WO2023074238A1 - 制御システム - Google Patents
制御システム Download PDFInfo
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- WO2023074238A1 WO2023074238A1 PCT/JP2022/036191 JP2022036191W WO2023074238A1 WO 2023074238 A1 WO2023074238 A1 WO 2023074238A1 JP 2022036191 W JP2022036191 W JP 2022036191W WO 2023074238 A1 WO2023074238 A1 WO 2023074238A1
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- Prior art keywords
- fluid pressure
- control system
- tooth
- load
- motor
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- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 claims abstract description 65
- 229910001416 lithium ion Inorganic materials 0.000 claims abstract description 65
- 238000006243 chemical reaction Methods 0.000 claims abstract description 21
- 239000012530 fluid Substances 0.000 claims description 187
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- 238000010276 construction Methods 0.000 claims description 14
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- 230000007246 mechanism Effects 0.000 description 26
- 238000010586 diagram Methods 0.000 description 18
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- 229910052751 metal Inorganic materials 0.000 description 15
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- 230000033001 locomotion Effects 0.000 description 12
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- 230000008602 contraction Effects 0.000 description 3
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- 239000010426 asphalt Substances 0.000 description 2
- 239000006148 magnetic separator Substances 0.000 description 2
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- 230000033228 biological regulation Effects 0.000 description 1
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Images
Classifications
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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
- B02C23/00—Auxiliary methods or auxiliary devices or accessories specially adapted for crushing or disintegrating not provided for in preceding groups or not specially adapted to apparatus covered by a single preceding group
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
Definitions
- the present invention relates to a control system that efficiently operates the drive of construction equipment.
- a crushing system using a crusher consists of equipment such as a conveyor that transports raw materials such as ore, rocks, concrete, etc., a feeder that supplies raw materials to the crusher, and a screen that screens the crushed stones. Motors are used to drive these devices. That is, motor drive control is extremely important in construction equipment in general including, for example, the crushing system described above.
- IPM motors are known as AC motors that use permanent magnets in the stator portion. Since the IPM motor does not require a secondary current to flow through the rotor, it has the characteristics of suppressing loss in the rotor, saving energy, and being highly efficient. In addition, since less heat is generated, the heat radiation area can be reduced, and the size and weight of the motor itself can be reduced. On the other hand, since it is necessary to generate a rotating magnetic field that matches the position of the stator, strict control by the inverter is required.
- Patent Documents 1 and 2 disclose technologies related to a hybrid crusher that uses a battery power supply and an external AC power supply.
- the technique shown in Patent Document 1 is to connect a first connection part for supplying power to a first driving part that drives when crushing an object to be crushed, and an external power supply for supplying power to the first driving part.
- a self-propelled crusher has a first connecting portion for supplying power to a first driving portion that is driven when moving between work places, and at least power to the first driving portion. and a battery power source that supplies the electric power from the battery power source, and controls the first driving unit to be driven only by electric power from the battery power source when the work site is moved through an area where exhaust gas regulations are applied to the construction machine. It is something to do.
- Patent Documents 1 and 2 have a function of charging the battery power source from an external power source. It is necessary to install a charger according to the capacity of the battery, and there is a problem that the equipment is complicated and the cost is high.
- the present invention has been made to solve the above-mentioned problems. It is an object of the present invention to provide a control system that stabilizes the battery voltage of a battery, maximizes the performance of the IPM motor, and protects an inverter that controls the IPM motor.
- a control system includes a drive section for driving construction equipment, an inverter connected to the drive section for converting power supplied to the drive section, and an AC power for driving the drive section.
- a converter receives from a power supply and converts it into DC power, and the DC power converted by the converter is charged according to the driving state of the driving unit, or supplied to the driving unit according to the driving state of the driving unit.
- a secondary battery and a PLC for setting the conversion voltage of the converter based on the state of the secondary battery and the output capacity of the AC power supply.
- a drive section for driving construction equipment an inverter connected to the drive section for converting electric power supplied to the drive section, and a drive section for driving the drive section.
- a converter that receives power from an AC power supply and converts it into DC power, and charges the DC power converted by the converter according to the driving state of the driving unit, or charges the DC power according to the driving state of the driving unit and a PLC that sets the conversion voltage of the converter based on the state of the secondary battery and the output capacity of the AC power supply, so that the voltage is within the stable voltage range of the secondary battery.
- FIG. 1 is a system configuration diagram of a control system according to a first embodiment
- FIG. 3 is a functional block diagram showing the configuration of a PLC in the control system according to the first embodiment
- FIG. 5 is a graph showing voltage fluctuations of the DC bus over time during no-load operation in the control system according to the first embodiment
- FIG. 4 is a diagram showing changes in the graph of FIG. 3 when a battery deteriorates in the control system according to the first embodiment
- It is a system configuration diagram of a control system according to a second embodiment.
- FIG. 10 is a diagram showing the configuration of a lithium-ion battery in a control system according to a second embodiment;
- FIG. 10 is a diagram showing a comparison with conventional data when feeder driving is momentarily interrupted in the control system according to the second embodiment; It is a figure which shows the comparison with the conventional data at the time of driving a crusher in the control system which concerns on 2nd Embodiment.
