WO2023022170A1 - Controller for crushing system, crushing system, and method for controlling same - Google Patents
Controller for crushing system, crushing system, and method for controlling same Download PDFInfo
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- WO2023022170A1 WO2023022170A1 PCT/JP2022/031058 JP2022031058W WO2023022170A1 WO 2023022170 A1 WO2023022170 A1 WO 2023022170A1 JP 2022031058 W JP2022031058 W JP 2022031058W WO 2023022170 A1 WO2023022170 A1 WO 2023022170A1
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- particle size
- load index
- crusher
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- ratio
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C2/00—Crushing or disintegrating by gyratory or cone crushers
- B02C2/02—Crushing or disintegrating by gyratory or cone crushers eccentrically moved
- B02C2/04—Crushing or disintegrating by gyratory or cone crushers eccentrically moved with vertical axis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C25/00—Control arrangements specially adapted for crushing or disintegrating
Definitions
- the present disclosure relates to a controller for a crushing system equipped with a gyration crusher, a crushing system, and a control method thereof.
- a tumbling type crusher in which a truncated cone-shaped mantle arranged inside a conical cylindrical cone cave is eccentrically rotated, and crushed materials such as raw stones are caught between the cone cave and the mantle and crushed. It has been known.
- the material to be crushed is supplied from the top of the gyration crusher, the material to be crushed captured in the crushing chamber between the gyrating mantle and the cone cave is crushed to a predetermined particle size and discharged.
- the set by changing the feed amount supplied to the gyre crusher or the outlet gap of the crushing chamber, called the set, it is possible to adjust the output and the particle size of the product discharged from the gyre crusher.
- the discharged product is sorted by a predetermined particle size range. For each of the products sorted by particle size range, it is required to adjust the ratio of crushed material to supply according to demand.
- a conventional gyration crusher the operator visually confirms the proportion of products sorted by particle size range, and changes the supply amount or set of crushed materials based on this.
- Patent Document 1 in a crushing system that crushes in stages using a plurality of crushers, the actual value of the production amount or production ratio of the product for each particle size range, the amount of ore input at that time, and It is disclosed that the relationship between the two is estimated from the set values of each crusher, and the estimated relationship is used to determine the set values of each crusher so as to achieve the desired production amount or production rate.
- the setting values for each crusher are determined so as to achieve the desired production volume or production ratio, the crushing results may vary depending on the size of the ore put into the crusher or the properties such as the amount of moisture adhering to it. can. Therefore, even in the above configuration, there is room for improvement in order to stably control the crusher so that the desired production amount of products within a predetermined particle size range is achieved.
- Patent Document 2 a load index representing the crushing load in a gyration crusher is measured, and when the measured value of the load index is outside a predetermined steady range, the target value and the measured value of the load index are changed. Determining a new manipulated variable based on the deviation of .
- this configuration it is possible to perform stable production by determining the manipulated variable that causes the load to converge to the target value.
- the present disclosure has been made to solve the above problems, and can intuitively set a target value for obtaining a desired production amount for a product within a predetermined particle size range, resulting in a desired production amount. It is an object of the present invention to provide a crushing system controller, a crushing system, and a method of controlling the same that can stably control a gyration crusher.
- a controller of a crushing system is a controller of a crushing system including a gyration crusher and a feeder that supplies crushed objects to the gyration crusher, the controller comprising a processing circuit wherein the processing circuit acquires a load index that directly or indirectly represents the crushing load applied to the gyration crusher, and obtains a predetermined particle size obtained from the material to be crushed by the gyration crusher.
- a crushing system includes a gyration crusher, a feeder that supplies crushed objects to the gyration crusher, and a controller configured as described above.
- a control method is a control method of a crushing system including a gyration crusher and a feeder for supplying crushed objects to the gyration crusher, wherein the gyration A load indicator that directly or indirectly represents the crushing load applied to the crusher is detected, and the production amount of products in a predetermined particle size range obtained from the material to be crushed by the orbital crusher is determined to a predetermined standard.
- a control command value for controlling at least one of the orbital crusher and the feeder is generated from the load index and the load index target value so as to be within a reference range based on the index target value.
- FIG. 1 is a diagram showing a schematic configuration of a crushing system according to one embodiment of the present disclosure.
- FIG. 2 is a diagram showing a schematic configuration of an example of a gyration crusher applied to the crushing system shown in FIG. 3 is a block diagram showing a schematic configuration of a control system of the crushing system shown in FIG. 1.
- FIG. 4 is a block diagram showing the configuration of the control block of the controller in this embodiment.
- FIG. 5 is a block diagram showing a configuration example of a target value generator shown in FIG.
- FIG. 6 is a graph showing the correlation between the load index and granularity ratio in this embodiment.
- 7 is a block diagram showing a configuration example of a control command generation unit shown in FIG. 4.
- FIG. 8 is a graph showing the relationship between the electric power supplied to the electric motor of the transport conveyor and the transport amount per unit time of the product transported by the transport conveyor.
- FIG. 9 is a block diagram showing a configuration example of a particle size ratio calculator shown in FIG.
- FIG. 10 is a graph showing simulation results of control modes based on the present embodiment.
- FIG. 11 is a diagram showing a schematic configuration of another example of the gyration crusher applied to the crushing system shown in FIG.
- FIG. 1 is a diagram showing a schematic configuration of a crushing system according to one embodiment of the present disclosure.
- a crushing system 100 in this embodiment comprises a gyration crusher 1 , a feeder 4 , a load index detector 140 and a controller 9 .
- the feeder 4 feeds the object to be crushed to the orbital crusher 1 .
- the load index detector 140 detects a load index that directly or indirectly represents the crushing load applied to the orbital crusher 1 .
- the controller 9 controls at least one of the orbital crusher 1 and the feeder 4 so that the load index is within the reference range based on the load index target value.
- the feeder 4 includes, for example, a conveyor 40, and can adjust the amount of material to be crushed to be fed to the orbital crusher 1.
- the conveyor 40 is driven by an electric motor 41 which is a variable speed motor. As shown in FIG. 2 to be described later, the electric motor 41 is driven by a motor driver 43 .
- the crushing system 100 includes a sorter 110 that sorts out the crushed materials crushed by the gyration crusher 1 according to the particle size, and the crushed materials that are crushed by the sorter 110 from the outlet of the gyration crusher 1.
- An intermediate conveyor 113 is provided for conveying crushed objects. Intermediate conveyor 113 is driven by electric motor 114 .
- the sorter 110 performs two stages of sorting including a coarse first sieve 111 and a fine second sieve 112 .
- the material to be crushed by the orbital crusher 1 passes through the first product G1 in the first particle size range, which has passed through both the first sieve 111 and the second sieve 112, and the first sieve 111.
- the sorting machine 110 may perform one stage of sorting, or may perform three or more stages of sorting.
- the crushing system 100 further includes, on the downstream side of the sorter 110, a first transport conveyor 115 that transports the first product G1 sorted by the sorter 110, and a second transport conveyor 115 that transports the second product G2 sorted by the sorter 110.
- a second conveyor 116 and a third conveyor 117 for conveying the third product G3 sorted by the sorter 110 are provided.
- the third product G3 having the largest average particle size is transported by the third transport conveyor 117 and then put into the tumbling crusher 1 again.
- the first product G1 and the second product G2 are the final products in the crushing system 100.
- FIG. That is, the crushing system 100 is a production device that produces the first product G1 and the second product G2.
- the sorting machine 110 sorts the products produced by the gyration crusher 1 into two or more types of products based on the particle size.
- the transport conveyors include two or more transport conveyors 115, 116, 117 each carrying two or more products.
- the first transport conveyor 115 is driven by an electric motor 118.
- the second transport conveyor 116 is driven by an electric motor 119 .
- the third transport conveyor 117 is driven by an electric motor 120 .
- the particle size index detector 130 detects a value indicating the production amount of Gj per unit time on the conveyors 115, 116, 117 as the particle size index Pact.
- the particle size index detector 130 drives the first power meter 131 that measures the first power P1 supplied to the electric motor 118 that drives the first conveyor 115 and the second conveyor 116.
- a second electric power measuring instrument 132 that measures the second electric power P2 supplied to the electric motor 119 that drives the third transport conveyor 117
- a third electric power measuring instrument that measures the third electric power P3 supplied to the electric motor 120 that drives the third transport conveyor 117.
- the power meters 131, 132, and 133 may be power meters that measure the power itself, or may have an ammeter and a voltmeter and calculate the power from the measured current and voltage.
- the first power P1 measured by the first power meter 131 can be used as the granularity index of the first product G1.
- the second power P2 measured by the second power meter 132 can be used as the granularity index of the second product G2.
- the third power P3 measured by the third power meter 133 can be used as the granularity index of the third product G3.
- the crushing system 100 is provided with a supply amount detector 150 that detects a value Pall indicating the amount of crushed material supplied to the orbital crusher 1 per unit time.
- the supply amount detector 150 detects a value indicating the amount of material to be crushed per unit time supplied to the conveyor 40 of the supply device 4 .
- the supply amount detector 150 includes a fourth power meter 134 that measures the fourth power P4 supplied to the electric motor 41 that drives the conveyor 40 .
- the supply amount detector 150 may include a fifth power meter 135 that measures the fifth power supplied to the electric motor 114 that drives the intermediate conveyor 113 .
- the supply amount detector 150 is unnecessary. be.
- FIG. 2 is a diagram showing a schematic configuration of an example of a gyration crusher applied to the crushing system shown in FIG.
- the gyration-type crusher 1 illustrated in FIG. 2 is a hydraulic gyration-type crusher in which the operation of a hydraulic cylinder 6 can be controlled through a hydraulic circuit 7, which will be described later.
- a gyration crusher 1 according to this embodiment includes a hopper 2 , a mantle 13 and a cone cave 14 .
- the mantle 13 is fixed to the main shaft 5 which makes an eccentric turning motion.
- the cone cave 14 has a crushing chamber 16 inside.
- the hopper 2 stores the material to be crushed supplied from the supplier 4 .
- the objects to be crushed that have fallen from the hopper 2 are put into the crushing chamber 16 .
- the cone cable 14 bites the object to be crushed between it and the mantle 13 and crushes it.
- the orbital crusher 1 has a frame 3 consisting of a top frame 31 and a bottom frame 32 .
- the hopper 2 is arranged above the top frame 31 .
- a cone-shaped tubular cone 14 is held on the inner circumference of the top frame 31 .
- a truncated cone-shaped mantle 13 is arranged inside the cone cave 14 .
- the crushing chamber 16 is defined as the space between the spaced apart crushing surfaces of the cone 14 and the mantle 13 and has a wedge-shaped vertical cross-section.
- the mantle 13 is attached via a mantle core 12 fixed to the top of the main shaft 5 .
- the main shaft 5 is arranged in the frame 3 with its axis tilted from the vertical direction.
- the upper end of the main shaft 5 is rotatably supported by an upper bearing 34 provided at the upper end of the top frame 31 .
- a lower portion of the main shaft 5 is fitted into an inner bush 51 .
