periodically, and the size of the outlet set (opening) at the narrowest position of the gap (closed set) determines the particle size of the crushed material. The rotary crusher is classified into a hydraulic type and a mechanical type according to a method of changing the outlet set amount. The hydraulic type is equipped with a hydraulic cylinder that raises and lowers the mantle with respect to a fixedly positioned concave. The mechanical type is equipped with an electric motor that raises and lowers the concave with respect to the mantle.

In order to operate the above-mentioned rotary crusher stably and efficiently, it is necessary to operate the rough stone in the crushing chamber in a full capacity state (choke feed state). The time it takes for the rough to pass through the crushing chamber varies depending on the properties of the rough, such as the grain size of the rough and the water content of the rough. Therefore, the choke feed state cannot be continuously obtained by the quantitative supply of rough stones. In response to such a problem, for example, in Patent Document 1, in order to maintain the choke feed state, the supply amount of the rough stone is adjusted so that the level amount of the rough stone of the hopper detected by the level switch is kept constant. It is disclosed to do.

In the rotary crusher, even if the choke feed state is maintained, the load may fluctuate due to fluctuations in the properties of the rough stone and the amount of water. In addition, in a rotary crusher, overload may occur due to the biting of foreign matter or the packing phenomenon of rough stones. To solve such a problem, for example, Patent Document 2 discloses that the magnitude of a load is determined based on the hydraulic pressure of a hydraulic cylinder and the current value of an electric motor, and the outlet set amount is adjusted based on the determination result. Has been done. Here, on / off control is performed in which lubrication (or drainage) of the hydraulic cylinder for a predetermined time is repeated until the detected value of the outlet set amount reaches the target value.

Japanese Unexamined Patent Publication No. 10-272375 Japanese Unexamined Patent Publication No. 55-5718

In the automatic operation of the rotary crusher, the inventors of the present application control at least one of the outlet set amount of the rotary crusher and the supply amount of the rough stone by using feedback control instead of on / off control. I'm considering that. More specifically, the current value of the electric motor or the hydraulic pressure value of the hydraulic cylinder is used as the load index, and a new control algorithm is used from the deviation between the measured value and the target value of the load index obtained as a response of a certain manipulated variable. We are trying to control the load index so that it falls within a predetermined steady range by obtaining a large amount of operation.

However, since the properties (hardness, water content, etc.) of the input gemstone vary in the rotary crusher, the response sensitivity increases or decreases by up to 10 times, and the appropriate value of the control parameter when feedback control is performed. Fluctuates. Therefore, if feedback control is performed by fixing the control parameters for the control target of the rotary crusher, problems such as unstable phenomena such as hunting and time required to follow the target value occur. ..

The present disclosure has been made in view of the above circumstances, and the purpose is to shorten the work time required for adjusting the control parameters and save labor in order to realize stable operation of the crusher. The present invention is to propose a crushing load control device and a method for a crusher.

The crusher load control device of the crusher according to one aspect of the present disclosure is
A load response acquisition unit that acquires a crushing load obtained as a response of a certain command value output to a certain control target of the crusher as an unprocessed load response, and a load response acquisition unit.
A preprocessing unit that preprocesses the unprocessed load response to obtain a load response,
A feedback control unit that generates a new command value based on the deviation between the load response and a predetermined load target value,
A control parameter adjusting unit that adjusts the control parameters of the feedback control unit based on the load response is provided.
The pretreatment unit is characterized by having a steady-state characteristic extraction filter that attenuates the crushing vibration inherent in the crusher included in the untreated load response.

According to the crushing load control device of the crusher having the above configuration, the load response input to the feedback control unit and the control parameter adjustment unit is controlled by the processing performed by the preprocessing unit. That is, the load response from which the influence of the crushing vibration is removed by the pretreatment can be regarded as the load response characteristic of the crusher. Since the filter characteristics of the preprocessing unit can be arbitrarily designed, the control parameter adjustment unit can be designed corresponding to these filter characteristics. As a result, the control parameters of the feedback control unit can be theoretically automatically adjusted using the control parameter adjustment unit, so that the work time required for adjusting the control parameters can be shortened and labor can be saved. It is also possible to improve the accuracy of determining whether or not the control parameters need to be adjusted. As a result, it can contribute to the continuation of stable operation of the crusher.

Further, the crushing load control method of the crusher according to one aspect of the present disclosure is described.
A step of acquiring the crushing load obtained as a response of a certain command value output to a certain controlled object of the crusher as an unprocessed load response, and
The step of preprocessing the unprocessed load response and
A step of generating a new command value using a feedback controller based on the deviation between the load response obtained by preprocessing the unprocessed load response and a predetermined load target value, and
Including the step of adjusting the control parameters of the feedback controller based on the load response.
The pretreatment step comprises dampening the crushing vibration inherent in the crusher included in the untreated load response and extracting steady-state characteristics from the untreated load response.

According to the crushing load control method of the crusher described above, the load response used in the step of generating a new command value and the step of adjusting the control parameters is dominated by the preprocessing. That is, the load response from which the influence of the crushing vibration is removed by the pretreatment can be regarded as the load response characteristic of the crusher. Since the content of the process for extracting the steady-state characteristics from the unprocessed load response in the pre-process can be arbitrarily designed, it is possible to design the process for adjusting the control parameters corresponding to the pre-process. As a result, the control parameters of the feedback controller can be theoretically automatically adjusted, so that the work time required for adjusting the control parameters can be shortened and labor can be saved, and the control parameters can be adjusted. It is possible to improve the accuracy of determining the necessity of adjustment. As a result, it can contribute to the continuation of stable operation of the crusher.

According to the present disclosure, it is possible to propose a crushing load control device and method for a crusher that realizes shortening of working time and labor saving required for adjusting control parameters.

FIG. 1 is a diagram showing a schematic configuration of a rotary crusher according to an embodiment of the present disclosure. FIG. 2 is a diagram showing a configuration of a control system of the rotary crusher shown in FIG. 1. FIG. 3 is a diagram showing a configuration of crushing load control according to the first example. FIG. 4 is a flow chart of the crushing load control process according to the first example. FIG. 5 is a diagram illustrating the amplitude and frequency characteristics of the unprocessed load response. FIG. 6 is a table showing the relationship between the load response and the FFT analysis result. FIG. 7 is a chart showing the simulation results of crushing load control. FIG. 8 is a diagram showing a configuration of crushing load control according to the second example. FIG. 9 is a flow chart of the initial control parameter adjustment process in the crushing load control according to the second example. FIG. 10A is a diagram illustrating an initial control parameter adjustment process. FIG. 10B is a diagram illustrating an initial control parameter adjustment process. FIG. 10C is a diagram illustrating an initial control parameter adjustment process.

Next, an embodiment in which the present disclosure is applied to a rotary crusher will be described with reference to the drawings. FIG. 1 is a diagram showing a schematic configuration of a crusher 1 according to an embodiment of the present disclosure.