- FIG. 11 is a schematic configuration explanatory diagram of a crushing device in a control system according to a third embodiment;
- FIG. 11 is a schematic side view of the hydraulic motor and flywheel installation side of the crusher in the control system according to the third embodiment;
- FIG. 11 is an explanatory diagram of a control system of a crushing device in a control system according to a third embodiment;
- FIG. 11 is an explanatory diagram of an adjustment state of the interval between the stationary tooth and the moving tooth by the fluid pressure control means of the crushing device in the control system according to the third embodiment; Graph showing changes in current value of the electric motor, pressure received by the fluid pressure cylinder, and displacement amount of the toggle block when a foreign object enters between the stationary teeth and the moving teeth of the crushing device in the control system according to the third embodiment. is.
- FIG. 11 is an explanatory view of the operating state of the swing jaw by driving the fluid pressure motor in a state where foreign matter enters between the stationary teeth and the moving teeth of the crushing device in the control system according to the third embodiment; FIG.
- FIG. 11 is an explanatory view of a state where the swing jaw is shifted away from the stationary tooth due to the operation of the fluid pressure cylinder in the state where the foreign matter enters between the stationary tooth and the moving tooth of the crushing device in the control system according to the third embodiment;
- FIG. 11 is a system configuration diagram of a control system according to a third embodiment; It is a figure which shows the control method using the control system which concerns on 3rd Embodiment.
- FIG. 1 A control system according to this embodiment will be described with reference to FIGS. 1 to 4.
- FIG. The control system according to the present embodiment controls the power supply of construction equipment, and particularly relates to power control of construction equipment including a hybrid crusher.
- a hybrid crusher uses power supplied from an external power source such as a generator or a commercial power source and power supplied from a battery power source such as a secondary battery as driving energy.
- a battery power source such as a secondary battery
- power supply from a battery power supply is used for replenishment.
- energy is effectively used by storing surplus power in the battery power supply.
- FIG. 1 is a system configuration diagram of the control system according to this embodiment.
- the control system 1 includes drive units 11 that mechanically operate, for example, in crushers, conveyors, vibration motors, hydraulic pumps, feeders, magnetic separators, and the like.
- An inverter 12 that performs conversion and control, a converter 13 that receives electric power for driving each driving unit 11 from an external AC power supply 19 and converts it to DC power, and when the driving state of the driving unit 11 is low load,
- a lithium ion battery 14 that charges the DC power converted by the converter 13 and supplies power to the drive unit 11 when the drive unit 11 is in a high load state, the state of the lithium ion battery 14, and the external and a PLC 15 for setting the conversion voltage of the converter 13 based on the output capacity of the AC power supply.
- the converter 13 , the lithium ion battery 14 and the inverter 12 are each connected by a DC bus 16 .
- the lithium ion battery 14 has a BMS 17 for monitoring and controlling the battery module, and the BMS 17 and PLC 15 are connected so as to be bidirectionally communicable.
- the PLC 15 is also connected to the converter 13 and the inverter 12 so as to be able to communicate bidirectionally.
- a measurement unit 18 for measuring voltage is installed on the DC bus 16 , and the PLC 15 is configured to receive the measurement result of the measurement unit 18 .
- the external AC power supply 19 is a commercial power supply or a generator, and the voltage varies depending on the contract details with the electric power company and the capacity of the generator. Normally, it is necessary to install a converter or a charger according to the power that can be supplied. It is possible to correspond.
- the inverter 12 connected to each drive unit 11 converts the power supplied to each drive unit 11 from DC power to AC power, and performs feedback control according to the drive state.
- Each drive unit 11 exemplified above has a very large load fluctuation depending on the hardness and amount of crushed material, so the operation of each drive unit 11 is stabilized by installing an inverter 12 in each drive unit 11. be able to.
- the use of such a large number of inverters 12 raises concerns about the influence of harmonics, but the configuration suppresses the influence of harmonics by providing a harmonic filter module 20 between the converter 13 and an external AC power supply. It has become.
- Lithium ion battery 14 charges power from external AC power supply 19 according to the voltage control of converter 13 when the load on drive unit 11 is small, and drives the stored power when the load on drive unit 11 is large. supply to the unit 11 to compensate for the energy shortage.
- the BMS 17 constantly monitors and controls the battery module of the lithium ion battery 14 and information on each cell is sent to the PLC 15 .
- the load fluctuation of each drive unit 11 such as the crusher becomes extremely large according to the crushed object, and the noise of many inverters 12 affects the BMS 17.
- the BMS 17 has a function of adjusting the cell balance when the voltage is low, for example. In such an environment, it becomes difficult for the BMS 17 as described above to cope. Therefore, in this embodiment, as will be described later, the voltage of the DC bus line 16 is set to an appropriate voltage at which the lithium ion battery 14 can operate stably by controlling the PLC 15 that can monitor the status of the entire system.
- the BMS 17 is instructed to adjust the cell balance at a predetermined timing while checking the crushing situation.
- the PLC 15 has the function of controlling the entire system, and acquires information on the state of each battery module in the lithium ion battery 14 from the BMS 17. Based on the acquired information, the BMS 17 is instructed to adjust the cell balance. On the other hand, according to the state of the lithium ion battery 14, the optimum voltage of the DC bus 16 is calculated and set for the converter 13, and the upper limit of the output is calculated and set. In either case, if the drive unit 11 is under load, voltage fluctuations are large and accurate balance adjustment and optimum voltage calculation cannot be performed. The above processing is executed while acquiring information about the drive state.