- the inner bushing 51 is fixed to the eccentric sleeve 52 .
- the eccentric sleeve 52 is fitted in an outer bushing 53 attached to the bottom frame 32 .
- a lower portion of the eccentric sleeve 52 is supported by a sliding bearing 66 attached to the cylinder tube 63 of the hydraulic cylinder 6 .
- a lower end of the main shaft 5 is supported by a slide bearing 62 attached to a ram 61 of the hydraulic cylinder 6 .
- the orbital crusher 1 includes a main shaft motor 8 and a power transmission mechanism 80 which are electric motors.
- the power transmission mechanism 80 transmits rotational power from the main shaft motor 8 to the main shaft 5 .
- the spindle motor 8 is arranged outside the frame 3 .
- the gyration-type crusher 1 includes a rotational speed sensor 25 for detecting the rotational speed of the spindle motor 8 and a torque sensor 26 for detecting the output torque of the spindle motor 8 .
- the spindle motor 8 is driven by a motor driver 88 .
- the power transmission mechanism 80 transmits power from the main shaft 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-type or chain-type transmission mechanism 82 for transmitting rotational power from the output shaft 81 of the main shaft motor 8 to the horizontal shaft 83, an eccentric sleeve 52, and the eccentric sleeve 52 from the horizontal shaft 83 to the eccentric sleeve 52. It includes a bevel gear transmission mechanism 84 that transmits rotational power to.
- the eccentric sleeve 52 rotates in response to the output of the main shaft motor 8, the main shaft 5 fitted in the eccentric sleeve 52 eccentrically turns.
- the mantle 13 performs an eccentric turning motion, a so-called precession motion, with respect to the cone cave 14 whose position is fixed.
- the opening between the fracture surface of mantle 13 and the fracture surface of cone 14 is called a set.
- the set changes according to the swivel position of the main shaft 5 due to the eccentric swivel motion of the mantle 13 .
- the gyroscopic crusher 1 in this embodiment includes a hydraulic cylinder 6 for adjusting the set by raising and lowering the mantle 13 with respect to the cone 14, and a controller 9 for controlling the operation of the gyroscopic crusher 1. I have. By operating the hydraulic cylinder 6, the mantle 13 moves up and down with respect to the cone cave 14 to change the set at the narrowest position of the gap between the two crushing surfaces of the cone cave 14 and the mantle 13, that is, the closed set.
- the hydraulic cylinder 6 also functions as pressure receiving means for receiving crushing pressure applied to the mantle 13 .
- the hydraulic cylinder 6 includes a cylinder tube 63 , a ram 61 sliding inside the cylinder tube 63 , a set sensor 23 , an oil tank 67 and a hydraulic circuit 7 .
- the set sensor 23 is, for example, a contact or non-contact position sensor that detects the position or displacement of the ram 61 .
- the position or displacement of the ram 61 detected by the set sensor 23 is used to determine the position of the mantle 13 in the height direction with respect to the cone cave 14 , and the set is determined from the relative positional relationship between the cone cave 14 and the mantle 13 .
- a hydraulic chamber 65 inside the cylinder tube 63 is defined by the inner wall of the cylinder tube 63 and the ram 61 .
- the capacity of the hydraulic chamber 65 changes according to the displacement of the ram 61 .
- a hydraulic circuit 7 is connected to the 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 is lifted. Further, the ram 61 is lowered by draining the hydraulic oil in the hydraulic chamber 65 to the oil tank 67 through the hydraulic circuit 7 .
- a balance cylinder may be connected instead of the accumulator 72 .
- a fuel supply pipe 73 is connected to the communication pipe 71 .
- An oil drain pipe 74 is connected to the oil supply pipe 73 .
- the configuration of the hydraulic circuit 7 is not limited to this embodiment.
- a strainer 75 , a gear pump 76 , a check valve 77 , and a normally closed shutoff valve 78 are interposed in the oil supply pipe 73 in order from the upstream side along the flow of hydraulic oil from the oil tank 67 to the hydraulic chamber 65 .
- Gear pump 76 is driven by pump motor 68 .
- the pump motor 68 is an electric motor and is driven by a motor driver 69 .
- the hydraulic circuit 7 has a pressure sensor 24 that detects the pressure of hydraulic fluid in the hydraulic chamber 65 .
- the pressure sensor 24 may be installed in any of the hydraulic chamber 65 , the communication pipe 71 , or the oil supply pipe 73 .
- Oil drain pipe 74 is connected between check valve 77 and shutoff valve 78 in oil supply pipe 73 .
- a normally closed shutoff valve 79 is connected to the drain pipe 74 .
- Control system of crushing system 3 is a block diagram showing a schematic configuration of a control system of the crushing system shown in FIG. 1.
- the controller 9 is connected to transmit or receive signals from the load indicator detector 140 , the particle size indicator detector 130 , the feeder 4 and the hydraulic circuit 7 . Furthermore, the controller 9 is connected to receive a signal from the set sensor 23 . Note that the controller 9 can also be connected to other sensors and the like.
- the controller 9 also includes a memory 90 that stores control programs and various data.
- the controller 9 includes, for example, a microcontroller, a programmable logic controller, a computer such as a personal computer.
- the controller 9 includes a CPU, a main memory such as a RAM, a communication interface, and the like.
- the controller 9 receives detection signals from various sensors according to a control program and transmits control commands to each controlled object.
- ASICs Application Specific Integrated Circuits
- a circuit or processing circuit that includes a combination of A processor is considered a processing circuit or circuit because it includes transistors and other circuits.
- a circuit, unit, control block or means is hardware that performs or is programmed to perform the recited function.
- the hardware may be the hardware disclosed herein, or other known hardware programmed or configured to perform the recited functions.
- a circuit, unit or means is a combination of hardware and software where the hardware is a processor which is considered a type of circuit, the software being used to configure the hardware or the processor.
- the controller 9 includes control blocks of a particle size ratio calculator 91 , a target value generator 92 , a control command generator 93 , and a data acquisition unit 94 . As noted above, each of these control blocks is considered a processing circuit.
- the controller 9 transmits a control command generated as a result of arithmetic processing of each control block to the feeder 4 or the hydraulic circuit 7 of the rotary crusher 1 .
- the controller 9 controls the supply amount of the material to be crushed to the orbital crusher 1 by transmitting a control command to the electric motor 41 of the feeder 4 .
- the controller 9 also controls the operation of the hydraulic cylinder 6 in the gyration crusher 1 by transmitting a control command to the hydraulic circuit 7 .
- the size of the set in the crushing chamber 16 is adjusted by controlling the operation of the hydraulic cylinder 6 .
- the controller 9 may execute each process under centralized control by a single computer, or may execute each process under distributed control in which a plurality of computers cooperate.
- a part or all of the functions of the controller 9 or the production volume calculator 170, which will be described later, may be provided in a server device such as a cloud server.
- the storage device 90 may be provided in a server device such as a cloud server.
- the various detectors 130, 140, 150, 23, the feeder 4 or the hydraulic circuit 7 to be controlled, and the server device are connected for communication via a predetermined communication network.
- the controller 9 When starting the operation of the rotary crusher 1, the controller 9 operates the hydraulic circuit 7 so that the set, that is, the closed set, becomes the initial set value.
- the initial set value of the set is set in advance according to the particle size of the object to be crushed or the crushed object.
- the controller 9 controls the hydraulic circuit 7 based on the detection value of the set sensor 23 so that the set becomes the initial set value.
- the controller 9 opens the shut-off valve 78 and operates the pump motor 68 to supply oil to the hydraulic chamber 65 when the set value is greater than the initial set value. Further, the controller 9 opens the shut-off valves 78 and 79 to drain oil from the hydraulic chamber 65 when the set value is smaller than the initial set value.
- the controller 9 activates the spindle motor 8 and the feeder 4 .
- the material to be crushed is fed into the crushing chamber 16 through the hopper 2 by the operation of the feeder 4, crushed between the cone 14 and the mantle 13 rotating eccentrically, and discharged from below the bottom frame 32 as crushed material. be.
- the discharged crushed material is sorted by the sorter 110 according to the particle size, and the sorted products G1 and G2 having a predetermined particle size range are recovered as final products.
- the crushing load means the load applied to the output shaft 81 of the main shaft motor 8 as the object to be crushed is crushed.
- the output shaft 81 is overloaded to a predetermined value or more, the spindle motor 8 is locked from rotating, and an overload protection circuit is activated to bring the main shaft motor 8 to an emergency stop. Therefore, the crushing system 100 includes a load index detector 140 that measures a load index Lact that directly or indirectly represents the crushing load of the gyration-type crusher 1 .
- the controller 9 monitors the load index Lact detected during the crushing operation, and feeds the material to be crushed by the feeder 4 so that the load index Lact is maintained within a predetermined reference range based on the load index target value Lr. At least one of the quantity or set in the gyre crusher 1 is controlled.
- the crushing load is represented by the product of the rotation speed of the output shaft 81 of the main shaft motor 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, instead of the rotation speed detected by the rotation speed sensor 25, the rotation speed of the horizontal shaft 83 or the eccentric sleeve The rotation speed detected by the rotation speed sensor provided at 52 may be used.
- the crushing load has a correlation with the driving current of the spindle motor 8 . Therefore, changes in the crushing load can be estimated based on changes in the drive current of the spindle motor 8 .
- the driving current of the spindle motor 8 can be measured as a detection value of a current sensor 88a included in the motor driver 88. FIG.
- the crushing load is correlated with the power consumption of the spindle motor 8 . Therefore, changes in the crushing load can be estimated based on changes in the power consumption of the spindle motor 8 .
- the power consumption of the spindle 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.
- the crushing load is correlated with the crushing pressure.
- changes in crushing load can be estimated based on changes in crushing pressure.
- the crushing pressure can be measured as the pressure in the hydraulic chamber 65 detected by the pressure sensor 24 .
- the load index Lact at least one of the value of the product of the rotation speed and the output torque, the value of the driving current of the spindle motor 8, the value of the power consumption of the spindle motor 8, or the value of the crushing pressure can be adopted. Then, according to the adopted load index Lact, a corresponding sensor is selected as the load index detector 140 for detecting the load index Lact.
- the data acquisition unit 94 includes a load index acquisition unit 95 , a granularity index acquisition unit 96 and a supply amount acquisition unit 97 .
- the load index acquisition unit 95 acquires the load index Lact that directly or indirectly represents the crushing load applied to the gyration type crusher 1 from the load index detector 140 .
- the particle size index acquisition unit 96 acquires the particle size index Pact that directly or indirectly represents the production volume of the product within a predetermined particle size range sorted by the sorter 110 from the particle size index detector 130 .
- the supply amount acquisition unit 97 acquires the amount of material to be crushed supplied from the supply amount detector 150 to the orbital crusher 1 per unit time.
- the data acquisition unit 94 stores various acquired data in the storage unit 90 and transfers the data to the functional blocks 91 , 92 and 93 .
- FIG. 4 is a block diagram showing the configuration of the control block of the controller in this embodiment.