[Rough configuration of crusher 1]
As shown in FIG. 1, the crusher 1 includes a hopper 2 for storing rough stones (crushed material), a supply device 4 for supplying rough stones to the hopper 2, and a mantle that bites and crushes the rough stones that have fallen from the hopper 2. 13, the concave 14, the electric motor 8 which is the turning drive means of the mantle 13, the power transmission mechanism 80 which transmits the rotational power from the electric motor 8 to the mantle 13, and the outlet set adjusting device which raises and lowers the mantle 13 with respect to the concave 14. 10 and a control device 9 that controls the operation of the crusher 1.

The crusher 1 further includes a frame 3 including a top frame 31 and a bottom frame 32. A conical cylindrical concave 14 is provided on the inner circumference of the top frame 31. Inside the concave 14, a truncated cone-shaped mantle 13 is arranged. A crushing chamber 16 having a wedge-shaped vertical cross section is formed between the crushing surface of the concave 14 and the crushing surface of the mantle 13 facing each other with a gap.

The hopper 2 is arranged on the upper part of the top frame 31. The supply device 4 includes, for example, a conveyor (not shown), and the amount of rough stone supplied to the hopper 2 can be adjusted. The electric motor 41, which is the driving means of the supply device 4, is a variable speed motor and is driven and controlled by the motor driver 43.

The mantle 13 is attached to the mantle 12 fixed to the upper part of the main shaft 5. The spindle 5 is arranged in the frame 3 with its axis tilted from the vertical direction. The upper end of the spindle 5 is rotatably supported by an upper bearing 34 provided at the upper end of the top frame 31. The lower portion of the spindle 5 is fitted into the inner bush 51. The inner bush 51 is fixed to the eccentric sleeve 52. The eccentric sleeve 52 is fitted into an outer bush 53 provided on the bottom frame 32. The lower portion of the eccentric sleeve 52 is supported by a slide bearing 66 provided in the cylinder tube 63 of the hydraulic cylinder 6. The lower end of the spindle 5 is supported by a slide bearing 62 provided in the ram 61 of the hydraulic cylinder 6.

The electric motor 8 is arranged outside the frame 3. The electric motor 8 is provided with a rotation speed sensor 25 for detecting the rotation speed and a torque sensor 26 for detecting the output torque thereof. The electric motor 8 is driven and controlled by the motor driver 88.

The power transmission mechanism 80 transmits power from the electric motor 8 to the main shaft 5 to which the mantle 13 is fixed. The power transmission mechanism 80 includes a horizontal shaft 83, a belt (or chain) type transmission mechanism 82 that transmits rotational power from the output shaft 81 of the electric motor 8 to the horizontal shaft 83, an eccentric sleeve 52, and an eccentric sleeve 52 from the horizontal shaft 83. Includes a bevel gear transmission mechanism 84 that transmits rotational power to. When the eccentric sleeve 52 rotates in response to the output of the electric motor 8, the spindle 5 inserted in the eccentric sleeve 52 turns eccentrically. As a result, the mantle 13 performs an eccentric turning motion, a so-called precession motion, with respect to the concave 14 having a fixed position. Due to the eccentric turning motion of the mantle 13, the outlet set amount (opening) between the crushed surface of the mantle 13 and the crushed surface of the concave 14 changes according to the turning position of the spindle 5.

The crusher 1 according to the present embodiment includes a hydraulic cylinder 6 as an outlet set adjusting device 10. By the operation of the hydraulic cylinder 6, the mantle 13 moves up and down with respect to the concave 14, and changes the outlet set amount (closed set) at the narrowest position of the gap between the two crushed surfaces of the concave 14 and the mantle 13. The hydraulic cylinder 6 also has a function as a pressure receiving means for receiving the crushing pressure applied to the mantle 13.

The hydraulic cylinder 6 includes a cylinder tube 63, a ram 61 sliding in the cylinder tube 63, an outlet set sensor 23, an oil tank 67, and a hydraulic circuit 7. The outlet set sensor 23 is, for example, a contact type or non-contact type position sensor that detects the position (displacement) of the ram 61. The position of the mantle 13 in the height direction with respect to the concave 14 is obtained from the position of the ram 61 detected by the outlet set sensor 23, and the exit set amount is obtained from the relative positional relationship between the concave 14 and the mantle 13.

A hydraulic chamber 65 whose capacity changes due to the displacement of the ram 61 is formed in the cylinder tube 63, and the hydraulic circuit 7 is connected to this hydraulic chamber 65. The hydraulic oil in the oil tank 67 is supplied to the hydraulic chamber 65 through the hydraulic circuit 7, so that the ram 61 rises. Further, the hydraulic oil in the hydraulic chamber 65 is discharged to the oil tank 67 through the hydraulic circuit 7, so that the ram 61 descends.

The hydraulic circuit 7 includes a communication pipe 71 communicated with the lower part of the hydraulic chamber 65, an accumulator 72 (or a balance cylinder) provided in the communication pipe 71, a refueling pipe 73 connected to the communication pipe 71, and a refueling pipe 73. Includes an oil drain pipe 74 connected to. However, the configuration of the hydraulic circuit 7 is not limited to this embodiment. The oil supply pipe 73 is provided with a strainer 75, a gear pump 76, a check valve 77, and a normally closed shut-off valve 78 in this order from the upstream side along the flow of hydraulic oil from the oil tank 67 to the hydraulic chamber 65. There is. The gear pump 76 is driven by a pump motor 68. The pump motor 68 is an electric motor and is driven and controlled by a motor driver 69. The hydraulic chamber 65, the communication pipe 71, or the oil supply pipe 73 is further provided with a pressure sensor 24 for detecting the pressure of the hydraulic oil in the hydraulic chamber 65. The oil drain pipe 74 is connected between the check valve 77 and the shut-off valve 78 in the oil supply pipe 73. The oil drain pipe 74 is provided with a normally closed shut-off valve 79.

[Structure of control system of crusher 1]
FIG. 2 is a diagram showing a configuration of a control system of the crusher 1. As shown in FIG. 2, in the control device 9, various instruments including an outlet set sensor 23, a pressure sensor 24, a rotation speed sensor 25, and a torque sensor 26 can transmit and receive (or transmit) signals by wire or wirelessly. It is connected by. The control device 9 is connected to an alarm device 99 that outputs an alarm to the operator and a display output device 98 that presents the contents and results of processing to the operator. Further, the control device 9 includes various devices including a motor driver 43 of the electric motor 41 of the supply device 4, a motor driver 88 of the electric motor 8, a motor driver 69 of the pump motor 68, a shut-off valve 78, and a shut-off valve 79. Is connected by wire or wirelessly so that signals can be transmitted and received.