- FIG. 2 is a functional block diagram showing the configuration of the PLC in the control system according to this embodiment.
- the PLC 15 includes an information acquisition unit 22 that acquires capacity input information 21 related to the capacity of the external AC power supply 19, measurement result information from the measurement unit 18 that measures the voltage of the DC bus 16, and the drive status of each drive unit 11.
- a drive control unit 23 that monitors and controls the drive unit 11
- a battery control unit 24 that issues commands such as balance adjustment to the lithium ion battery 14 according to the drive state of the drive unit 11, and a lithium ion battery while observing the drive state of the drive unit 11
- a calculation unit 25 that measures the stable voltage of the ion battery 14 and calculates information for setting the voltage of the DC bus 16 according to the measured value.
- the PLC 15 performs a cell balance adjustment command for the lithium ion battery 14 while monitoring the driving state of the entire system, and controls the voltage of the DC bus 16 when charging the lithium ion battery 14, so that the lithium ion battery The excessive burden on 14 is suppressed to extend the service life.
- the drive control unit 23 is a processing unit that monitors and controls the driving state of each drive unit 11. Based on information from the inverter 12 connected to each drive unit 11, each drive unit 11 (when the power is on) It is determined whether it is in a load state or in a no-load state (with the power ON).
- the battery control unit 24 transmits information as a command for adjusting the cell balance to the BMS 17 of the lithium ion battery 14 .
- the load of the drive unit 11 such as a crusher varies greatly depending on the hardness and amount of the crushed material, and the power consumption accordingly varies greatly. Since the influence also extends to each cell of the lithium-ion battery 14, the voltage between the cells is likely to become unbalanced.
- the battery control unit 24 receives information from the drive control unit 23 as to whether the drive unit 11 is in the load state or the no-load state, and issues a cell balance adjustment command when the drive unit 11 is in the no-load state. In addition, if the drive unit 11 is in a load state during cell balance adjustment, the cell balance adjustment cannot be performed accurately. Restrict. Specifically, for example, the driving of the driving unit 11 is controlled to a driving stop state (with the power ON), or a warning to the effect that cell balancing is being performed is displayed on the operation panel, and the driving start operation of the driving unit 11 cannot be performed. make it
- the computing unit 25 computes a voltage upper limit value according to the capacity of the external AC power supply 19 and performs processing for sending a command to the converter 13 .
- the voltage upper limit value is a value calculated by the calculation unit 25 based on the upper limit value that can be output by the AC power supply 19. For example, a value of 90% of the output capacity is calculated as the voltage upper limit value.
- the converter 13 that has received the command for the voltage upper limit value performs voltage control within that range (the range that does not exceed the voltage upper limit value). That is, even if the external AC power supply 19 has various capacities, voltage control can be performed according to each capacity, so there is no need to prepare chargers or converters for different capacities.
- the output capacity of the external AC power supply 19 is information input as the capacity input information 21 by the user's operation.
- the calculation unit 25 obtains an optimum voltage value that allows stable operation with the smallest voltage fluctuation of the lithium ion battery 14, and sends a command to the converter 13 to control the voltage of the DC bus 16 to the optimum voltage value.
- FIG. 3 is a graph showing voltage fluctuations of the DC bus 16 over time when the driving unit 11 is operated with the power of the lithium-ion battery 14 in a no-load state (in a constant low-load state).
- the data of this graph is collected when the drive control unit 23 determines that the drive unit 11 is in a no-load state and the battery voltage received by the battery control unit 24 from the BMS 17 is 100%. That is, the voltage of the DC bus line 16 is measured with respect to the passage of time until the battery voltage changes from 100% to 0% in a no-load state.
- the voltage fluctuation of the DC mother ship 16 increases. is restricted.
- the calculation unit 25 can determine from this graph that the lithium ion battery 14 is a battery that can be stably driven at a voltage around 320V, and sets the optimum voltage value to 320V. When the optimum voltage value is obtained, calculation unit 25 sets this optimum voltage value for converter 13 . When the lithium ion battery 14 is charged from the external AC power supply 19, the converter 13 controls the conversion voltage so that the voltage of the DC bus 16 becomes an optimum voltage value within a range that does not exceed the set voltage upper limit. .
- the voltage of the DC bus line 16 is controlled to a voltage at which the lithium ion battery 14 can be stably driven, and the lithium ion battery 14 can be quickly charged (quick charge), and the load on the battery can be reduced to extend the life of the battery while maintaining a constant value at the optimum voltage even when the load of the drive unit 11 changes. be able to.
- the optimum voltage value may be measured according to the individual differences of the lithium ion batteries 14, or if the lithium ion batteries 14 are of the same type (same manufacturer), the measured value of one lithium ion battery 14 is used as a reference. Other lithium ion batteries 14 may be set as fixed values. In either case, the optimum voltage value changes due to deterioration of the lithium ion battery 14 over time. In that case, the drive control unit 23 and the battery control unit 24 periodically perform processing so that the operation is performed in a no-load state from 100% to 0% of the battery remaining amount according to a command from the calculation unit 25, and a new Measurements are collected.
- FIG. 4 is a diagram showing changes in the graph of FIG. 3 when the lithium ion battery 14 deteriorates.
- FIG. 4(A) is a schematic diagram of a graph showing the voltage change of the DC bus 16 when the driving unit 11 is operated without load with the lithium-ion battery 14 before deterioration
- FIG. 4(B) shows the state after deterioration. It is a schematic diagram of the graph shown.