- the particle size ratio calculation unit 91 acquires the particle size index Pact obtained from the crushing system 100, and calculates the production amount of the product Gj in a predetermined particle size range obtained from the material to be crushed by the orbital crusher 1 according to a predetermined standard.
- a particle size ratio Ract expressed as a ratio to the production amount is calculated.
- the target value generator 92 generates the load index target value Lr based on the particle size ratio deviation ⁇ R obtained by subtracting the calculated particle size ratio Ract from the particle size ratio target value Rr.
- the control command generator 93 generates a control command value MV from the load index Lact detected by the load index detector 140 and the load index target value Lr calculated by the target value generator 92 .
- the crushing system 100 is controlled based on the control command value MV so that the load index Lact is maintained within a predetermined reference range based on the load index target value Lr.
- FIG. 5 is a block diagram showing a configuration example of a target value generator shown in FIG.
- Target value generator 92 includes subtractor 162 , control gain multiplier 163 , limiter 164 , adder 165 and holding circuit 166 .
- the subtractor 162 calculates the particle size ratio deviation ⁇ R by subtracting the current particle size ratio Ract in the crushing system 100 calculated by the particle size ratio calculator 91 described later from the particle size ratio target value Rr.
- the control gain multiplier 163 multiplies the particle size ratio deviation ⁇ R by the control gain Kr to calculate the load deviation ⁇ Lr.
- the particle size ratio deviation ⁇ R is small, for example, within a predetermined range including 0, the particle size ratio deviation ⁇ R input to the control gain multiplier 163 may be set to 0, or the control gain multiplier 163 may be set to zero.
- the target value generator 92 sets the control gain Kr from the detected load index Lact and the correlation between the load index Lact and the granularity ratio Ract. For this purpose, data indicating the correlation between the load index Lact and the particle size ratio Ract according to the orbital crusher 1 is stored in advance in the storage device 90 .
- FIG. 6 is a graph showing the correlation between the load index and granularity ratio in this embodiment.
- the horizontal axis is the load pressure [MPa] corresponding to the load index
- the vertical axis is the particle size ratio [%]. is shown. That is, the load pressure in the orbital crusher 1 can be regarded as crushing energy. There is a relationship that the material becomes easier to crush and the particle size of the product becomes smaller.
- the present disclosure converts the particle size ratio target value Rr that can be intuitively set by the operator into the load index target value Lr used for load stabilization control for stabilizing the crushing load. It is based on the knowledge that it is possible. That is, the target value generator 92 generates the load index target value Lr based on the detected load index and the correlation between the load index and the granularity ratio.
- the correlation data stored in advance in the storage unit 90 may be the non-linear correlation data itself as shown by the curve A1 in FIG. It may be data of linear correlation as shown in .
- the correlation data is data in which the load index Lact, which indicates the load pressure when the crushing system 100 is actually operated, and the actual value of the predetermined particle size ratio are associated.
- the actual value of the predetermined particle size ratio corresponds to the target particle size ratio of the target particle size ratio Rr.
- the actual value of the production volume ratio of one product G1 is associated with the load index Lact.
- the target value generator 92 calculates the control gain Kr for converting the particle size ratio target value Rr into the load index target value Lr from the correlation data stored in advance in the storage unit 90 .
- the slope of the tangent line of the curve A1 at the position of the particle size ratio target value Rr is calculated as the control gain Kr.
- the slope of the straight line A2 is calculated as the control gain Kr.
- the calculated control gain Kr is set as the control gain Kr to be multiplied by the particle size ratio deviation correction value ⁇ Rc in the control gain multiplier 163 .
- the correlation stored in advance in the storage unit 90 is used to convert the value of the particle size ratio into the value of the load index, so that the load index target value Lr can be generated by a simple calculation. can.
- the limiter 164 limits the load deviation ⁇ Lr output from the control gain multiplier 163 within a predetermined limit range E. For example, when the load deviation ⁇ Lr exceeds the upper limit value greater than 0 of the limit range E, the limiter 164 outputs the upper limit value as the load deviation correction value ⁇ Lrc. Further, when the load deviation ⁇ Lr falls below the lower limit value of the limit range E which is less than 0, the limiter 164 outputs the lower limit value as the load deviation correction value ⁇ Lrc. When the load deviation ⁇ Lr is within the limit range E, the limiter 164 outputs the load deviation ⁇ Lr as it is as the load deviation correction value ⁇ Lrc. Such limiter 164 suppresses rapid changes in load index target value Lr.
- the limit range E may be changeable according to the detected load index Lact.
- the fluctuation range of the particle size ratio with respect to the change in load pressure is large.
- the load pressure is high, the fluctuation width of the particle size ratio is small with respect to the load pressure. Therefore, when the load index target value Lr is calculated using non-linear correlation data, if the current load index Lact is small, the limit range E is set small, and if the current load index Lact is large, the limit range E is set small. , the limit range E may be set large. Thereby, the limit range E can be appropriately set according to the variation rate of the particle size ratio.
- the manner in which the limit range E is changed is not particularly limited. is set to a second range which is included in the first range and narrower than the first range.
- the limit range E can be set to three or more ranges.
- the upper limit value or lower limit value of the limit range E according to the load index Lact may be calculated using a predetermined function. In this case, the size of the limit range E changes continuously with changes in the load index Lact.
- the holding circuit 166 holds the load index target value Lr output from the target value generating section 92 for a predetermined period of time.
- Adder 165 adds load deviation correction value ⁇ Lrc output from limiter 164 to past load index target value Lrp held in holding circuit 166 . That is, the target value generation unit 92 calculates the load deviation correction value ⁇ Lrc as the change amount of the target value with respect to the past load index target value Lrp, and adds the load deviation correction value ⁇ Lrc to the past load index target value Lrp. , a new load index target value Lr is generated.
- Control command generator The control command generator 93 generates a control command value MV for the crushing system 100 based on the load index target value Lr generated by the target value generator 92 and the load index Lact detected by the load index detector 140 .
- FIG. 7 is a block diagram showing a configuration example of the control command generator shown in FIG.
- Control command generator 93 includes subtractor 168 and control calculator 169 .
- a subtractor 168 calculates a load deviation actual value ⁇ L by subtracting the current load index Lact from the load index target value Lr.
- the load index Lact input to the subtractor 168 may be the load index Lact after noise has been removed by a predetermined filter.
- control calculator 169 applies a predetermined control algorithm to the actual load deviation value ⁇ L to generate a control command value MV.
- control calculator 169 includes a PID controller having proportional, integral and derivative elements.
- the control calculator 169 may include a P controller with a proportional element, a PI controller with a proportional element and an integral element, a PD controller with a proportional element and a differential element, or the like.
- the control command generator 93 outputs a control command value MV generated according to the above control algorithm.
- the load deviation actual value ⁇ L is small, for example, when it is within a predetermined range including 0, the load deviation actual value ⁇ L input to the control calculator 169 may be set to 0, or the control calculator 169 may output the same control command value MV as the previous control command value MV.
- the control command generator 93 may include a limiter that limits the control command value MV generated by the control calculator 169 within a predetermined limit range.
- the controller 9 operates the controlled object with respect to the control command value MV generated by the control command generation unit 93 .
- the controlled object is the hydraulic circuit 7
- the amount of hydraulic oil supplied to the hydraulic cylinder 6 is controlled according to the control command value MV, and the size of the set in the crushing chamber 16 is adjusted.
- the object to be controlled is the feeder 4
- the amount of material to be crushed fed to the orbital crusher 1 by the conveyor 40 is controlled according to the control command value MV.
- the granularity ratio calculator 91 calculates the granularity ratio Ract based on the granularity index Pact detected by the granularity index detector 130 .
- the particle size ratio Ract is defined as a value representing the production amount of the product Gj in a predetermined particle size range obtained from the crushed material crushed by the gyration crusher 1 as a ratio to a predetermined reference production amount.
- the control mode of the crushing system 100 in which the total production amount of the product Gj, that is, the supply amount is set as the reference production amount, and the ratio of the production amount of the first product G1 to the reference production amount is the particle size ratio Ract to be controlled. is exemplified.
- the first power meter 131 is the granularity index detector 130 .
- the first power meter 131 measures the power P1 supplied to the electric motor 118 that drives the first transport conveyor 115 that transports the first product G1 sorted by the sorter 110, as described above.
- FIG. 8 is a graph showing the relationship between the electric power supplied to the electric motor of the transport conveyor and the amount of products transported by the transport conveyor per unit time.
- a graph shown in FIG. Data of combinations of transport amounts are plotted on a graph.
- the graph shown in FIG. 8 shows straight lines approximated at a plurality of plot positions when the transport amount is changed.
- the first transport conveyor 115 transports the first product G1 at a constant speed.
- the load on the electric motor 118 driving the first conveyer 115 increases.
- the change in the conveyed amount per unit time with respect to the change in the first electric power P1 that can be supplied to the electric motor 118 has linear characteristics, as indicated by the approximate straight line in FIG.
- the conveying amount per unit time of the first product G1 conveyed by the first conveyer 115 from the first electric power P1 supplied to the electric motor 120 that drives the first conveyer 115, that is, , the production amount per unit time of the first product G1 having the first particle size range can be obtained. Therefore, in this example, the granularity ratio calculator 91 acquires the first power P1 as the granularity index Pact.
- FIG. 9 is a block diagram showing a configuration example of the particle size ratio calculator shown in FIG.
- the particle size ratio calculator 91 includes a production volume calculator 170 , a filter 171 , an average value calculator 172 and a calculation execution unit 173 .
- the storage device 90 stores in advance the correlation between the electric power supplied to the electric motor 120 and the transport amount transported by the first transport conveyor 115 per unit time.
- the crushing system 100 includes a gyration crusher 1, a first conveyor 115, a first power meter 131, and a controller 9 functioning as a production amount detection device. It includes a production amount detection system for detecting the production amount of the first product G1 to be produced.
- the controller 9 functioning as a production volume detection device includes a storage device 90 and a production volume calculator 170 .
- the production amount calculator 170 reads out the corresponding correlation from the storage device 90, and converts the transport amount corresponding to the first power P1 acquired as the granularity index Pact to the production amount of the first product G1, that is, the target product production amount Sact Calculate as According to such a configuration, by measuring the first electric power P1 supplied to the electric motor 118 that drives the first conveyer 115, the first electric power P1 stored in the storage device 90 and the first conveyer 115 are calculated. Using the correlation with the transport amount of , the transport amount of the first transport conveyor 115 can be calculated as the production amount of the products transported by the first transport conveyor 115 . Therefore, the production amount of the product conveyed by the first conveyer 115 can be reduced at a low cost without providing a belt scale capable of measuring the conveyed amount or providing means for detecting the conveyed amount separately. and can be easily calculated.
- the particle size ratio calculator 91 acquires the value Pall detected by the supply amount detector 150 .
- the supply amount detector 150 detects, for example, the fourth power P4 supplied to the electric motor 41 that drives the conveyor 40 of the supplier 4 .
- the production volume calculator 170 reads out the corresponding correlation from the storage device 90 and supplies the transport volume corresponding to the fourth power P4 to the rotary crusher 1 in the same manner as when calculating the target product production volume Sact. Calculate as a quantity.