The control device 9 is a so-called computer, and has an arithmetic processing unit such as a CPU and a storage unit such as a ROM and a RAM (none of them are shown). The storage unit stores programs executed by the arithmetic processing unit, various fixed data, and the like. The arithmetic processing unit transmits / receives data to / from an external device. Further, the arithmetic processing unit inputs detection signals from various sensors and outputs control signals to each component of the crusher 1.

The control device 9 includes an operation control device 90 that controls the operation of each element of the crusher 1, and a crushing load control device 91 that controls the crushing load of the crusher 1. The operation control device 90 includes each functional unit of a control unit that controls the operation of the supply device 4, a control unit that controls the operation of the outlet set adjusting device 10 (hydraulic cylinder 6), and a control unit that controls the operation of the electric motor 8. include. The crushing load control device 91 includes each functional unit of the feedback control unit 92 (feedback controller), the load response acquisition unit 94, the control parameter adjustment unit 95, the preprocessing unit 97, and the display control unit 93. In the control device 9, the arithmetic processing unit reads out and executes software such as a program stored in the storage unit, so that the processing as the functional unit is performed. The control device 9 may execute each process by centralized control by a single computer, or may execute each process by distributed control by cooperation of a plurality of computers. Further, the control device 9 may be composed of a microcontroller, a programmable logic controller (PLC) and the like. The operation control device 90 and the crushing load control device 91 may be integrally configured, or may be configured to be independent but communicable with each other.

[Operation method of crusher 1]
Here, the operation method of the crusher 1 having the above configuration will be described. When starting the operation of the crusher 1, the control device 9 operates the outlet set adjusting device 10 so that the outlet set amount becomes the initial set value. The initial setting value of the outlet set amount is set in advance according to the particle size of the rough stone and the crushed material. The control device 9 operates the outlet set adjusting device 10 so that the exit set amount becomes the initial set value based on the detected value of the outlet set sensor 23. When the outlet set amount is larger than the initial set value, the control device 9 opens the shut-off valve 78, operates the pump motor 68, and refuels the hydraulic chamber 65. Further, when the outlet set amount is smaller than the initial set value, the control device 9 opens the shut-off valve 78 and the shut-off valve 79 to drain oil from the hydraulic chamber 65.

Subsequently, the control device 9 activates the electric motor 8 and activates the supply device 4. By the operation of the supply device 4, the rough stone is thrown into the crushing chamber 16 through the hopper 2, is crushed between the concave 14 and the eccentric swirling mantle 13, and is recovered as a crushed product from below the bottom frame 32.

During the operation of the crusher 1 as described above, the crushing load fluctuates due to disturbances such as changes in the properties of the rough stones and the level of the rough stones in the hopper 2. Here, the "crushing load" means a load applied to the output shaft 81 of the electric motor 8 due to the crushing of the rough stone. When an overload of a predetermined value or more occurs on the output shaft 81 of the electric motor 8, the rotation of the output shaft 81 is locked, and the overload protection circuit operates to make an emergency stop. Therefore, the crusher 1 is provided with a load measuring device that measures the load index I that directly or indirectly represents the crushing load, and the control device 9 monitors the load index I measured during the crushing operation and the load index I. The crushing load control is performed to adjust at least one of the supply amount of the rough stone by the supply device 4 and the outlet set amount by the outlet set adjusting device 10 so that is maintained within a predetermined steady range.

The crushing load is represented by the product of the rotation speed of the output shaft 81 and the output torque. Therefore, the crushing load can be measured as the product of the rotation speed detected by the rotation speed sensor 25 and the output torque detected by the torque sensor 26. Since the rotation speed of the output shaft 81 corresponds to the rotation speed of the horizontal shaft 83 and the rotation speed of the eccentric sleeve 52, the horizontal shaft 83 or the eccentric sleeve is used instead of the rotation speed detected by the rotation speed sensor 25. The rotation speed detected by the rotation speed sensor (not shown) provided in 52 may be used.

The crushing load has a correlation with the drive current of the electric motor 8. Therefore, the change in the crushing load can be estimated based on the change in the drive current of the electric motor 8. The drive current of the electric motor 8 can be measured as a detection value of the current sensor 88a included in the motor driver 88.

Further, the crushing load has a correlation with the power consumption of the electric motor 8. Therefore, the change in the crushing load can be estimated based on the change in the power consumption of the electric motor 8. The power consumption of the electric motor 8 can be measured as the product of the detected value of the current sensor 88a included in the motor driver 88 and the detected value of the voltage sensor 88b.

Also, the crushing load correlates with the crushing pressure. Therefore, the change in the crushing load can be estimated based on the change in the crushing pressure. The crushing pressure can be measured as the pressure of the hydraulic chamber 65 detected by the pressure sensor 24.

From the above, at least one of the value of the product of the number of revolutions and the output torque, the value of the drive current of the electric motor 8, the value of the power consumption of the electric motor 8, and the value of the crushing pressure is adopted as the load index I. can do. Then, an instrument that measures or detects the load index I is selected as the load measuring instrument according to the adopted load index I.

[Crushing load control by crushing load control device 91]
In the crushing load control device 91, the load index I and the control target are set in advance, and various numerical values used for control including the load target value and the initial control parameter of the control algorithm are set in advance. As described above, the load index I is a measured value that directly or indirectly represents the crushing load, and is the value of the product of the rotation speed and the output torque, the value of the drive current of the electric motor 8, and the electric motor 8. It may be any one of the value of power consumption and the value of crushing pressure. Further, the control target is at least one of the supply amount of the rough stone by the supply device 4 and the outlet set amount by the outlet set adjusting device 10. When the production amount is important, the crushing load control is performed in which the shared amount of the rough stone is constant and the outlet set amount is variable. Further, when the product particle size is important, the crushing load control is performed in which the outlet set amount is constant and the supply amount of the rough stone is variable. Hereinafter, the first example and the second example of the crushing load control performed by the crushing load control device 91 will be described.

<First example of crushing load control>
First, the first example of crushing load control will be described. In the first example of the crushing load control by the crushing load control device 91, after the crusher 1 is started, the drive current value and the crushing pressure are each stabilized at a predetermined steady operating value, that is, in a steady state. After entering, crushing load control is started. FIG. 3 is a diagram showing the configuration of the crushing load control according to the first example, and FIG. 4 is a flow chart of the processing of the crushing load control according to the first example.

As shown in FIG. 3, the crushing load control device 91 includes a load response acquisition unit 94, a preprocessing unit 97, a feedback control unit 92, a display control unit 93, and a control parameter adjustment unit 95. Hereinafter, the configuration related to the crushing load control will be described along the flow of the crushing load control process with reference to FIGS. 3 and 4.

It is assumed that the motion control device 90 operates the element for adjusting the control target corresponding to a certain command value MV _n-1 (where n is a natural number). The load response acquisition unit 94 of the crushing load control device 91 measures or detects the load index I _n-1 from the unprocessed load response (that is, the load index I _n- corresponding to the command value MV _n-1 ). The response waveform of ₁ ) is acquired (step S1). For example, when the drive current of the electric motor 8 is used as the load index I, the unprocessed load response is generated by arranging the detection values of the current sensor 88a for detecting the drive current of the electric motor 8 in chronological order.