- the calculation unit 25 recalculates the optimum voltage value based on the newly collected measurement values, and updates the optimum voltage value for the converter 13 .
- the drive unit 11 having at least a crusher for crushing an object to be crushed, and the drive unit 11 connected to convert the electric power supplied to the drive unit 11 an inverter 12, a converter 13 that receives power for driving the drive unit 11 from an AC power supply 19 and converts it into DC power, and charges the DC power converted by the converter 12 according to the drive state of the drive unit 11,
- a secondary battery for example, a lithium ion battery 14
- the conversion voltage of the converter 12 can be set within the stable voltage range of the secondary battery, and the life of the secondary battery can be extended.
- the PLC 15 sets the conversion voltage of the converter 12 to a voltage value within a range in which the voltage of the lithium ion battery 14 is less likely to fluctuate, it is possible to reduce the burden on the lithium ion battery 14 and extend the life of the battery.
- the PLC 15 calculates and sets the upper limit value of the conversion voltage of the converter 12 based on the output capacity of the AC power supply, regardless of the contract details of the commercial power supply, which is an external AC power supply, and the capacity of the generator, , can be applied to various external power sources without preparing dedicated converters or chargers.
- the PLC 15 performs balance control between the modules of the secondary battery when the drive unit 11 is in a no-load state, the drive unit 11 with extremely large load fluctuations may be driven, or the noise caused by the inverter 12 noise may occur.
- the load on the secondary battery can be reduced and the life of the secondary battery can be extended.
- accurate voltage measurement cannot be performed due to load fluctuations, and balance adjustment cannot be performed. It is possible to perform balance adjustment with high precision based on the correct voltage.
- FIG. 1 A control system according to this embodiment will be described with reference to FIGS. 5 to 8.
- FIG. 1 the control system according to the present embodiment will be described as a drive control system for performing crushing work or the like by a hybrid crusher.
- a control system that protects an inverter for controlling the IPM motor while operating the IPM motor at high performance will be described. In this embodiment, explanations that duplicate those of the first embodiment will be omitted.
- FIG. 5 is a system configuration diagram of the control system according to this embodiment.
- the control system 1 includes, for example, an IPM motor 11a that operates a drive unit such as a crusher, a conveyor, a feeder, and a magnetic separator, and an inverter that is connected to each IPM motor 11a and performs conversion and control of power supplied to the IPM motor 11a. 12, a converter 13 that receives power for driving each IPM motor 11a from an external AC power supply 19 and converts it to DC power, and a converter 13 that converts the power when the driving state of the IPM motor 11a is low load.
- a drive unit such as a crusher, a conveyor, a feeder, and a magnetic separator
- an inverter that is connected to each IPM motor 11a and performs conversion and control of power supplied to the IPM motor 11a.
- a converter 13 that receives power for driving each IPM motor 11a from an external AC power supply 19 and converts it to DC power
- a converter 13 that converts the power when
- a lithium-ion battery 14 that charges DC power and supplies power to the IPM motor 11a when the IPM motor 11a is in a high-load driving state, the state of the lithium-ion battery 14, and the output capacity of an external AC power supply. and a PLC 15 for setting the conversion voltage of the converter 13 based on.
- each IPM motor 11a converts the power supplied to each IPM motor 11a from DC power to AC power, and performs feedback control according to the drive state.
- each IPM motor 11a in construction equipment such as a crusher has a load fluctuation depending on the hardness and amount of crushed materials.
- the operation of the IPM motor 11a is stabilized to some extent under normal operating conditions by using the inverter 12, when the load fluctuation is steep and large as in the case of the present embodiment, the control by the inverter 12 alone is not enough. Since it is difficult to completely stabilize the operation of the IPM motor 11a, it may be necessary to limit the driving of the IPM motor 11a, which makes it difficult to maximize the performance of the IPM motor 11a. Specifically, when the IPM motor 11a is stopped in a short period of time or the load suddenly disappears, a large amount of regenerative energy is generated, and the inverter 12 becomes overloaded and an error occurs.
- the IPM motor 11a and the inverter 12 are protected by taking a longer stop time of the IPM motor 11a so as not to overload the inverter 12, or by limiting the torque and rotation speed of the IPM motor 11a. There is a need to. In other words, even if the IPM motor 11a has high performance, the performance must be limited in order to achieve stable control.
- the lithium-ion battery 14 is provided in order to absorb regenerative energy due to extremely steep load fluctuations to the IPM motor 11a and protect the IPM motor 11a and the inverter 12. .
- the lithium ion battery 14 charges the power from the external AC power supply 19 according to the voltage control of the converter 13 when the load of the IPM motor 11a is small, and stores the power when the load of the IPM motor 11a is large.
- the power supplied to the IPM motor 11a is supplied to supplement the energy shortage.
- the load of the IPM motor 11 suddenly disappears, that is, when an extremely large amount of regenerative energy is suddenly generated, the lithium-ion battery 14 absorbs the regenerative energy, causing overloading of the inverter 12. to prevent
- the lithium-ion battery 14 has a power supply area for supplying power to the IPM motor 11a and a protective charging area for absorbing regenerative energy due to sudden load fluctuations from the IPM motor 11a. State controlled.