- the particle size ratio calculator 91 sets the reference production amount Sall to be the total production amount of the first product G1, the second product G2, and the third product G3. Further, in the present embodiment, the total production amount can be considered to be equal to the supply amount to the orbital crusher 1 . Therefore, in this example, the particle size ratio calculator 91 treats the calculated supply amount as the standard production amount Sall.
- the correlation used when determining the supply amount may be the same as or different from the correlation used when determining the production amount of the first product G1. That is, when the first transport conveyor 115 and the conveyor 40 of the feeder 4 have the same characteristics such as the same transport capacity and the same size, the conveyors 40 and 115 have the same characteristics.
- One correlation may be stored in storage 90 .
- a plurality of correlations may be stored in storage 90, including a correlation corresponding to conveyor 40 of feeder 4 and a correlation corresponding to first transfer conveyor 115.
- the production volume Sact of the target product obtained by the production volume calculator 170 becomes data that can change over time.
- the supply amount detector 150 detects the value Pall indicating the supply amount continuously or at predetermined timings
- the supply amount obtained by the production amount calculator 170 that is, the reference production amount Sall
- the filter 171 smoothes the target product production amount Sact and the standard production amount Sall.
- filter 171 includes a moving average filter.
- Filter 171 removes disturbances due to product Gj variations such as size or compression hardness.
- the average value calculation unit 172 calculates the average value of the filtered target product production amount Sfact and the standard production amount Sfall for each predetermined unit period. For example, the average value calculation unit 172 extracts a predetermined unit period from among the periods in which the temporal change in the filtered target product production amount Sfact is within the reference range, and extracts the target product production amount in the extracted unit period. Calculate the average value of That is, the average value calculation unit 172 calculates the average value of the post-filtering production amount Sfact of the target product for each unit period, excluding a period in which the post-filtering production amount Sfact of the target product changes sharply with time. The average value calculation unit 172 similarly calculates the average value of the standard production amount Sfall after filtering.
- Calculation execution unit 173 calculates particle size ratio Ract, which is the ratio of the production amount of third product G3 to the reference production amount, based on average target product production amount Svact and average reference production amount Svall calculated by average value calculation unit 172. calculate.
- the calculation execution unit 173 calculates the ratio of the average target product production amount Svact to the average supply amount as the particle size ratio Ract. That is, the particle size ratio Ract is calculated using the following formula (1).
- the calculated granularity ratio Ract is input to the target value generator 92 .
- the above formula (1) can be generalized as in the following formula (2).
- S1 Production volume of first product G1
- S2 Production volume of second product G2
- S3 Production volume of third product G3
- S4 Supply volume
- the value of k i is switched to 0 or 1 depending on the granularity ratio Ract of interest.
- the production amounts S1, S2, S3 and the supply amounts S4, S5 are the values output from the average value calculator 172.
- FIG. The above example that is, the particle size ratio Ract, which represents the production amount of the first product G1 as a ratio to the supply amount, is obtained when k 1 and k 7 in equation (2) are set to 1 and the other coefficients k i are set to 0. Equivalent to.
- the supply amount of the material to be crushed is the reference production amount
- the ratio of the production amount of the first product G1 to the reference production amount is the reference production amount for the particle size ratio Ract to be controlled.
- the fourth electric power P4 supplied to the electric motor 41 that drives the conveyor 40 is set to the value Pall detected by the supply amount detector 150
- the fifth electric power P5 that is supplied to the electric motor 114 that drives the intermediate conveyor 113 is supplied. It may be the value Pall detected by the amount detector 150 . That is, in the above example, k8 may be set to 1 instead of setting k7 shown in equation (2) to 1.
- the production volume calculator 170 calculates the production volume of the first product G1, the second product G2, and the third product G3, and the value obtained by adding these production volumes is the standard production. It is good also as quantity Sall. That is, in the above example, k 4 , k 5 , and k 6 may be set to 1 instead of setting k 7 shown in equation (2) to 1.
- the supply amount of the material to be crushed is set as the reference production amount
- the ratio of the production amount of the first product G1 to the reference production amount is set as the particle size ratio Ract of the controlled object.
- Various particle size ratios can be employed depending on the particle size ratio target value set by the operator, that is, the particle size ratio to be monitored.
- the target product production amount Sact may be the production amount of the second product G2, or may be the total value of the production amounts of the first product G1 and the second product G2.
- k 2 and k 4 may be set to 1, or k 1 , k 2 , k 4 may be set to 1 and the other k i may be set to 0.
- the target product production amount Sact may be the production amount of the third product G3.
- k 3 and k 4 may be 1, and the other k i may be 0.
- the particle size ratio Ract is the rate at which the crushed material to be crushed is resupplied to the rotary crusher 1 with respect to the supply amount. Represents the return ratio of shredded material. Also in these modified examples, instead of setting k4 to 1 , k5 or k1, k2 , k3 may be set to 1.
- the particle size ratio Ract may be the ratio of the production amount in a part of the selection ranges to the production amount included in the plurality of selection ranges. For example, it may be the ratio of the production amount of the first product G1 or the second product G2 to the total value of the production amounts of the first product G1 and the second product G2.
- k 1 or k 2 , k 4 and k 5 may be set to 1, and the other k i may be set to 0.
- the particle size ratio calculation unit 91 calculates A desired particle size ratio Ract can be calculated.
- the particle size ratio target value Rr may be preset according to the selection of the coefficient ki . That is, the storage unit 90 stores a preset value of the particle size ratio target value Rr corresponding to an assumed combination of coefficients ki , and the preset value corresponding to the selection of the coefficient ki by the operator is read out. The operator may be allowed to adjust the preset value to a desired particle size ratio target value Rr.
- the production amount calculator 170 calculates the production amount of the second product G2, the production amount of the third product G3, the transport amount of the intermediate conveyor 113, and the corresponding conveyors 116, 117, 113 as well as the production amount of the first product G1. can be calculated based on the power supplied to the electric motors 119, 120, 114 that drive the . At this time, when the plurality of conveyors 115, 116, 117 and the electric motors 118, 119, 120 have the same conveying capacity and the same size, the plurality of conveyors 115, 116, 117 have 1 in common.
- One correlation may be stored in storage 90 .
- a plurality of correlations corresponding to transport conveyors 115, 116, 117 may be stored in storage 90.
- the production amount of the product Gj is similarly calculated by the production amount calculator 170 regardless of which particle size range the product Gj is focused on.
- the production amounts of the multiple types of products Gj obtained from the tumbling crusher 1 can be easily calculated, the production balance of the multiple types of products Gj can be easily confirmed.
- At least one of the rotary crusher 1 and the feeder 4 is controlled so that the load index Lact is within the reference range based on the load index target value Lr.
- the particle size ratio Ract which expresses the production amount Sact of the product Gj in the particle size range of interest as a ratio to the predetermined reference production amount Sall, and the correlation between the load index Lact and the particle size ratio Ract , the load index target value Lr is calculated.
- the operator can intuitively set the control target value of the crushing system 100 based on the production amount Sact of the product in the particle size range of interest.
- the production amount Sact of the product is obtained by averaging over a relatively long period of time. Therefore, by generating the load index target value Lr such that the particle size ratio Ract obtained based on the production amount Sact of the product of interest becomes the particle size ratio target value Rr, the stability of the crushing system 100 and the optimum production balance can be achieved. It is possible to drive with both
- the particle size index Pact that directly or indirectly represents the production amount of the product Gj having a predetermined particle size range is detected, and the particle size ratio Ract is calculated using the particle size index Pact.
- the particle size index Pact instead of measuring the particle size of the product Gj itself, by measuring or estimating the production amount of the product Gj after sorting, it is possible to easily evaluate the production balance of the product Gj in a plurality of particle size ranges.
- the amount of product Gj conveyed per unit time on conveyors 115, 116, and 117 that convey products Gj having a predetermined particle size range is used as the production amount of product Gj for calculating the particle size ratio Ract. Therefore, the target product Gj can be detected without providing a separate weighing scale.
- FIG. 10 is a graph showing simulation results of control modes based on the present embodiment.
- the lower graph of FIG. 10 is a graph showing the time change of the load pressure
- the upper graph is a graph showing the time change of the particle size ratio.
- the particle size ratio target value Rr is changed from the first target value Rr1 to the second target value Rr2 lower than the first target value Rr1 at time T1.
- the load index target value Lr after time T1 changes higher than before time T1.
- the reason why the load index target value Lr changes in stages is that the limiter 164 limits a sudden change in the load index target value Lr.
- the load index Lact detected from the gyration crusher 1 changes so as to follow the load index target value Lr.
- the particle size ratio Ract of the product Gj obtained by crushing the material to be crushed by the orbiting crusher 1 also changes so as to follow the target particle size ratio Rr.
- this simulation also shows that a desired particle size ratio can be obtained by controlling the load pressure using the particle size ratio target value Rr in the present embodiment.
- the particle size index detector 130 is configured to be able to detect the particle size index of any of the first product G1, the second product G2, and the third product G3.
- a particle size indicator of any one type of product may be detectable. That is, the crushing system 100 does not have to include means for detecting particle size indexes that are not used to calculate the particle size ratio Ract of interest. For example, when the particle size ratio Ract of interest is the return ratio, the particle size index detector 130 should be able to detect the particle size index of the third product G3. In this case, in the above embodiment, the crushing system 100 only needs to include the third power meter 133 as the particle size index detector 130, and does not include the first power meter 131 and the second power meter 132.
- the crushing system 100 uses the first power meter 131 or the second power meter 131 as the particle size index detector 130 Any one of the power meters 132 may be provided.
- the particle size index detector 130 detects the power supplied to the electric motors 118, 119, 120 that drive the conveyors 115, 116, 117 that transport the product Gj as the particle size index Pact. , the production amount of the product Gj is exemplified, but the detection mode of the particle size index is not limited to this.
- the transport conveyors 115, 116, and 117 may be belt scales capable of detecting the transport amount per unit time.
- the measured value of the belt scale is detected as the particle size index. That is, the particle size index is the transport amount of the product Gj per unit time, in other words, the production amount of the product Gj.
- cameras are installed on the conveying surfaces of the conveyers 115, 116, and 117, and by performing image processing on the images captured by the cameras, the conveying amount per unit time, that is, the production amount of the product Gj can be calculated. It may be detected as a granularity index.
- the cross-sectional area of the product to be conveyed is obtained from the image of the product photographed by the camera, and the amount of product conveyed can be estimated from the cross-sectional area and the conveying speed.
- the value detected by the supply amount detector 150 can adopt a modified example similar to the granularity index. That is, in the conveyor 40 and the intermediate conveyor 113 of the feeder 4, the feed amount may be calculated from the measured value of the belt scale or the detected value by image processing.
- the granularity index detector 130 may be omitted.
- an object to be crushed by the rotary crusher 1 and before being sorted by the sorter 110 that is, a product in a mixed state of the first product G1, the second product G2, and the third product G3 is captured by a camera.