The pre-processing unit 97 performs pre-processing on the unprocessed load response (step S2). The preprocessing unit 97 includes two types of filters, a noise reduction filter 97a and a steady-state characteristic extraction filter 97b.

The noise reduction filter 97a attenuates and removes high frequency noise from the unprocessed load response. The noise reduction filter 97a is, for example, a simple moving average filter that outputs a simple average of input signal values for the past m time (m is a natural number) while moving the current time. However, as the noise reduction filter 97a, a first-order lag filter may be adopted in addition to a known moving average filter other than the simple moving average filter.

The steady-state characteristic extraction filter 97b is a low-pass filter that attenuates frequency components higher than a predetermined cutoff frequency, and extracts steady-state characteristics from the unprocessed load response. FIG. 5 is a diagram illustrating the amplitude and frequency characteristics of the unprocessed load response. As shown in FIG. 5, the unprocessed load response includes crushing vibration and noise peculiar to the crusher 1 in addition to hunting caused by the fluctuation of the response sensitivity to be extracted. Therefore, in the stationary characteristic extraction filter 97b, the amplitude of the frequency region representing the stationary characteristic is maintained, and the amplitude of the frequency of the crushing vibration peculiar to the crusher 1 (hereinafter referred to as "natural vibration frequency") is attenuated. It is configured. More specifically, the stationary characteristic extraction filter 97b is configured so that the amplitude is maintained below the cutoff frequency (passing band) and the amplitude is attenuated at a frequency higher than the cutoff frequency (blocking band). Such a cutoff frequency is, for example, the minimum value of the natural vibration frequency. The natural vibration frequency can be obtained analytically in advance. By processing the unprocessed load response with the steady-state characteristic extraction filter 97b, the amplitude of the frequency band including the frequency at which hunting occurs (hereinafter referred to as “hunting frequency”) is extracted. The hunting frequency depends on the frequency characteristics of the steady-state characteristic extraction filter 97b. More specifically, the phase crossing frequency (that is, the frequency at which the phase delay becomes 180 degrees) is defined by the phase delay characteristic of the stationary characteristic extraction filter 97b, and the control system becomes unstable in the frequency band of this phase crossing frequency. Since hunting occurs, the frequency band of the phase crossing frequency becomes the hunting frequency band.

As described above, the unprocessed load response from which noise and crushing vibration are removed by pretreatment by the pretreatment unit 97 is referred to as “load response”. The load response is used by the feedback control unit 92 to generate the next command value MV _n .

The feedback control unit 92 generates a command value MV _n for the control target so that the load index I is within a predetermined steady range. In this example, the feedback control unit 92 adopts a proportional-integral-derivative (PID) control algorithm as a control algorithm, and generates a command value MV _n from the deviation between a given load target value and a load response. It is configured as follows. However, the control algorithm of the feedback control unit 92 is not limited to this example, and is a proportional (P: Proportional) control algorithm, a proportional integration (PI: Proportional-Integrating) control algorithm, a proportional integral differential control algorithm, and a proportional differential feedback. (PDF: Proportional-Derivative-feedback) Any one selected from a group of control algorithms including a control algorithm may be used.

The control parameter adjusting unit 95 appropriately tunes the control parameters of the feedback control unit 92 with respect to the fluctuating response sensitivity. Here, the control parameter to be tuned is the control gain (proportional gain Kp) of the feedback control unit 92. However, the control parameter to be tuned may include at least one of the differential gain Kd and the integrated gain Ki in addition to the proportional gain Kp of the feedback control unit 92.

The control parameter adjustment unit 95 frequency-analyzes the load response using the FFT (Fast Fourier Transform) algorithm (step S3). The control parameter adjusting unit 95 detects an increase (or increase and decrease) in response sensitivity based on the FFT analysis result (frequency analysis result) of the load response.

FIG. 6 is a table showing the relationship between the load response and the FFT analysis result. In FIG. 6, when (a) the response sensitivity increases and the control parameters become relatively excessive, (b) the change in the response sensitivity is sufficiently small and the control parameters are appropriate, (c) the response sensitivity decreases. When the control parameters are relatively too small, the load response and the FFT analysis result are shown in each case.

In the case of (a), the load response swings greatly across the load target value and hunts, and the peak of the hunting frequency appears in the FFT analysis result. From this, it is presumed that when the peak of the hunting frequency is seen in the FFT analysis result of the load response, the response sensitivity is increased and the control parameter is relatively excessive.

In the case of (c), the load response is smaller than the load target value, the deviation from the load target value continues to be large, and the FFT analysis result shows a frequency different from the hunting frequency (frequency lower than the hunting frequency). A peak is appearing. From this, it is presumed that when the peak is seen at a frequency lower than the hunting frequency in the FFT analysis result of the load response, the response sensitivity is lowered and the control parameter is relatively understated.

In the case of (b), the load response is generally maintained at the load target value, and there is no peak in the FFT analysis result. From this, if no peak is seen in the FFT analysis result of the load response, it is presumed that the change in response sensitivity is sufficiently small and the control parameter is appropriate.

As described above, it is possible to detect an increase or decrease in the response sensitivity of the crusher 1 based on the FFT analysis result of the load response.

When the control parameter adjusting unit 95 detects an increase in response sensitivity (YES in step S4), the hunting amplitude is obtained, and the hunting amplitude is compared with a predetermined threshold value (step S5). The amplitude of the hunting may be the maximum amplitude or the average amplitude. If the hunting amplitude is equal to or greater than the threshold value (YES in step S5), the control parameter adjusting unit 95 adjusts the control parameters so as to reduce the control gain (step S6). Specifically, the control parameter adjusting unit 95 generates a new proportional gain Kp _n by reducing the proportional gain Kp by a predetermined first proportional gain adjustment amount, and sets the proportional gain Kp n with the new proportional gain Kp _n . Update.

When the control parameter adjusting unit 95 does not detect an increase in response sensitivity (NO in step S4) and detects a decrease in response sensitivity (YES in step S7), the control parameter adjusting unit 95 obtains a deviation area in an arbitrary section. The deviation area is the cumulative value of the deviation between the load target value and the load response in an arbitrary section, and is the area of the area surrounded by the load target value and the load response (see FIG. 6). If the obtained deviation area is equal to or greater than a predetermined threshold value (YES in step S8), the control parameter adjusting unit 95 adjusts the control parameters so as to increase the control gain (step S6). Specifically, the control parameter adjusting unit 95 generates a new proportional gain Kp _n by increasing the proportional gain Kp by a predetermined second proportional gain adjustment amount, and updates the proportional gain Kp with the new proportional gain Kp _n . do.