- the electric power charged in the power supply area is used to make up for energy shortage when a large load is applied to the IPM motor 11a, and is charged from the external AC power supply 19 when the load of the IPM motor 11a is light.
- the protective charging area is in an empty state during normal operation, and is used as an area that absorbs abrupt regenerative energy generated when the load of the IPM motor 11a suddenly decreases or becomes zero.
- the lithium-ion battery 14 in this embodiment must be controlled so that it can always sufficiently absorb regenerative energy due to sudden load fluctuations that occur in construction equipment such as crushers.
- a BMS 17 is provided as a processing unit for monitoring the lithium ion battery 14. This BMS 17 constantly monitors and controls the battery modules of the lithium ion battery 14, and processes to transmit information of each cell to the PLC 15. I do.
- the BMS 17 has a function of adjusting the cell balance, for example, when the voltage is low. In the environment, it is difficult to constantly monitor and control the lithium ion battery 14 only with the BMS 17 .
- the converter 13 constantly absorbs the regenerative energy that the lithium-ion battery 14 generates steeply in the voltage of the DC bus 16. can control the voltage. That is, the converter 13 is made to function as voltage adjusting means for the DC bus 16 .
- the PLC 15 has a function of controlling the entire system, and according to the state of the lithium ion battery 14, calculates and sets the optimum voltage of the DC bus 16 for the converter 13, and calculates the upper limit value of the output. and perform the setting process.
- the power supply area and the protective charging area are optimally set to efficiently supply electric power to the IPM motor 11a, and at the same time, when regenerative energy is generated, the inverter 12 is not overloaded. Secure an area for absorption. Further, setting the upper limit value and the lower limit value of the lithium ion battery 14 results in extension of the life of the lithium ion battery 14 .
- the PLC 15 acquires information on the state of each battery module in the lithium ion battery 14 from the BMS 17, and issues a cell balance adjustment command to the BMS 17 based on the information. In this case, when a load is applied to the IPM motors 11a, voltage fluctuations are large and accurate balance adjustment and optimum voltage calculation cannot be performed. Execute the above process.
- the lithium ion battery 14 can function as a protection circuit for the inverter 12.
- a voltage value and/or frequency for controlling the IPM motor 11a can be set to an upper limit value. That is, the functions of the IPM motor 11a can be maximized without being restricted.
- An electrically driven feeder controls the frequency by an inverter 12 to adjust the amount of material to be crushed into the crusher.
- an inverter 12 controls the frequency by an inverter 12 to adjust the amount of material to be crushed into the crusher.
- the load on the crusher increases. That is, the load on the IPM motor 11a that drives the crusher increases.
- the feeder is decelerated and stopped under the control of the inverter 12 to reduce the amount of material to be crushed so that the IPM motor 11a of the crusher is not overloaded.
- the lithium-ion battery 14 If the lithium-ion battery 14 is not provided, or if the lithium-ion battery 14 is provided but the protective charging area is not set, if the frequency of the feeder is lowered or stopped in a short period of time, regenerative energy will be generated steeply.
- the inverter 12 becomes overloaded and causes an error.
- a V-belt is used as a power transmission means of the feeder when the raw material is put into the feeder, the V-belt is structurally loosened and an overvoltage occurs instantaneously. Since it is difficult to detect the material input timing mechanically or by an electrical signal, such an overvoltage may occur in the inverter 12 of the IPM motor 11a for driving the feeder.
- a protective charging region in the lithium-ion battery 14 it is possible to absorb the regenerative energy that is generated abruptly, so that the charging time is extremely short. It is possible to decelerate and stop in time without causing an error.
- FIG. 7 shows the results when the feeder drive is actually interrupted.
- FIG. 7A shows the results of changes in the number of revolutions with respect to the stop time of the feeder in the conventional art
- FIG. 7B shows the results of the change in the number of revolutions with respect to the stop time of the feeder in this embodiment.
- FIG. 8 shows the results when the crusher (jaw crusher) was actually driven.
- FIG. 8A shows data when the crusher is driven using a conventional three-phase motor
- FIG. 8B shows data when the crusher is driven by the IPM motor 11a in this embodiment.
- FIG. 8B shows driving of the IPM motor 11 under the control of the inverter 12 in the configuration including the lithium ion battery 14 .
- the fluctuation of the current is small, the stability is high, and the no-load current is about half (normalized value of about 100 ⁇ 50 degree).
- the conventional crusher was limited to driving at a set value of 90 mm, but in this embodiment, it is possible to sufficiently drive with a set value of 60 mm. It has become possible to perform crushing operation efficiently.
- the flywheel When the crusher is to be controlled, the flywheel is driven by the IPM motor 11a, and the regenerative energy of the load fluctuation applied to the crushing teeth driven in accordance with the operation of the flywheel is absorbed by the lithium ion battery 14.
- the drive control system it is possible to prevent overloading of the inverter 12 due to regenerative energy caused by sudden changes in load, and protect the inverter 12 .
- the lithium-ion battery 14 absorbs the regenerated energy to protect the inverter 12, the set value of the inverter 12 can be set widely, and the performance of the IPM motor 11a can be maximized.
- FIG. 9 A control system according to this embodiment will be described with reference to FIGS. 9 to 17.
- FIG. 9 control when a jaw crusher is used as construction equipment will be described.
- explanations overlapping those of the above-described embodiments are omitted.