- the ratio of the product Gj having a predetermined particle size range to the entire product Gj may be estimated from the photographed image after the image processing. That is, the particle size ratio calculator 91 may directly acquire the desired particle size ratio Ract from the captured image.
- a camera for this may be installed, for example, on the conveying surface of the intermediate conveyor 113 .
- the granularity ratio calculator 91 calculates the correlation between the load index Lact and the granularity ratio Ract, and the load index Lact detected by the load index detector 140.
- a granularity ratio Ract in the load index Lact may be calculated.
- the granularity ratio calculator 91 may read the linear correlation indicated by the straight line A2 in FIG. 6 and output the granularity ratio Ract corresponding to the detected load index Lact in the correlation.
- the particle size ratio Ract can be calculated without providing the particle size index detector 130 separately.
- the control gain Kr used in the target value generator 92 is calculated from the correlation stored in advance in the storage unit 90 and the load index Lact detected by the load index detector 140.
- the storage unit 90 stores the history of the load index Lact and the granularity ratio Ract
- the target value generation unit 92 detects changes in the granularity ratio Ract with respect to the load index Lact from combinations of two or more past load indexes and granularity ratios Ract.
- the correlation may be calculated by calculating the ratio, and the control gain Kr may be calculated using the calculated correlation.
- the first coordinate indicating the combination of the load index La1 and the particle size ratio Ra1 at the first time point in the past.
- a straight line connecting Q1 (La1, Ra1) and a second coordinate Q2 (La2, Ra2) representing a combination of the load index La2 and the particle size ratio Ra2 at the second time in the past indicates the correlation of the particle size ratio to the load index. becomes a straight line.
- the correlation may be obtained by approximating three or more coordinates at three or more times in the past with straight lines or curves.
- the target value generator 92 may calculate the control gain Kr using the correlation obtained in this way. That is, the target value generator 92 may calculate the slope of the correlation or the slope of the tangential line in the detected load index Lact as the control gain Kr. According to this configuration, by calculating the control gain Kr from the load index and the measured value of the particle size ratio, it is possible to extract the characteristics of the orbital crusher 1 during actual operation, and the load index can be obtained with higher accuracy. A target value Lr can be generated.
- the crushing system 100 including the hydraulic gyration crusher 1 was exemplified, but the gyration crusher 1 is not limited to this. Machines are also applicable.
- FIG. 11 is a diagram showing a schematic configuration of another example of the orbital crusher applied to the crushing system shown in FIG. Components similar to those of the hydraulic gyration crusher 1 shown in FIG.
- the gyroscopic crusher 1A also has a hopper 2 for putting crushed objects into the crushing chamber 16 and supplying the hopper 2 with the objects to be crushed, like the hydraulic gyroscopic crusher 1.
- a feeder 4 for biting and crushing the crushed objects dropped from the hopper 2
- a main shaft motor 8 as turning drive means for the main shaft 5 to which the mantle 13 is fixed
- a main shaft motor for transmitting rotational power from 8 to the mantle 13 and a controller 9 are provided.
- the mechanical rotary crusher 1A shown in FIG. not prepared. That is, the set of the orbital crusher 1A is mechanically held.
- the orbital crusher 1A can be adjusted mechanically.
- the rotary crusher 1A has an inner thread 31a formed on the inner peripheral surface of the top frame 31, an outer thread 35a formed on the outer peripheral surface of the cone support 35, and the inner thread 31a and the outer thread 35a. are in agreement.
- the cone support 35 is formed with external teeth 35b which mesh with the driving gear 45.
- the driving gear 45 rotates by receiving the rotational power of the electric motor 46 .
- the electric motor 46 is supported by the top frame 31 . Operation of the electric motor 46 is controlled by a motor driver 47 connected to the controller 9 .
- the cone support 35 rotates with respect to the top frame 31 when the drive gear 45 rotates.
- the inner thread 31a of the top frame 31 and the outer thread 35a of the cone support 35 are screwed together to raise and lower the cone support 35 with respect to the top frame 31, thereby changing the set.
- the set is not changed during crushing operation.
- the top frame 31 or the cone support 35 is provided with a contact or non-contact set sensor 23A that detects the displacement of the cone support 35 with respect to the top frame 31.
- the controller 9 can obtain the set from the detection value of the set sensor 23A.
- the controller 9 operates the electric motor 46 based on the set value detected by the set sensor 23A.
- the mantle 13 is attached to a mantle core 12 fixed to the top of the main shaft 5.
- the main shaft 5 is arranged in the frame 3 with its axis tilted from the vertical direction.
- a lower portion of the main shaft 5 is fitted into an inner bush 51 .
- the inner bushing 51 is fixed to the eccentric sleeve 52 .
- the eccentric sleeve 52 is fitted in an outer bush 53 provided on the bottom frame 32 .
- a lower portion of the eccentric sleeve 52 is supported by a sliding bearing 66 .
- the mantle core 12 is supported by a thrust bearing (hydrostatic bearing) 55 provided on the bottom frame 32 .
- An oil film of lubricating oil is formed between the mantle core 12 and the thrust bearing 55 .
- a lubricating circuit 7A for the thrust bearing 55 is provided with a pressure sensor 24A for detecting the supply pressure of lubricating oil.
- a pressure sensor 24A for detecting the supply pressure of lubricating oil.
- the gyration-type crusher 1A configured as described above includes a load index detector 140 that detects a load index Lact that directly or indirectly represents the crushing load, like the gyration-type crusher 1 described above.
- the controller 9 monitors the load index Lact detected during the crushing operation, and feeds the material to be crushed by the feeder 4 so that the load index Lact is maintained within a predetermined reference range based on the load index target value Lr. control the amount.
- the crushing system 100 was exemplified as a production apparatus that produces products, but the production amount detection system and production amount detection method can also be applied to production apparatuses other than the crushing system 100.
- the production apparatus may be any production apparatus that produces a product that can be transported by a transport conveyor.
- the production equipment includes a cement manufacturing plant or the like that produces clinker as a product by firing cement raw materials.
- the product to be detected may be discarded afterward.
- production equipment may include an ash treatment equipment for ash discharged at a landfill or the like.
- the number of products produced by the production device may be only one.
- a controller of a crushing system is a controller of a crushing system including a gyration crusher and a feeder that supplies crushed objects to the gyration crusher, the controller comprising a processing circuit wherein the processing circuit acquires a load index that directly or indirectly represents the crushing load applied to the gyration crusher, and obtains a predetermined particle size obtained from the material to be crushed by the gyration crusher.
- the load index target value is calculated by using the particle size ratio, which represents the production amount of the product in the particle size range of interest as a ratio to the predetermined reference production amount, and the correlation between the load index and the particle size ratio. Calculated.
- the operator can intuitively set the control target value of the crushing system based on the production volume of the product in the particle size range of interest. Also, product yields are obtained averaged over a relatively long period of time. Therefore, by generating a load index target value such that the particle size ratio obtained based on the production volume of the product of interest becomes the particle size ratio target value, the operation that achieves both the stability of the crushing system and the optimum production balance can be achieved. It can be carried out.
- the crushing system includes a sorter that sorts the crushed materials crushed by the gyration crusher according to particle size, and the processing circuit sorts the crushed materials by the sorter.
- a particle size index that directly or indirectly represents the production volume of the product having the predetermined particle size range may be obtained, and the particle size ratio may be calculated using the particle size index.
- a particle size index that directly or indirectly represents the production amount of a product within a predetermined particle size range is detected, and the particle size ratio is calculated using the particle size index. This makes it possible to easily calculate the particle size ratio of the product in the particle size range of interest.
- the controller of item 2 wherein the crushing system comprises, downstream of the sorter, a transport conveyor for transporting the sorted product of the predetermined particle size range, and the processing circuit controls the processing of the product on the transport conveyor.
- the particle size ratio may be calculated using the transport amount per unit time as the production amount of the product within the predetermined particle size range.
- the amount of product conveyed per unit time on a conveyor that conveys products with a predetermined particle size range is used as the production amount of the product for calculating the particle size ratio. Therefore, the production amount of the product of interest can be detected without providing a separate weighing device.
- the processing circuit may acquire power supplied to an electric motor that drives the transport conveyor as the granularity index. According to this, it is possible to calculate the transport amount of the transport conveyor by obtaining the electric power supplied to the electric motor that drives the transport conveyor. Therefore, according to the above configuration, the conveying amount per unit time of the conveying conveyor can be measured inexpensively and easily without using a belt scale capable of measuring the conveying amount or providing a separate means for detecting the conveying amount. can be calculated to
- the processing circuit acquires the supply amount of the crushed material supplied to the gyration crusher per unit time, and the conveying amount on the conveyer with respect to the supply amount. may be calculated as the particle size ratio.
- the processing circuit may calculate the granularity ratio in the load index from the correlation and the obtained load index. According to this configuration, the particle size ratio can be calculated without providing a separate particle size index detector.
- the processing circuit sets a control gain from the obtained load index and the correlation, and subtracts the particle size ratio from the control gain and a predetermined particle size ratio target value.
- the load index target value may be generated based on the particle size ratio deviation. According to this, since the load index target value is generated from the particle size ratio deviation using the control gain, the conversion from the particle size ratio target value to the load index target value can be easily realized with a simple configuration.
- the controller of item 7 may include a memory storing the correlation, and the processing circuit may calculate the control gain from the obtained load index and the correlation pre-stored in the memory. . According to this configuration, the value of the granularity ratio is converted into the value of the load index using the correlation stored in advance in the storage unit, so the load index target value can be generated by a simple calculation.
- the controller of item 7 includes a storage device that stores a history of the acquired load indicators and the calculated granularity ratios, and the processing circuit stores the history of the load indicators and the granularity ratios that have been calculated, from the past combinations of the load indicators and the granularity ratios.
- the correlation may be calculated by calculating a change rate of the granularity index with respect to the load index, and the control gain may be calculated from the obtained load index and the calculated correlation. According to this configuration, by calculating the control gain from the load index and the measured value of the particle size ratio, it is possible to extract the characteristics of the orbital crusher during actual operation, and the target value of the load index can be obtained with higher accuracy. can be generated.
- the processing circuit includes a control gain multiplier that multiplies the particle size ratio deviation by the control gain, and a limiter that limits the output of the control gain multiplier to a predetermined limit range.
- the limit range may be set according to the obtained load index. As a result, the limit range can be appropriately set according to the variation rate of the particle size ratio.
- a crushing system includes a gyration-type crusher, a feeder that supplies crushed objects to the gyration-type crusher, and a controller according to any one of items 1 to 10. ing.
- the orbital crusher is a cone cable having a mantle fixed to a main shaft that performs an eccentric orbital motion, and a crushing chamber in which the material to be crushed is caught and crushed between the mantle and the mantle. and, a set between the mantle and the cone cave may be mechanically retained, and the controller may control a feed rate of the material to be crushed to the orbital crusher.
- the orbital crusher is a cone cable having a mantle fixed to a main shaft that performs an eccentric orbital motion, and a crushing chamber in which the material to be crushed is caught and crushed between the mantle and the mantle. and a hydraulic cylinder for applying hydraulic force to the mantle or cone to hold the set between the mantle and the cone to counter crushing forces; At least one of the feed rate to the dynamic crusher or the size of the set may be controlled.