When the response sensitivity of the crusher 1 decreases, it takes time to return the load response to the load target value when the deviation between the load target value and the load response becomes large due to disturbance or the like. For this reason, it is desirable to adjust the control parameters when the response sensitivity decreases as described above, but for the purpose of suppressing hunting, the adjustment of the control parameters when the response sensitivity decreases may be omitted. ..

In the control parameter adjusting unit 95, when the change in response sensitivity is sufficiently small, the response sensitivity is increased but the hunting amplitude is less than the threshold value, and the response sensitivity is decreased but the deviation area is less than the threshold value. If is, the control parameter is not adjusted.

As described above, the control parameter adjusting unit 95 adjusts the control parameters so as to have a value corresponding to the current response sensitivity. The feedback control unit 92 to which the control parameters are adjusted generates a new command value MV _n from the deviation between the load target value and the load response based on the velocity type PID control algorithm (step S9).

The feedback control unit 92 outputs the generated new command value MV _n to the operation control device 90. The motion control device 90 operates an element that adjusts the control target in response to the new command value MV _n . When the control target is the supply amount of the rough stone by the supply device 4, the supply device 4 operates in response to the new command value MV _n , and the supply amount of the rough stone to the hopper 2 changes. Further, when the control target is the outlet set amount by the outlet set adjusting device 10, the hydraulic cylinder 6 operates in response to the new command value MV _n , and the outlet set amount changes.

When the control target changes in response to the new command value MV _n as described above, the response of the new command value MV _n appears in the load index I. The crushing load control device 91 returns the processing to step S1 and performs crushing load control based on the unprocessed load response of the new command value MV _n acquired by the load response acquisition unit 94. Even if the control parameters are adjusted as described above, the change in response sensitivity may not be improved, and in such a case, maintenance is required. Therefore, the control parameter adjusting unit 95 is abnormal to the operator when the change in response sensitivity is continuously estimated even after a predetermined observation period (for example, several hours) has elapsed after adjusting the control parameters. It may be configured to output an alarm to the alarm device 99 in order to notify the alarm device 99.

FIG. 7 is a chart showing the simulation results of crushing load control. In FIG. 7, (a) is the outlet set amount, (b) is the supply amount of rough stone, (c) is the load response, (d) is the control gain adjustment value, and the time axes of (a) to (d) ( (Horizontal axis) corresponds. Here, the crushing pressure (that is, the pressure of the hydraulic chamber 65) is adopted as the load index I, and the raw data of the crushing pressure is preprocessed and shown as the load response. Further, a control gain is adopted as a control parameter to be adjusted, and the control gain adjustment value is expressed as a ratio when the initial gain is 1.

As shown in FIG. 7, hunting appeared in the load response in response to the vibration of the outlet set amount from about 50 seconds after the start. As a result of considering this as an increase in response sensitivity and adjusting the control gain to decrease after about 250 seconds, the response sensitivity was appropriately restored after about 300 seconds and hunting was eliminated. With the control gain lowered, the characteristics of the rough stone changed about 600 seconds after the start, and the load response fell below the load target value. As a result of adjusting this to increase the control gain after about 700 seconds by regarding this as a decrease in response sensitivity, the state of poor followability to the target value has disappeared, and the load response has risen sharply and about 800 seconds after the start. The response sensitivity was restored appropriately and the load response became the load target value. Approximately 1100 seconds after the start, the characteristics of the rough were changed, vibration of the outlet set amount occurred, hunting appeared in the load response, and the control gain was adjusted in the same manner as described above.

From this simulation result, it can be seen that even if the load response fluctuates during operation, the load response is restored to the load target value by adjusting the control gain, and stable crushing can be continued. Further, as can be seen from this simulation result, in the crusher 1, when a change occurs in the system, the response appears sharply in the load index I, but it is not necessary to react sensitively to this, and it reacts sensitively. It is not preferable from the viewpoint of actuator protection. Due to these characteristics of the crusher 1, it is preferable to perform noise reduction by moving average and extraction of hunting by a low-pass filter as pretreatment for the unprocessed load response.

<Second example of crushing load control>
Next, a second example of crushing load control will be described. FIG. 8 is a diagram showing a configuration of crushing load control according to the second example. As shown in FIG. 8, the crushing load control device 91 includes a feedback control unit 920, a load response acquisition unit 94, a control parameter adjustment unit 950, and a preprocessing unit 97. In the second example, only the configuration of the feedback control unit 920 and the control parameter adjustment unit 950 is different from that of the first example described above. Therefore, in the following, the configuration of the feedback control unit 920 and the control parameter adjustment unit 950 will be described in detail, and the rest will be omitted with reference to the description of the first example.

The feedback control unit 920 is a PID controller that feedback-controls the load response using a proportional-integral-derivative (PID) control algorithm. The control parameter adjusting unit 950 is configured to perform data-driven controller tuning (FRIT) with respect to the control parameters of the feedback control unit 920, which is a PID controller. The control parameter adjustment unit 950 obtains the ideal control parameter of the feedback control unit 920 using a set of input / output data measured in a closed loop without performing system identification using a periodic signal. Hereinafter, the flow of setting the initial control parameters performed by the crushing load control device 91 will be described with reference to FIGS. 9 and 10A-10C. FIG. 9 is a flow chart of the crushing load control process according to the second example.

First, the control parameter adjusting unit 950 acquires the load response as the closed loop response characteristic (step S11). Here, as shown in FIG. 10A, the control parameter adjusting unit 950 gives an excitation signal to the load target value. The feedback control unit 920 generates a command value based on the excitation signal and outputs it to the operation control device 90. The load response acquisition unit 94 acquires an unprocessed load response as a closed loop response. The preprocessing unit 97 preprocesses the acquired unprocessed load response by the preprocessing unit 97 to obtain a load response. The configuration and processing contents of the preprocessing unit 97 are the same as those in the first example. The control parameter adjusting unit 950 acquires this load response as a closed loop response characteristic.

The control parameter (default control gain) of the feedback control unit 920 when first acquiring the closed loop response characteristic is set low corresponding to when the response sensitivity is high in order to avoid destabilization and hunting.

In order to shorten the adjustment time of the initial control parameters, it is desirable to use impulse input (or impulse input + step input) instead of step input for the excitation signal. Here, when a step input is used for the excitation signal, it is necessary to wait until the load rises sufficiently so that the load response is not buried in noise. On the other hand, by using the impulse input for the excitation signal, it is not necessary to wait until the load is sufficiently raised, and the closed loop response characteristic can be acquired in a short time.

Next, the control parameter adjusting unit 950 obtains the control parameter by the optimization operation using the acquired closed loop response characteristic (step S12). Here, as shown in FIG. 10B, the control parameter adjusting unit 950 acquires the load response and the command value, and based on these, obtains the control parameter according to the response sensitivity by the optimization calculation. In the present embodiment, the optimization calculation is performed online by using the gradient method (for example, the BFGS method) based on the quasi-Newton method as the optimization calculation method.