- jaw crushers have been used as crushing devices for crushing stone, concrete waste, asphalt waste, etc. to the desired size.
- a jaw crusher moves a moving tooth attached to a swing jaw against a fixed fixed tooth, and crushes an object introduced between the moving tooth and the moving tooth by sandwiching it between the moving tooth and the moving tooth.
- single-toggle type jaw crushers which are widely used, usually have a rotating shaft that is rotatable by an electric motor or hydraulic motor, etc. in the body frame of the jaw crusher that fixedly supports stationary teeth.
- the upper portion of the swing jaw is rotatably attached to and supported by an eccentric shaft portion that is integrated with the rotating shaft with its center shifted.
- the lower part of the swing jaw abuts on one end of a toggle plate separately provided on the body frame so as to be capable of swinging, and the swing jaw is held in a state in which the toggle plate and the swing jaw are kept in contact with each other without being separated from each other.
- the other end of the toggle plate that contacts the lower part of the swing jaw, which is opposite to the one end that contacts the swing jaw, is positioned by a receiving member such as a toggle block provided on the body frame.
- a receiving member such as a toggle block provided on the body frame.
- a conventional jaw crusher has a configuration exemplified in Reference Document 1 above, and when a foreign object such as a metal is thrown between the stationary tooth and the moving tooth, the object cannot be crushed, resulting in an overload. Continuing the crushing would lead to problems such as damage to the equipment, so a mechanism was introduced to stop the equipment upon detecting an overloaded state.
- the threshold value corresponding to the overload is set high. Even when the load rises due to the overload, the timing to determine that it is overloaded is delayed, so it takes time to stop the device. , had the problem of becoming likely to occur. In many cases, failures such as damage or breakage due to delays in stopping the work occur in the main parts of the equipment, which require a long time to restore, and this also leads to a significant reduction in the efficiency of the crushing work.
- the adjustment unit is controlled according to the load on the moving teeth to temporarily increase the distance between the stationary teeth and the moving teeth, and the adjustment is performed following crushing of the object to be crushed and discharge of the foreign matter.
- a control system when using a crushing device that restores the gap between the stationary teeth and the moving teeth to the original state in the part to ensure a state where crushing is possible, and can reliably and continuously maintain the state of appropriately crushing the object to be crushed. will be explained.
- FIG. 9 An example of a single toggle type jaw crusher will be described.
- the crushing device 300 includes a fixed tooth 31 fixed to the body frame 30, a moving tooth 32 arranged opposite to the fixed tooth 31, and a moving tooth 32 to which the moving tooth 32 is attached.
- a swing jaw 33 is provided on the main body frame 30 so as to be swingable at least, and the movable range of the swing jaw 33 is positioned with respect to the main body frame 30 so that the interval between the stationary teeth 31 and the moving teeth 32 can be adjusted.
- a fluid pressure cylinder 36 as an adjustment unit, an electric motor 37 that moves the swing jaw 33 and the moving tooth 32, a fluid pressure motor 38 that moves the swing jaw 33 separately from the electric motor 37, and changes in the load on the moving tooth 32 during crushing.
- a control unit 39 for controlling the fluid pressure cylinder 36, the electric motor 37, and the fluid pressure motor 38 is provided.
- This crushing device 300 moves the moving tooth 32 together with the swing jaw 33 with respect to the stationary tooth 31 in a fixed state, thereby periodically changing the interval between the stationary tooth 31 and the moving tooth 32 . It crushes the object to be crushed that is supplied or introduced between them.
- the crushing device 300 includes a toggle plate 34 provided with one end in contact with the lower portion of the swing jaw 33, and a body frame 34 in contact with the other end of the toggle plate 34. 30 further includes a toggle block 35 which is positionably provided.
- the stationary tooth 31 and the moving tooth 32 are each formed in a flat plate shape, and each surface is configured as a projection surface in which a plurality of projections are arranged in parallel to form a wave-like cross section. These stationary teeth 31 are arranged to face the moving teeth 32 attached to the swing jaw 33 . A crushing space that is narrow at the bottom and wide at the top is formed between the stationary tooth 31 and the moving tooth 32 .
- the body frame 30 has a three-dimensional structure with high rigidity, for example, made of a metal frame or plate assembly. sometimes This body frame 30 supports the stationary teeth 31 and the swing jaws 33 to which the moving teeth 32 are attached.
- a rotating shaft 40 for supporting the swing jaw 33 is rotatably supported on the upper part of the body frame 30 .
- An eccentric shaft portion 41 eccentric from the center of the rotating shaft is integrally provided on the rotating shaft 40, and the upper end portion of the swing jaw 33 is attached around the eccentric shaft portion 41 so as to be relatively rotatable.
- a flywheel 45 and a pulley (not shown) to which the driving force from the electric motor 37 is transmitted via an endless belt are attached to the end of the rotating shaft 40, like a known jaw crusher.
- the rotating shaft 40 is rotationally driven by an electric motor 37 during normal crushing.
- an excessive current can flow through the electric motor due to a large load such as at startup, the rotating shaft 40 is driven by the fluid pressure motor 38, and after the rotation speed is increased, the drive is switched to the electric motor 37.
- the swing jaw 33 is configured such that its upper portion is supported by the eccentric shaft portion 41 of the rotating shaft 40, while it is biased away from the stationary tooth 31 by a tension rod 50 connected to its lower end portion.