- a control method is a control method of a crushing system including a gyration crusher and a feeder that supplies crushed objects to the gyration crusher, wherein the gyration crusher A load indicator that directly or indirectly represents the crushing load applied to the machine is detected, and the production amount of products in a predetermined particle size range obtained from the material to be crushed by the gyration crusher is calculated as a predetermined reference production amount.
- a control command value for controlling at least one of the orbital crusher or the feeder is generated from the load index and the load index target value so as to be within a reference range based on the values.
- a production amount detection apparatus is a production amount detection apparatus in a production apparatus that produces a predetermined product by performing a predetermined process on input raw materials, wherein the production apparatus A transport conveyor for transporting products is provided, and the production amount detection device stores in advance a correlation between power supplied to an electric motor for driving the transport conveyor and a transport amount transported by the transport conveyor per unit time. and a storage unit that acquires the power supplied to the electric motor, and stores the transport amount corresponding to the acquired power from the acquired power and the correlation between the power and the transport amount of the production apparatus. and a production volume calculator for calculating the production volume.
- the transport amount of the transport conveyor can be calculated using the correlation between the power stored in the storage unit and the transport amount. It can be calculated as the production volume of products conveyed by Therefore, the production amount of the product can be calculated easily and inexpensively without providing the conveyer with a belt scale capable of measuring the conveyed amount or separately providing means for detecting the conveyed amount.
- the production device includes a sorter that sorts the produced products into at least a first type product and a second type product according to a predetermined standard, and the conveyer includes a first conveyor that carries the first type of product and a second conveyor that carries the second type of product, wherein the production calculator is supplied to an electric motor that drives the first conveyor. and a second power supplied to an electric motor driving the second conveyor.
- the production device includes a gyration crusher that crushes the crushed material, and the sorter sorts the crushed material according to a predetermined particle size range.
- a production amount detection system is a production amount detection system in a production apparatus that produces a predetermined product by performing a predetermined process on input raw materials, wherein the production apparatus includes the produced A transport conveyor for transporting products is provided, and the production volume detection system includes a power measuring instrument for measuring power supplied to an electric motor that drives the transport conveyor, and the production volume detection device according to any one of items 15 to 17. , is equipped with
- a production amount detection method is a production amount detection method in a production apparatus that performs a predetermined treatment on input raw materials to generate a predetermined product, and includes a transport conveyor capable of transporting the generated product. wherein the production amount detection method detects power supplied to an electric motor that drives the transfer conveyor, and obtains a correlation between the power and a transfer amount transferred by the transfer conveyor per unit time. and from the detected electric power and the correlation between the electric power and the conveyed amount, the conveyed amount corresponding to the detected electric power is calculated as the production amount.
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Abstract
Description
図1は、本開示の一実施の形態に係る破砕システムの概略構成を示す図である。本実施の形態における破砕システム100は、旋動式破砕機1、供給機4、負荷指標検出器140および制御器9を備えている。供給機4は、旋動式破砕機1に被破砕物を供給する。負荷指標検出器140は、旋動式破砕機1にかかる破砕負荷を直接または間接的に表す負荷指標を検出する。制御器9は、負荷指標が負荷指標目標値に基づく基準範囲内になるように、旋動式破砕機1または供給機4のうちの少なくとも1つを制御する。 [Outline of crushing system]
FIG. 1 is a diagram showing a schematic configuration of a crushing system according to one embodiment of the present disclosure. A
図2は、図1に示す破砕システムに適用される旋動式破砕機の一例における概略構成を示す図である。図2に例示される旋動式破砕機1は、後述する油圧回路7を通じて油圧シリンダ6の動作が制御可能な油圧式の旋動式破砕機である。本実施の形態に係る旋動式破砕機1は、ホッパ2、マントル13およびコーンケーブ14を備えている。マントル13は、偏心旋回運動する主軸5に固定されている。コーンケーブ14は、内部に破砕室16を有する。ホッパ2は、供給機4から供給される被破砕物を貯留する。ホッパ2から落下した被破砕物が破砕室16に投入される。破砕室16において、コーンケーブ14は、マントル13との間に被破砕物を噛み込んで圧砕する。 [Overview of gyration crusher]
FIG. 2 is a diagram showing a schematic configuration of an example of a gyration crusher applied to the crushing system shown in FIG. The gyration-
図3は、図1に示す破砕システムの制御系統の概略構成を示すブロック図である。図3に示すように、制御器9は、負荷指標検出器140、粒度指標検出器130、供給機4および油圧回路7との間で信号を送信または受信可能に接続される。さらに、制御器9は、セットセンサ23からの信号を受信可能に接続される。なお、制御器9は、これ以外のセンサ等とも接続され得る。また、制御器9は、制御プログラムおよび種々のデータを記憶する記憶器90を含んでいる。 [Control system of crushing system]
3 is a block diagram showing a schematic configuration of a control system of the crushing system shown in FIG. 1. FIG. As shown in FIG. 3 , the
ここで、上記構成の旋動式破砕機1の運転方法について説明する。旋動式破砕機1の運転を開始するにあたり、制御器9は、セット、すなわち、クローズドセットが初期設定値となるように油圧回路7を動作させる。セットの初期設定値は、被破砕物または破砕物の粒径等に応じて予め設定される。制御器9は、セットセンサ23の検出値に基づいて、セットが初期設定値となるように油圧回路7を制御する。制御器9は、セットが初期設定値より大きい場合には、シャットオフバルブ78を開放し、ポンプモータ68を稼働させて、油圧室65へ給油する。また、制御器9は、セットが初期設定値より小さい場合には、シャットオフバルブ78およびシャットオフバルブ79を開放して、油圧室65から排油する。 [How to operate the gyration crusher]
Here, a method of operating the orbiting
データ取得部94は、負荷指標取得部95、粒度指標取得部96および供給量取得部97を含む。負荷指標取得部95は、負荷指標検出器140から旋動式破砕機1にかかる破砕負荷を直接または間接的に表す負荷指標Lactを取得する。粒度指標取得部96は、粒度指標検出器130から選別機110で選別された所定の粒度範囲の産物の生産量を直接または間接的に表す粒度指標Pactを取得する。供給量取得部97は、供給量検出器150から旋動式破砕機1に供給される被破砕物の単位時間あたりの供給量を取得する。データ取得部94は、取得した各種データを記憶器90に記憶したり、各機能ブロック91,92,93に受け渡したりする。 [Control mode]
The
図5は、図4に示す目標値生成部の構成例を示すブロック図である。目標値生成部92は、減算器162、制御ゲイン乗算器163、リミッタ164、加算器165および保持回路166を含む。 [Target value generator]
FIG. 5 is a block diagram showing a configuration example of a target value generator shown in FIG.
制御指令生成部93は、目標値生成部92で生成された負荷指標目標値Lrおよび負荷指標検出器140で検出された負荷指標Lactに基づいて破砕システム100に対する制御指令値MVを生成する。 [Control command generator]
The
粒度比算出部91は、粒度指標検出器130により検出された粒度指標Pactに基づいて粒度比Ractを算出する。粒度比Ractは、旋動式破砕機1によって破砕された被破砕物から得られる所定の粒度範囲の産物Gjの生産量を所定の基準生産量に対する比率で表した値として定義される。 [Particle size ratio calculator]
The
S2:第2産物G2の生産量
S3:第3産物G3の生産量
S4:供給量
S5:中間コンベヤの搬送量
ki=0または1(i=1,2,…,8)
上記構成によれば、負荷指標Lactが負荷指標目標値Lrに基づく基準範囲内になるように、旋動式破砕機1または供給機4のうちの少なくとも1つが制御される。これにより、短い時間における負荷変動を抑えて安定的な破砕システム100の運転を行うことができる。また、上記構成によれば、着目する粒度範囲の産物Gjの生産量Sactを所定の基準生産量Sallに対する比率で表した粒度比Ractと、負荷指標Lactおよび粒度比Ractの相関関係とを用いて、負荷指標目標値Lrが算出される。 [Effects of this embodiment]
According to the above configuration, at least one of the
図10は、本実施の形態に基づいた制御態様のシミュレーション結果を示すグラフである。図10の下のグラフは、負荷圧の時間変化を示すグラフであり、上のグラフは、粒度比の時間変化を示すグラフである。本例のシミュレーションでは、時刻T1に粒度比目標値Rrが第1目標値Rr1から第1目標値Rr1より低い第2目標値Rr2に変更されている。 [simulation result]
FIG. 10 is a graph showing simulation results of control modes based on the present embodiment. The lower graph of FIG. 10 is a graph showing the time change of the load pressure, and the upper graph is a graph showing the time change of the particle size ratio. In the simulation of this example, the particle size ratio target value Rr is changed from the first target value Rr1 to the second target value Rr2 lower than the first target value Rr1 at time T1.
以上、本開示の実施の形態について説明したが、本開示は上記実施の形態に限定されるものではなく、その趣旨を逸脱しない範囲内で種々の改良、変更、修正が可能である。 [Modification]
Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above embodiments, and various improvements, changes, and modifications are possible without departing from the scope of the present disclosure.
[項目1]
本開示の一態様に係る破砕システムの制御器は、旋動式破砕機および前記旋動式破砕機に被破砕物を供給する供給機を備えた破砕システムの制御器であって、処理回路を備え、前記処理回路は、前記旋動式破砕機にかかる破砕負荷を直接または間接的に表す負荷指標を取得し、前記旋動式破砕機によって破砕された前記被破砕物から得られる所定の粒度範囲の産物の生産量を所定の基準生産量に対する比率で表した粒度比を算出し、取得した前記負荷指標と前記負荷指標および前記粒度比の間の相関関係とに基づいて前記負荷指標目標値を生成し、前記負荷指標および前記負荷指標目標値から制御指令値を生成し、前記制御器は、前記負荷指標が負荷指標目標値に基づく基準範囲内になるように、前記旋動式破砕機または前記供給機のうちの少なくとも1つを制御する。 [Summary of this disclosure]
[Item 1]
A controller of a crushing system according to an aspect of the present disclosure is a controller of a crushing system including a gyration crusher and a feeder that supplies crushed objects to the gyration crusher, the controller comprising a processing circuit wherein the processing circuit acquires a load index that directly or indirectly represents the crushing load applied to the gyration crusher, and obtains a predetermined particle size obtained from the material to be crushed by the gyration crusher. Calculate the particle size ratio that expresses the production amount of the product in the range as a ratio to a predetermined reference production amount, and calculate the load index target value based on the obtained load index and the correlation between the load index and the particle size ratio and generates a control command value from the load index and the load index target value, and the controller controls the orbital crusher so that the load index is within a reference range based on the load index target value or controlling at least one of said feeders.