The optimization calculation by the control parameter adjustment unit 950 can be performed either online or offline. For example, the adjustment of the control parameters may be performed offline at the initial start-up or restart of the crusher 1 and may be performed online at any timing during the operation of the crusher 1. The control parameter adjusting unit 950 can calculate the current optimum parameter and reflect it in the crushing load control.

Subsequently, the control parameter adjusting unit 950 acquires a load response as a closed-loop response characteristic using the calculated control parameter for verification (step S13). Here, as shown in FIG. 10C, the control parameter adjusting unit 950 sets the calculated control parameter in the feedback control unit 920, and gives a step-like excitation signal to the load target value. The feedback control unit 920 generates a command value based on the excitation signal and outputs it to the operation control device 90. The load response acquisition unit 94 acquires an unprocessed load response as a closed loop response. The preprocessing unit 97 preprocesses the acquired unprocessed load response to obtain a load response. The control parameter adjustment unit 950 acquires this load response as a closed-loop response characteristic for verification.

Finally, the control parameter adjustment unit 950 obtains the deviation between the closed-loop response characteristic for verification and the given ideal response characteristic (step S14). If the deviation is equal to or less than a given threshold value, the control parameter adjusting unit 950 determines that the obtained control parameter is appropriate, and ends the adjustment of the control parameter. On the other hand, if the deviation exceeds a given threshold value, the control parameter adjusting unit 950 determines that the obtained control parameter is not appropriate, and returns the process to step S12.

Although the method of adjusting the initial control parameters of the feedback control unit 920 has been described above, the control parameters of the feedback control unit 920 can be adjusted by the same procedure even when the operation of the crusher 1 is restarted. In this case, the control device 9 stores the control parameter and the obtained load response characteristic each time, and the load response characteristic obtained when the control parameter is adjusted last time is used as the load response characteristic obtained this time. For comparison, the transition of the load response characteristic may be displayed and output to the display output device 98 connected to the control device 9. Specifically, in the display control unit 93, the combination of the control parameter value adjusted by the control parameter adjustment unit 950 and the load response obtained by the combination is at least once in the latest and at least once in the past. It is configured to output display information to the display output device 98 so that it is displayed on the screen of the display output device 98 at the same time. The display output device 98 that has acquired this display information has obtained the combination of the latest control parameter value and the load response obtained by the combination, and the value of the control parameter at least once in the past and the result. Display and output the combination with the load response. The load response characteristics include information such as time, unprocessed load response, and load response, and in addition to the load response, the time and unprocessed load response are displayed on the screen of the display output device 98. May be good. As a result, it is possible to inform the operator of the operating status of the crusher 1 as a result of automatically adjusting the control parameters. The control parameter adjustment unit 950 may be configured to return to the previous adjustment value of the control parameter when a good load response cannot be obtained in the predetermined observation period in the adjustment of the control parameter this time.

(Summary)
As described above, the crushing load control device 91 of the crusher 1 according to the present embodiment is
A load response acquisition unit 94 that acquires a crushing load obtained as a response of a certain command value output to a certain control target of the crusher 1 as an unprocessed load response, and a load response acquisition unit 94.
Preprocessing unit 97 that preprocesses the unprocessed load response to make it a load response,
The feedback control units 92 and 920 that generate a new command value based on the deviation between the load response and the predetermined load target value, and
A control parameter adjusting unit 95,950 that adjusts the control parameters of the feedback control units 92,920 based on the load response is provided.
The pretreatment unit 97 is characterized by having a steady-state characteristic extraction filter 97b that attenuates the crushing vibration inherent in the crusher 1 included in the untreated load response.

In the present embodiment, the crusher 1 includes a conical tubular concave 14, a truncated cone-shaped mantle 13 arranged inside the concave 14, an electric motor 8 for eccentric swiveling of the mantle 13, the concave 14 and the mantle 13. A hopper 2 for charging the rough stone into the crushing chamber 16 formed between the two, a supply device 4 for supplying the rough stone to the hopper 2, and a load measuring device for measuring a load index that directly or indirectly expresses the crushing load. It is a rotary crusher provided with an outlet set adjusting device 10 for changing the outlet set amount between the concave 14 and the mantle 13, and the controlled object is the supply amount by the supply device 4 and the outlet set amount by the outlet set adjusting device 10. One of them.

According to the crushing load control device 91 of the crusher 1 having the above configuration, the load response input to the feedback control unit 92 and the control parameter adjustment unit 95 is controlled by the processing performed by the preprocessing unit. That is, the load response from which the influence of the crushing vibration is removed by the pretreatment can be regarded as the load response characteristic of the crusher 1. Since the filter characteristics of the preprocessing unit 97 can be arbitrarily designed, the control parameter adjusting unit 95 can be designed corresponding to the filter characteristics. As a result, the control parameter adjustment unit 95 can theoretically automatically adjust the control parameter of the feedback control unit 92, so that the work time required for adjusting the control parameter can be shortened and labor can be saved. This can be realized, and the accuracy of determining the necessity of adjusting the control parameters can be improved.

Further, the load control method of the crusher 1 according to the present embodiment is
A step of acquiring a crushing load obtained as a response of a certain command value output to a certain control target of the crusher 1 as an unprocessed load response, and
Steps to preprocess the unprocessed load response and
A step of generating a new command value using the feedback controller (feedback control unit 92) based on the deviation between the load response obtained by preprocessing the unprocessed load response and the predetermined load target value, and
Including the step of adjusting the control parameters of the feedback controller based on the load response.
The pretreatment step is characterized by including damping the crushing vibration inherent in the crusher included in the untreated load response and extracting steady-state characteristics from the untreated load response.

According to the crushing load control method of the crusher 1 described above, the load response used in the step of generating a new command value and the step of adjusting the control parameters is dominated by the preprocessing. That is, the load response from which the influence of the crushing vibration is removed by the pretreatment can be regarded as the load response characteristic of the crusher 1. Since the content of the process for extracting the steady-state characteristics from the unprocessed load response in the pre-process can be arbitrarily designed, it is possible to design the process for adjusting the control parameters corresponding to the pre-process. As a result, the control parameters of the feedback controller (feedback control unit 92) can be theoretically automatically adjusted, so that the work time required for adjusting the control parameters can be shortened and labor can be saved. Further, it is possible to improve the accuracy of determining whether or not the control parameter needs to be adjusted. As a result, it can contribute to the continuation of stable operation of the crusher.

In the crushing load control device 91 according to the above embodiment, the stationary characteristic extraction filter 97b is a low-pass filter in which the minimum frequency of crushing vibration is set as the cutoff frequency and the frequency component above the cutoff frequency is attenuated.