- the upper portion of the swing jaw 33 is supported by the eccentric shaft portion 41 of the rotating shaft 40, while the recessed portion of the lower portion is brought into contact with one end of a toggle plate 34 separately provided on the body frame 30 so as to be swingable.
- a tension rod 50 connected to the lower end of the stationary tooth 31 is biased away from the stationary tooth 31 .
- the toggle plate 34 is a substantially rectangular plate made of metal, and is arranged in a direction parallel to the axial direction of the rotating shaft 40 (front direction in FIG. 1) (see FIG. 1). One end of the toggle plate 34 is brought into swingable contact with a concave portion at the bottom of the swing jaw 33 .
- the toggle block 35 is restrained on a part of the body frame 30 so as to advance and retreat with respect to the swing jaw 33 on the body frame 30, and is connected to the fluid pressure cylinder 36 and normally does not move. It is a configuration arranged as a state. The other end of the toggle plate 34 is brought into swingable contact with the concave portion provided in the toggle block 35 .
- the toggle plate 34 By biasing the swing jaw 33 away from the stationary tooth 31, the toggle plate 34 is positioned between the swing jaw 33 and the toggle block 35, one end of the swing jaw 33 and the toggle plate 34, and , the other end portions of the toggle block 35 and the toggle plate 34 are brought into contact with each other, and a state in which they are not separated from each other is maintained.
- the swing jaw 33, the toggle plate 34, the body frame 30, and the rotating shaft 40 constitute a kind of link mechanism.
- the swing jaw 33 moves toward or away from the stationary teeth 31 not only by swinging but also by vertical movement based on the characteristics of the link mechanism. It will repeat a predetermined movement such as
- the fluid pressure cylinder 36 is arranged as the adjusting portion at a predetermined position of the body frame 30 on the opposite side of the swing jaw 33 to the side on which the stationary tooth 31 is provided.
- the other ends are attached to the ends of the body frame 30, respectively, and the distance between the one end and the other end is made variable by fluid pressure control, the position of the toggle block 35 with respect to the body frame 30 is adjusted, and the swing linked to this is performed.
- the jaws 33 and the moving teeth 32 integrated therewith are positioned with respect to the body frame 30 so that the spacing between the stationary teeth 31 and the moving teeth 32 can be adjusted.
- the fluid pressure cylinders 36 are arranged in a plurality (for example, three ) is provided.
- the gap between the stationary teeth 31 and the moving teeth 32 which is related to the particle size of the crushed pieces to be obtained by crushing the object to be crushed by the crusher, is adjusted by adjusting the position of the toggle block 35 with the fluid pressure cylinder 36. 34 to move the swing jaw 33 and the moving tooth 32, and at a position where a predetermined gap corresponding to the size of the crushed pieces is obtained, the hydraulic cylinder 36 is brought to a stationary state, and the toggle block 35 is fixed on the main body frame 30. state.
- the fluid pressure cylinder 36 is operated in an abnormal state in which the crushing is delayed between the stationary teeth 31 and the moving teeth 32, that is, during crushing, the object to be crushed that is crushable but difficult to crush, or foreign matter that cannot be crushed.
- the gap between one end and the other end of the fluid pressure cylinder 36 is reduced based on the control of the control unit 39 to move the toggle block 35 from the fixed tooth 31. It is a mechanism that moves away from the fixed tooth 31 and the moving tooth 32 to temporarily widen the distance between the fixed tooth 31 and the moving tooth 32 to promote the crushing of the object to be crushed and the discharge of foreign matter from between the fixed tooth 31 and the moving tooth 32 .
- the electric motor 37 is disposed away from the rotating shaft 40 and transmits a driving force to the pulley at the end of the rotating shaft 40 via an endless belt to rotate the rotating shaft 40 to rotate the swing jaw 33 and the swing jaw 33 . It moves the moving tooth 32 attached to.
- the fluid pressure motor 38 is mounted on the upper portion of the main body frame 30, and its output shaft is connected to the rotating shaft 40 via a flywheel 45 at the end of the rotating shaft 40, so that the rotating shaft 40 is rotationally driven separately from the electric motor 37. to move the swing jaw 33 and the moving tooth 32 attached thereto.
- the fluid pressure motor 38 increases the load on the moving tooth 32 due to foreign matter that cannot be crushed. This forward and reverse rotation moves the swing jaw 33 to repeatedly change the interval between the stationary tooth 31 and the moving tooth 32 .
- the control unit 39 controls the fluid pressure cylinder 36 as the adjusting unit, the electric motor 37 and the fluid pressure motor 38 that move the swing jaw 33 and the moving tooth 32, corresponding to the fluctuation of the load on the moving tooth 32 during crushing. It is something to do.
- the control unit 39 controls one end of the fluid pressure cylinder 36 and the other end, the swing jaw 33 is moved, and the load is suppressed by widening the interval between the stationary tooth 31 and the moving tooth 32. ⁇ After crushing the object to be crushed that caused the load to increase, or after removing the foreign matter from between the stationary teeth 31 and the moving teeth 32, the fluid pressure cylinder 36 is returned to its original state.
- control section 39 includes fluid pressure control means 39a, electric motor control means 39b, and a fluid pressure control mechanism section 39c.
- the fluid pressure control means 39a increases the load on the moving tooth 32 due to the crushable object to be crushed, and tries to reduce the distance between one end and the other end of the fluid pressure cylinder 36 through the swing jaw 33.