項目1の制御器において、前記破砕システムは、前記旋動式破砕機で破砕された前記被破砕物を粒度に応じて選別する選別機を備え、前記処理回路は、前記選別機で選別された前記所定の粒度範囲の産物の生産量を直接または間接的に表す粒度指標を取得し、前記粒度指標を用いて前記粒度比を算出してもよい。 [Item 2]
In the controller of
項目2の制御器において、前記破砕システムは、前記選別機の下流側において、選別された前記所定の粒度範囲の産物を搬送する搬送コンベヤを備え、前記処理回路は、前記搬送コンベヤにおける前記産物の単位時間あたりの搬送量を前記所定の粒度範囲の産物の生産量として用いて前記粒度比を算出してもよい。 [Item 3]
3. The controller of
項目3の制御器において、前記処理回路は、前記搬送コンベヤを駆動する電動モータに供給される電力を前記粒度指標として取得してもよい。これによれば、搬送コンベヤを駆動する電動モータに供給される電力を取得することにより、搬送コンベヤの搬送量を算出することができる。したがって、上記構成によれば、搬送コンベヤを、搬送量が計量可能なベルトスケールとしたり、別途搬送量を検出する手段を設けたりすることなく、搬送コンベヤの単位時間あたりの搬送量を安価かつ容易に算出することができる。 [Item 4]
In the controller of
項目3または4の制御器において、前記処理回路は、前記旋動式破砕機に供給される前記被破砕物の単位時間あたりの供給量を取得し、前記供給量に対する前記搬送コンベヤにおける前記搬送量の割合を前記粒度比として算出してもよい。 [Item 5]
In the controller of
項目1の制御器において、前記処理回路は、前記相関関係および取得した前記負荷指標から前記負荷指標における前記粒度比を算出してもよい。本構成によれば、別途粒度指標検出器を設けることなく粒度比を算出することができる。 [Item 6]
In the controller of
項目1から6の何れかの制御器において、前記処理回路は、取得した前記負荷指標と前記相関関係から制御ゲインを設定し、前記制御ゲインと所定の粒度比目標値から前記粒度比を差し引いた粒度比偏差とに基づいて前記負荷指標目標値を生成してもよい。これによれば、制御ゲインを用いて粒度比偏差から負荷指標目標値が生成されるため、簡単な構成で粒度比目標値から負荷指標目標値への変換を容易に実現できる。 [Item 7]
In the controller according to any one of
項目7の制御器は、前記相関関係を記憶する記憶器を備え、前記処理回路は、取得した前記負荷指標および前記記憶器に予め記憶された前記相関関係から前記制御ゲインを算出してもよい。本構成によれば、記憶器に予め記憶された相関関係を用いて、粒度比についての値を負荷指標についての値に変換するため、簡単な演算で負荷指標目標値を生成することができる。 [Item 8]
The controller of
項目7の制御器は、取得した前記負荷指標および算出された前記粒度比の履歴を記憶する記憶器を備え、前記処理回路は、過去の2以上の前記負荷指標および前記粒度比の組み合わせから前記負荷指標に対する前記粒度指標の変化率を算出することにより前記相関関係を算出し、取得した前記負荷指標および算出された前記相関関係から前記制御ゲインを算出してもよい。本構成によれば、負荷指標および粒度比の実測値から制御ゲインを算出することにより、実際の運転時における旋動式破砕機の特性を抽出することができ、より高い精度の負荷指標目標値を生成することができる。 [Item 9]
The controller of
項目7から9の何れかの制御器において、前記処理回路は、前記粒度比偏差に前記制御ゲインを掛ける制御ゲイン乗算器と、前記制御ゲイン乗算器の出力を所定の制限範囲に制限するリミッタと、を含み、前記制限範囲は、取得した前記負荷指標に応じて設定されてもよい。これにより、粒度比の変動割合に応じて制限範囲を適切に設定することができる。 [Item 10]
In the controller according to any one of
本開示の他の態様に係る破砕システムは、旋動式破砕機と、前記旋動式破砕機に被破砕物を供給する供給機と、項目1から10の何れかの制御器と、を備えている。 [Item 11]
A crushing system according to another aspect of the present disclosure includes a gyration-type crusher, a feeder that supplies crushed objects to the gyration-type crusher, and a controller according to any one of
項目11の破砕システムにおいて、前記旋動式破砕機は、偏心旋回運動する主軸に固定されたマントルと、内部に、前記マントルとの間に被破砕物を噛み込んで圧砕する破砕室を有するコーンケーブと、を備え、前記マントルおよび前記コーンケーブの間のセットが機械的に保持され、前記制御器は、前記被破砕物の前記旋動式破砕機への供給量を制御してもよい。 [Item 12]
In the crushing system of item 11, the orbital crusher is a cone cable having a mantle fixed to a main shaft that performs an eccentric orbital motion, and a crushing chamber in which the material to be crushed is caught and crushed between the mantle and the mantle. and, a set between the mantle and the cone cave may be mechanically retained, and the controller may control a feed rate of the material to be crushed to the orbital crusher.
項目11の破砕システムにおいて、前記旋動式破砕機は、偏心旋回運動する主軸に固定されたマントルと、内部に、前記マントルとの間に被破砕物を噛み込んで圧砕する破砕室を有するコーンケーブと、前記マントルおよび前記コーンケーブの間のセットを保持するように前記マントルまたは前記コーンケーブに破砕力に対抗する油圧力を与える油圧シリンダと、を備え、前記制御器は、前記被破砕物の前記旋動式破砕機への供給量または前記セットの大きさのうちの少なくとも1つを制御してもよい。 [Item 13]
In the crushing system of item 11, the orbital crusher is a cone cable having a mantle fixed to a main shaft that performs an eccentric orbital motion, and a crushing chamber in which the material to be crushed is caught and crushed between the mantle and the mantle. and a hydraulic cylinder for applying hydraulic force to the mantle or cone to hold the set between the mantle and the cone to counter crushing forces; At least one of the feed rate to the dynamic crusher or the size of the set may be controlled.
本開示の他の態様に係る制御方法は、旋動式破砕機および前記旋動式破砕機に被破砕物を供給する供給機を備えた破砕システムの制御方法であって、前記旋動式破砕機にかかる破砕負荷を直接または間接的に表す負荷指標を検出し、前記旋動式破砕機によって破砕された前記被破砕物から得られる所定の粒度範囲の産物の生産量を所定の基準生産量に対する比率で表した粒度比を算出し、検出された前記負荷指標と前記負荷指標および前記粒度比の間の相関関係とに基づいて前記負荷指標目標値を生成し、前記負荷指標が負荷指標目標値に基づく基準範囲内になるように、前記負荷指標および前記負荷指標目標値から前記旋動式破砕機または前記供給機のうちの少なくとも1つを制御するための制御指令値を生成する。 [Item 14]
A control method according to another aspect of the present disclosure is a control method of a crushing system including a gyration crusher and a feeder that supplies crushed objects to the gyration crusher, wherein the gyration crusher A load indicator that directly or indirectly represents the crushing load applied to the machine is detected, and the production amount of products in a predetermined particle size range obtained from the material to be crushed by the gyration crusher is calculated as a predetermined reference production amount. and generating the load index target value based on the detected load index and a correlation between the load index and the granularity ratio, wherein the load index is equal to the load index target A control command value for controlling at least one of the orbital crusher or the feeder is generated from the load index and the load index target value so as to be within a reference range based on the values.
本開示の他の態様に係る生産量検出装置は、投入した原料に所定の処理を行って所定の産物を生産する生産装置における生産量検出装置であって、前記生産装置は、生産された前記産物を搬送する搬送コンベヤを備え、前記生産量検出装置は、前記搬送コンベヤを駆動する電動モータに供給される電力と前記搬送コンベヤが単位時間あたりに搬送する搬送量との相関関係が予め記憶された記憶器と、前記電動モータに供給される電力を取得し、取得した前記電力および前記電力と前記搬送量との前記相関関係から、取得した前記電力に対応する前記搬送量を前記生産装置の生産量として算出する生産量算出器と、を備えている。 [Item 15]
A production amount detection apparatus according to another aspect of the present disclosure is a production amount detection apparatus in a production apparatus that produces a predetermined product by performing a predetermined process on input raw materials, wherein the production apparatus A transport conveyor for transporting products is provided, and the production amount detection device stores in advance a correlation between power supplied to an electric motor for driving the transport conveyor and a transport amount transported by the transport conveyor per unit time. and a storage unit that acquires the power supplied to the electric motor, and stores the transport amount corresponding to the acquired power from the acquired power and the correlation between the power and the transport amount of the production apparatus. and a production volume calculator for calculating the production volume.
項目15の生産量検出装置において、前記生産装置は、生産された前記産物を所定の基準に応じて少なくとも第1種類の産物と第2種類の産物とに選別する選別機を備え、前記搬送コンベヤは、前記第1種類の産物を搬送する第1コンベヤと前記第2種類の産物を搬送する第2コンベヤとを含み、前記生産量算出器は、前記第1コンベヤを駆動する電動モータに供給される第1電力および前記第2コンベヤを駆動する電動モータに供給される第2電力を取得してもよい。 [Item 16]
In the production amount detection device of item 15, the production device includes a sorter that sorts the produced products into at least a first type product and a second type product according to a predetermined standard, and the conveyer includes a first conveyor that carries the first type of product and a second conveyor that carries the second type of product, wherein the production calculator is supplied to an electric motor that drives the first conveyor. and a second power supplied to an electric motor driving the second conveyor.
項目16の生産量検出装置において、前記生産装置は、被破砕物を破砕する旋動式破砕機を備え、前記選別機は、破砕された前記被破砕物を所定の粒度範囲に応じて選別してもよい。 [Item 17]
In the production amount detection device of
本開示の他の態様に係る生産量検出システムは、投入した原料に所定の処理を行って所定の産物を生産する生産装置における生産量検出システムであって、前記生産装置は、生産された前記産物を搬送する搬送コンベヤを備え、前記生産量検出システムは、前記搬送コンベヤを駆動する電動モータに供給される電力を計測する電力計測器と、項目15から17の何れかの生産量検出装置と、を備えている。 [Item 18]
A production amount detection system according to another aspect of the present disclosure is a production amount detection system in a production apparatus that produces a predetermined product by performing a predetermined process on input raw materials, wherein the production apparatus includes the produced A transport conveyor for transporting products is provided, and the production volume detection system includes a power measuring instrument for measuring power supplied to an electric motor that drives the transport conveyor, and the production volume detection device according to any one of items 15 to 17. , is equipped with
本開示の他の態様に係る生産量検出方法は、投入した原料に所定の処理を行って所定の産物を生成し、生成した前記産物を搬送得る搬送コンベヤを備えた生産装置における生産量検出方法であって、前記生産量検出方法は、前記搬送コンベヤを駆動する電動モータに供給される電力を検出し、前記電力と前記搬送コンベヤが単位時間あたりに搬送する搬送量との相関関係を取得し、検出された前記電力および前記電力と前記搬送量との前記相関関係から、検出された前記電力に対応する前記搬送量を生産量として算出する。 [Item 19]
A production amount detection method according to another aspect of the present disclosure is a production amount detection method in a production apparatus that performs a predetermined treatment on input raw materials to generate a predetermined product, and includes a transport conveyor capable of transporting the generated product. wherein the production amount detection method detects power supplied to an electric motor that drives the transfer conveyor, and obtains a correlation between the power and a transfer amount transferred by the transfer conveyor per unit time. and from the detected electric power and the correlation between the electric power and the conveyed amount, the conveyed amount corresponding to the detected electric power is calculated as the production amount.