It was obtained by preprocessing by preprocessing the unprocessed load response with the steady-state characteristic extraction filter 97b, which has a cutoff frequency on the side sufficiently lower than the frequency of the crushing vibration (natural vibration frequency) inherent in the crusher 1. The load response is a known characteristic that depends on the steady-state characteristic extraction filter 97b. Since the filter characteristics of the steady-state characteristic extraction filter 97b can be arbitrarily designed, it is possible to set a stability limit (that is, a frequency band in which hunting occurs) in the load response.

Further, in the crushing load control device 91 according to the above embodiment, the pretreatment unit 97 has a noise reduction filter 97a that attenuates high frequency noise by a moving average. Similarly, in the crushing load control method according to the above embodiment, the pretreatment step includes attenuating high frequency noise from the untreated load response.

In the crusher 1, when a change occurs in the system, the response appears sharply in the load index I, but it is not necessary to react sensitively to this, and if it reacts sensitively, it is rather unfavorable from the viewpoint of actuator protection. Therefore, the pretreatment unit 97 having the above configuration is suitable for the characteristics of the crusher 1 that the response is fast but the control may be slow.

Further, in the crushing load control device 91 according to the above embodiment, the control parameter adjusting unit 95 according to the first example performs FFT frequency analysis of the load response, and when a known hunting frequency peak is detected in the analysis result. It is configured to estimate the increase in response sensitivity. Further, the control parameter adjusting unit 95 obtains the hunting amplitude included in the load response when the increase in response sensitivity is estimated, and when the amplitude is equal to or higher than a predetermined first threshold value, the control gain as a control parameter is obtained. It is configured to adjust the control parameters to decrease.

Similarly, in the step of adjusting the control parameters according to the above embodiment, FFT frequency analysis of the load response is performed, and when a known hunting frequency peak is detected in the analysis result, an increase in response sensitivity is estimated. including. Further, in the step of adjusting the control parameter, the amplitude of the hunting included in the load response is obtained when the increase in the response sensitivity is estimated, and when the amplitude is equal to or more than a predetermined first threshold value, the control gain as the control parameter is obtained. Includes adjusting control parameters to reduce.

By performing FFT frequency analysis on the load response from which the influence of crushing vibration is removed in this way, it is possible to estimate the increase in response sensitivity with high accuracy by detecting the peak of the hunting frequency. Then, since the control parameters are adjusted in response to the increase in the response sensitivity estimated in this way, the response sensitivity of the crusher 1 fluctuates significantly, but the crushing load is controlled and stable operation is continued. It becomes possible to do.

Further, in the crushing load control device 91 according to the above embodiment, the control parameter adjusting unit 95 according to the first example does not detect the peak of the hunting frequency in the FFT analysis result of the load response and the peak of the frequency smaller than the hunting frequency. Is configured to estimate a decrease in response sensitivity when is detected. Further, the control parameter adjusting unit 95 obtains a deviation area obtained by accumulating the deviation between the load target value and the load response for a predetermined period when the decrease in response sensitivity is estimated, and when the deviation area is equal to or larger than a predetermined second threshold value. It is configured to adjust the control parameters so as to increase the control gain as the control parameters. It was

Similarly, in the crushing load control method according to the above embodiment, in the step of adjusting the control parameter, the peak of the hunting frequency is not detected in the analysis result, and the peak of the frequency smaller than the hunting frequency is detected. In some cases, it involves estimating a decrease in response sensitivity. Further, in the step of adjusting the control parameters, when the decrease in response sensitivity is estimated, the deviation area obtained by accumulating the deviation between the load target value and the load response for a predetermined period is obtained, and the deviation area is equal to or larger than the predetermined second threshold value. Occasionally, it involves adjusting the control parameters to increase the control gain as the control parameters.

By performing FFT frequency analysis on the load response from which the influence of crushing vibration is removed in this way, it is possible to estimate the decrease in response sensitivity with high accuracy by detecting peaks at frequencies lower than the hunting frequency. Then, since the control parameters are adjusted in response to the decrease in the response sensitivity estimated in this way, the response sensitivity of the crusher 1 fluctuates significantly, but the crushing load is controlled and stable operation is continued. It becomes possible to do.

Further, in the crushing load control device 91 according to the above embodiment, the control parameter adjusting unit 95 according to the first example continuously changes the response sensitivity even after a predetermined observation period has elapsed after adjusting the control parameters. It is configured to output an alarm to notify the operator of the abnormality when it is estimated to be.

Similarly, in the crushing load adjusting method according to the above embodiment, the change in response sensitivity is continuously estimated even after a predetermined observation period has elapsed since the step of adjusting the control parameters has passed. If so, it includes outputting an alarm to notify the operator of the abnormality.

Further, in the crushing load control device 91 according to the above embodiment, the control parameter adjusting unit 950 according to the second example is configured to perform data-driven controller tuning (FRIT). Here, the combination of the value of the control parameter adjusted by the control parameter adjusting unit 950 and the load response obtained by the value is displayed simultaneously for the most recent one time and at least one time in the past. A display control unit 93 configured to output display information may be further provided.

Similarly, in the second example of the above embodiment, the step of adjusting the control parameter includes performing data-driven controller tuning (FRIT) of the control parameter. Here, the step of adjusting the control parameter displays the combination of the adjusted control parameter value and the load response obtained thereby at the same time for the most recent one time and at least one time in the past. It may include outputting as follows.

By using FRIT to adjust the control parameters in this way, the adjustment of the initial control parameters (at the time of initial startup and restart), which was conventionally performed by trial and error in the actual machine test, can be saved, and the work is also related. You can save time.

Although the preferred embodiments have been described above, the present invention may include modified details of the specific structure and / or function of the above embodiments without departing from the spirit of the present disclosure. The above configuration can be changed, for example, as follows.

For example, in the above embodiment, the crusher 1 includes a hydraulic outlet set adjusting device 10, but the crushing load control of the crushing load control device 91 is applied to a mechanical crusher including a mechanical outlet set adjusting device. You may. However, in a mechanical crusher, it is difficult to change the outlet set amount during the crushing operation because it is necessary to apply pressure to the outlet set adjusting device and fix it during the crushing operation. The supply amount of the supply device 4 is adopted.

For example, in the above embodiment, the adjustment of the control parameters of the feedback control units 92 and 920 is performed online, but may be performed offline.

Further, in the above embodiment, the crushing load control of the first example and the second example may be applied in combination to one crusher 1. For example, even if the control parameters are adjusted based on the second example at the initial start-up and restart of the crusher 1, and the control parameters are adjusted based on the first example during the steady operation of the crusher 1. good.

Further, in the above embodiment, the crusher 1 is a rotary crusher, but the crusher 1 to which the present disclosure is applied is not limited to the rotary crusher, and the control speed may be relatively slow. Applicable to machines. Examples of such a crusher include a uniaxial shear type crusher used for crushing waste and the like, and an impact type crusher used for crushing rocks and ores.