Claims (14)
- 旋動式破砕機および前記旋動式破砕機に被破砕物を供給する供給機を備えた破砕システムの制御器であって、
処理回路を備え、
前記処理回路は、
前記旋動式破砕機にかかる破砕負荷を直接または間接的に表す負荷指標を取得し、
前記旋動式破砕機によって破砕された前記被破砕物から得られる所定の粒度範囲の産物の生産量を所定の基準生産量に対する比率で表した粒度比を算出し、
取得した前記負荷指標と前記負荷指標および前記粒度比の間の相関関係とに基づいて前記負荷指標目標値を生成し、
前記負荷指標および前記負荷指標目標値から制御指令値を生成し、
前記制御器は、前記負荷指標が負荷指標目標値に基づく基準範囲内になるように、前記旋動式破砕機または前記供給機のうちの少なくとも1つを制御する、制御器。 A controller for a crushing system comprising a gyratory crusher and a feeder for supplying crushed material to the gyratory crusher,
with a processing circuit,
The processing circuit is
Acquiring a load index that directly or indirectly represents the crushing load applied to the orbital crusher;
Calculating a particle size ratio, which is expressed as a ratio of the production amount of products in a predetermined particle size range obtained from the material to be crushed by the gyration crusher to a predetermined standard production amount,
generating the load index target value based on the obtained load index and the correlation between the load index and the granularity ratio;
generating a control command value from the load index and the load index target value;
The controller controls at least one of the orbital crusher or the feeder such that the load index is within a reference range based on a load index target value. - 前記破砕システムは、前記旋動式破砕機で破砕された前記被破砕物を粒度に応じて選別する選別機を備え、
前記処理回路は、前記選別機で選別された前記所定の粒度範囲の産物の生産量を直接または間接的に表す粒度指標を取得し、前記粒度指標を用いて前記粒度比を算出する、請求項1に記載の制御器。 The crushing system includes a sorter that sorts the crushed materials crushed by the gyration crusher according to particle size,
The processing circuit obtains a particle size index that directly or indirectly represents the production volume of the product in the predetermined particle size range sorted by the sorter, and uses the particle size index to calculate the particle size ratio. 1. The controller of claim 1. - 前記破砕システムは、前記選別機の下流側において、選別された前記所定の粒度範囲の産物を搬送する搬送コンベヤを備え、
前記処理回路は、前記搬送コンベヤにおける前記産物の単位時間あたりの搬送量を前記所定の粒度範囲の産物の生産量として用いて前記粒度比を算出する、請求項2に記載の制御器。 The crushing system comprises, downstream of the sorter, a transport conveyor that transports the sorted products of the predetermined particle size range,
3. The controller according to claim 2, wherein said processing circuit calculates said particle size ratio using the transport amount of said product per unit time on said transport conveyor as the production amount of said product within said predetermined particle size range. - 前記処理回路は、前記搬送コンベヤを駆動する電動モータに供給される電力を前記粒度指標として取得する、請求項3に記載の制御器。 The controller according to claim 3, wherein the processing circuit acquires power supplied to an electric motor that drives the transport conveyor as the granularity index.
- 前記処理回路は、
前記旋動式破砕機に供給される前記被破砕物の単位時間あたりの供給量を取得し、
前記供給量に対する前記搬送コンベヤにおける前記搬送量の割合を前記粒度比として算出する、請求項3に記載の制御器。 The processing circuit is
Acquiring the supply amount of the material to be crushed per unit time supplied to the orbital crusher,
4. The controller according to claim 3, wherein a ratio of said conveyed amount on said conveyer to said supplied amount is calculated as said particle size ratio. - 前記処理回路は、前記相関関係および取得した前記負荷指標から前記負荷指標における前記粒度比を算出する、請求項1に記載の制御器。 The controller according to claim 1, wherein said processing circuit calculates said granularity ratio in said load index from said correlation and said obtained load index.
- 前記処理回路は、取得した前記負荷指標と前記相関関係から制御ゲインを設定し、前記制御ゲインと所定の粒度比目標値から前記粒度比を差し引いた粒度比偏差とに基づいて前記負荷指標目標値を生成する、請求項1から6の何れかに記載の制御器。 The processing circuit sets a control gain from the acquired load index and the correlation, and the load index target value based on the control gain and a particle size ratio deviation obtained by subtracting the particle size ratio from a predetermined particle size ratio target value. 7. A controller according to any one of claims 1 to 6, which generates
- 前記相関関係を記憶する記憶器を備え、
前記処理回路は、取得した前記負荷指標および前記記憶器に予め記憶された前記相関関係から前記制御ゲインを算出する、請求項7に記載の制御器。 A storage device that stores the correlation,
8. The controller according to claim 7, wherein said processing circuit calculates said control gain from said acquired load index and said correlation pre-stored in said memory. - 取得した前記負荷指標および算出された前記粒度比の履歴を記憶する記憶器を備え、
前記処理回路は、過去の2以上の前記負荷指標および前記粒度比の組み合わせから前記負荷指標に対する前記粒度比の変化率を算出することにより前記相関関係を算出し、取得した前記負荷指標および算出された前記相関関係から前記制御ゲインを算出する、請求項7に記載の制御器。 A storage device for storing a history of the obtained load index and the calculated granularity ratio,
The processing circuit calculates the correlation by calculating a rate of change of the granularity ratio with respect to the load index from past combinations of two or more of the load index and the granularity ratio, and calculates the obtained load index and the calculated 8. The controller according to claim 7, wherein said control gain is calculated from said correlation. - 前記処理回路は、前記粒度比偏差に前記制御ゲインを掛ける制御ゲイン乗算器と、前記制御ゲイン乗算器の出力を所定の制限範囲に制限するリミッタと、を含み、
前記制限範囲は、取得した前記負荷指標に応じて設定される、請求項7に記載の制御器。 The processing circuit includes a control gain multiplier that multiplies the granularity ratio deviation by the control gain, and a limiter that limits the output of the control gain multiplier to a predetermined limit range,
8. The controller according to claim 7, wherein said limit range is set according to said obtained load index. - 旋動式破砕機と、
前記旋動式破砕機に被破砕物を供給する供給機と、
請求項1から6の何れかに記載の制御器と、を備えた、破砕システム。 a gyration crusher;
a feeder that feeds the object to be crushed to the orbital crusher;
A crushing system comprising a controller according to any one of claims 1 to 6. - 前記旋動式破砕機は、
偏心旋回運動する主軸に固定されたマントルと、
内部に、前記マントルとの間に被破砕物を噛み込んで圧砕する破砕室を有するコーンケーブと、を備え、
前記マントルおよび前記コーンケーブの間のセットが機械的に保持され、
前記制御器は、前記被破砕物の前記旋動式破砕機への供給量を制御する、請求項11に記載の破砕システム。 The orbital crusher is
a mantle fixed to a main shaft that performs an eccentric orbital motion;
a cone cavity having a crushing chamber inside which crushes the object to be crushed by biting it between the mantle and the mantle;
a set between the mantle and the cone cave is mechanically retained;
12. The crushing system according to claim 11, wherein the controller controls the supply of the material to be crushed to the orbital crusher. - 前記旋動式破砕機は、
偏心旋回運動する主軸に固定されたマントルと、
内部に、前記マントルとの間に被破砕物を噛み込んで圧砕する破砕室を有するコーンケーブと、
前記マントルおよび前記コーンケーブの間のセットを保持するように前記マントルまたは前記コーンケーブに破砕力に対抗する油圧力を与える油圧シリンダと、を備え、
前記制御器は、前記被破砕物の前記旋動式破砕機への供給量または前記セットの大きさのうちの少なくとも1つを制御する、請求項11に記載の破砕システム。 The orbital crusher is
a mantle fixed to a main shaft that performs an eccentric orbital motion;
a cone cable having a crushing chamber in which crushing objects are bitten and crushed between the mantle and the mantle;
a hydraulic cylinder for applying hydraulic force against crushing forces to the mantle or the cone to hold the set between the mantle and the cone;
12. The shredding system of claim 11, wherein the controller controls at least one of the feed rate of the material to be shredded to the orbital shredder or the size of the set. - 旋動式破砕機および前記旋動式破砕機に被破砕物を供給する供給機を備えた破砕システムの制御方法であって、
前記旋動式破砕機にかかる破砕負荷を直接または間接的に表す負荷指標を検出し、
前記旋動式破砕機によって破砕された前記被破砕物から得られる所定の粒度範囲の産物の生産量を所定の基準生産量に対する比率で表した粒度比を算出し、
検出された前記負荷指標と前記負荷指標および前記粒度比の間の相関関係とに基づいて前記負荷指標目標値を生成し、
前記負荷指標が負荷指標目標値に基づく基準範囲内になるように、前記負荷指標および前記負荷指標目標値から前記旋動式破砕機または前記供給機のうちの少なくとも1つを制御するための制御指令値を生成する、制御方法。 A control method for a crushing system comprising a gyration crusher and a feeder for supplying crushed material to the gyration crusher, comprising:
detecting a load index that directly or indirectly represents the crushing load applied to the gyration crusher;
Calculating a particle size ratio, which is expressed as a ratio of the production amount of products in a predetermined particle size range obtained from the material to be crushed by the gyration crusher to a predetermined standard production amount,
generating the load index target value based on the detected load index and a correlation between the load index and the granularity ratio;
Control for controlling at least one of the tumbling crusher and the feeder from the load index and the load index target value so that the load index is within a reference range based on the load index target value A control method that generates command values.
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JPS6323752A (en) * | 1986-03-05 | 1988-02-01 | 川崎重工業株式会社 | Automatic operation control method of rocking type rough crasher |
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JPH0975760A (en) * | 1995-09-13 | 1997-03-25 | Babcock Hitachi Kk | Controller for pulverizer |
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JP2019202245A (en) * | 2018-05-21 | 2019-11-28 | 株式会社アーステクニカ | Gyratory type crusher and control method therefor |
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2021
- 2021-08-17 JP JP2021132812A patent/JP2023027602A/en active Pending
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JPS56168843A (en) * | 1980-05-30 | 1981-12-25 | Yaskawa Denki Seisakusho Kk | Controller for crusher |
JPS60129146A (en) * | 1983-12-14 | 1985-07-10 | 日本セメント株式会社 | Crushing control method |
JPS6323752A (en) * | 1986-03-05 | 1988-02-01 | 川崎重工業株式会社 | Automatic operation control method of rocking type rough crasher |
JPH07506290A (en) * | 1992-01-31 | 1995-07-13 | スベダラ−アルブラ・エービー | Method for controlling a rotary crusher |
JPH0975760A (en) * | 1995-09-13 | 1997-03-25 | Babcock Hitachi Kk | Controller for pulverizer |
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