Further, in the above embodiment, the crusher 1 automatically changes the input amount of the rough stone or the outlet set amount in response to the command from the crushing load control device 91, but changes the input amount of the rough stone and the outlet set. The amount change may be manipulated manually by the operator. In this case, it is desirable that the control device 9 is configured to display and output the load response status and the command (that is, the operation amount or its adjustment value) from the crushing load control device 91 to the display output device 98.

1: Crusher 2: Hopper 4: Supply device 8: Electric motor 10: Outlet set adjusting device 13: Mantle 14: Concave 16: Crushing chamber 9: Control device 90: Operation control device 91: Crushing load control device 92, 920: Feedback control unit (feedback controller)
93: Display control unit 94: Load response acquisition unit 93: Display control unit 95,950: Control parameter adjustment unit 97: Preprocessing unit 97a: Noise reduction filter 97b: Steady-state characteristic extraction filter

Claims (20)

1. A load response acquisition unit that acquires the crushing load obtained as a response of a certain command value output to a certain control target of the crusher as an unprocessed load response, and
   A preprocessing unit that preprocesses the unprocessed load response to obtain a load response,
   A feedback control unit that generates a new command value based on the deviation between the load response and a predetermined load target value,
   A control parameter adjusting unit that adjusts the control parameters of the feedback control unit based on the load response is provided.
   The pretreatment unit has a steady-state characteristic extraction filter that attenuates the crushing vibration inherent in the crusher included in the untreated load response.
   Crusher load control device for crushers.
2. The stationary characteristic extraction filter is a low-pass filter that uses the minimum frequency of the crushing vibration as a cutoff frequency and attenuates frequency components above the cutoff frequency.
   The crushing load control device for the crusher according to claim 1.
3. The pretreatment unit has a noise reduction filter for attenuating high frequency noise.
   The crushing load control device for the crusher according to claim 1 or 2.
4. The control parameter adjusting unit is configured to perform FFT frequency analysis of the load response and estimate an increase in response sensitivity when a known hunting frequency peak is detected in the analysis result.
   The crushing load control device for the crusher according to any one of claims 1 to 3.
5. The control parameter adjusting unit obtains the amplitude of the hunting included in the load response when the increase in the response sensitivity is estimated, and when the amplitude is equal to or higher than a predetermined first threshold value, the control as the control parameter is performed. It is configured to adjust the control parameters so that the gain is reduced.
   The crushing load control device for the crusher according to claim 4.
6. The control parameter adjusting unit is configured to estimate a decrease in response sensitivity when a peak of the hunting frequency is not detected in the analysis result and a peak of a frequency smaller than the hunting frequency is detected. ,
   The crushing load control device for the crusher according to claim 4 or 5.
7. When the decrease in response sensitivity is estimated, the control parameter adjusting unit obtains a deviation area in which the deviation between the load target value and the load response is accumulated for a predetermined period, and the deviation area is equal to or higher than a predetermined second threshold value. At one point, the control parameters are configured to be adjusted to increase the control gain as the control parameters.
   The crushing load control device for the crusher according to claim 6.
8. The control parameter adjusting unit is for notifying the operator of an abnormality when a change in the response sensitivity is continuously estimated even after a predetermined observation period has elapsed after adjusting the control parameter. It is configured to output an alarm,
   The crushing load control device for the crusher according to any one of claims 4 to 7.
9. The control parameter adjusting unit is configured to perform data-driven controller tuning (FRIT).
   The crushing load control device for the crusher according to any one of claims 1 to 3.
10. The combination of the value of the control parameter adjusted by the control parameter adjusting unit and the load response obtained thereby is displayed so as to be displayed simultaneously for the most recent one time and at least one time in the past. A display control unit configured to output information is further provided.
    The crushing load control device for the crusher according to claim 9.
11. The crusher is transferred to a conical cylindrical concave, a truncated cone-shaped mantle arranged inside the concave, an electric motor for eccentric swiveling of the mantle, and a crushing chamber formed between the concave and the mantle. A hopper for loading rough stones, a supply device for supplying the rough stones to the hopper, a load measuring device for measuring a load index that directly or indirectly represents the crushing load, and an outlet set of the cone and the mantle. It is a rotary crusher equipped with an outlet set adjusting device that changes the amount.
    The controlled object is either one of the supply amount by the supply device and the outlet set amount by the outlet set adjusting device.
    The crushing load control device for the crusher according to any one of claims 1 to 10.
12. A step of acquiring the crushing load obtained as a response of a certain command value output to a certain controlled object of the crusher as an unprocessed load response, and
    The step of preprocessing the unprocessed load response and
    A step of generating a new command value using a feedback controller based on the deviation between the load response obtained by preprocessing the unprocessed load response and a predetermined load target value, and
    Including the step of adjusting the control parameters of the feedback controller based on the load response.
    The pretreatment step comprises attenuating the crushing vibration inherent in the crusher included in the untreated load response and extracting steady-state characteristics from the untreated load response.
    Crusher load control method for crushers.
13. The preprocessing step comprises attenuating high frequency noise from the unprocessed load response.
    The crushing load control method for a crusher according to claim 12.
14. The step of adjusting the control parameters includes performing an FFT frequency analysis of the load response and estimating an increase in response sensitivity when a known hunting frequency peak is detected in the analysis result.
    The crushing load control method for a crusher according to claim 12 or 13.
15. When the step of adjusting the control parameter estimates an increase in the response sensitivity, the hunting amplitude included in the load response is obtained, and when the amplitude is equal to or higher than a predetermined first threshold value, the control parameter is used. Including adjusting the control parameters so that the control gain of
    The crushing load control method for a crusher according to claim 14.
16. The step of adjusting the control parameters includes estimating a decrease in response sensitivity when the peak of the hunting frequency is not detected in the analysis result and a peak of a frequency smaller than the hunting frequency is detected.
    The crushing load control method for a crusher according to claim 14 or 15.
17. When the step of adjusting the control parameter estimates the decrease in response sensitivity, the deviation area obtained by accumulating the deviation between the load target value and the load response for a predetermined period is obtained, and the deviation area is a predetermined second threshold value. When the above is the case, the control parameter is adjusted so as to increase the control gain as the control parameter.
    The crushing load control method for a crusher according to claim 16.
18. When the step of adjusting the control parameter continuously estimates the change in the response sensitivity even after a predetermined observation period has elapsed after adjusting the control parameter, the operator is notified of the abnormality. Including issuing an alarm for
    The crushing load control method for a crusher according to any one of claims 14 to 17.
19. The step of adjusting the control parameters includes performing data-driven controller tuning (FRIT) of the control parameters.
    The crushing load control method for a crusher according to claim 12 or 13.
20. The step of adjusting the control parameter displays the combination of the adjusted value of the control parameter and the load response obtained thereby simultaneously for the most recent one time and at least one time in the past. Including outputting,
    The crushing load control method for a crusher according to claim 19.

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