- the fluid pressure circuit controls the working fluid so as to temporarily reduce the distance between one end and the other end of the fluid pressure cylinder. Therefore, it is possible to suppress the load on the moving tooth.
- This fluid pressure control means 39a is, for example, a flow passage on the side where the fluid pressure increases as the fluid pressure cylinder 36 in the fluid pressure circuit operates in the contraction direction (for example, in the case of a double-acting single-rod type fluid pressure cylinder, , the flow path leading to the cylinder chamber on the cap side).
- the electric motor control means 39b detects the current flowing through the electric motor 37, and the detected current value indicates that the moving tooth is overloaded due to foreign matter that cannot be crushed between the stationary tooth 31 and the moving tooth 32.
- the corresponding preset condition for example, the current value exceeds a threshold value set corresponding to overload
- the driving of the electric motor 37 is stopped, while the detected current value does not satisfy the above conditions, the driving of the electric motor 37 is continued.
- the electric motor control means 39b stops the feeder (not shown) that is provided in the preceding stage of the crushing device 300 and supplies crushing objects to the crushing device 300 in accordance with stopping the driving of the electric motor 37.
- the fluid pressure control means 39a controls the current value of the electric motor 37 detected by the electric motor control means 39b when the load on the moving tooth 32 increases transiently due to crushable objects to be crushed.
- the working fluid is controlled to temporarily reduce the distance between one end and the other end of the fluid pressure cylinder 36 to the extent that does not satisfy the above conditions, thereby suppressing the load.
- the load on the moving teeth is suppressed and the current of the electric motor 37 is reduced.
- the mechanism is such that the value (jaw current) does not satisfy the above conditions corresponding to the overload situation.
- the fluid pressure control mechanism 39c forms a main part of the fluid pressure circuit and controls the operation of the fluid pressure cylinder 36 and the fluid pressure motor 38.
- the control unit 39 when the load on the moving teeth increases due to unbreakable foreign matter, before the fluid pressure cylinder 36 widens the gap between the stationary teeth 31 and the moving teeth 32, the electric motor 37 rotates the swing jaws 33 through the rotating shaft.
- the fluid pressure control mechanism 39c causes the fluid pressure motor 38 to rotate the rotary shaft 40 forward and backward to move the swing jaw 33, thereby repeatedly changing the distance between the stationary tooth 31 and the moving tooth 32. (See FIG. 14).
- the fluid pressure control mechanism 39c stops the fluid pressure motor 38 and the fluid pressure cylinder 36
- the distance between one end and the other end of the swing jaw 33 is shortened to move the swing jaw 33 to widen the distance between the stationary tooth 31 and the moving tooth 32 (see FIG. 15).
- the fluid pressure cylinder 36 is returned to its original state.
- the crushing device 300 can smoothly move the swing jaw 33 against the object to be crushed by being driven by the electric motor 37, and can continuously crush the object to be crushed between the stationary teeth 31 and the moving teeth 32 without any trouble. shall be in a state
- the gap between the stationary tooth 31 and the moving tooth 32 is adjusted in advance.
- the fluid pressure cylinder 36 is operated under the control of the control unit 39 to move the toggle block 35 with respect to the main body frame 30, and the swing jaw 33 interlocked therewith via the toggle plate 34 and the swing jaw 33 interlocked therewith via the toggle plate 34.
- the gap between the stationary tooth 31 and the moving tooth 32 is set to a value corresponding to the size of the crushed pieces to be obtained.
- the position adjustment (movement) of the toggle block 35 by the fluid pressure cylinder 36 is stopped, and the adjustment is completed.
- the rotating shaft 40 is rotationally driven by the fluid pressure motor 38 as the start of the crushing operation of the crushing device.
- the electric motor 37 switches to the state of rotating the rotary shaft 40, and the driving by the fluid pressure motor 38 is stopped.
- the swing jaw 33 repeats a predetermined movement of moving toward and away from the stationary tooth 31 together with the moving tooth 32 .
- a feeder (not shown) for supplying crushing objects to the crushing device 300 is provided above the crushing device 300 that performs crushing. It is supplied and introduced into the space for crushing between.
- the object to be crushed which is put between the stationary teeth 31 and the moving teeth 32 and sandwiched between the stationary teeth 31 and the moving teeth 32, receives pinching pressure from the stationary teeth 31 and the moving teeth 32 due to the movement of the swing jaw 33. Along with this pressure, stress concentrates on a part of the object to be crushed, and the object to be crushed is crushed and divided starting from the stress concentration point.
- the object to be crushed is crushed by the crushing force while advancing from top to bottom, and the process of reducing the particle size is repeated, and finally Then, the crushed pieces of desired size are discharged from the lower end of the gap (discharge port) between the stationary tooth 31 and the moving tooth 32 .
- the load on the moving tooth 32 that moves and crushes becomes a rotational load on the rotating shaft 40 that drives the moving tooth 32 together with the swing jaw 33, and is reflected as a current value flowing through the electric motor 37. is monitored by the motor control means 39b of the control unit 39.
- the increased load on the moving tooth 32 acts on the swing jaw 33 as an apparent force that widens the distance between the stationary tooth 31 and the moving tooth 32, and the toggle plate 34 and the toggle supporting the swing jaw 33 from behind.
- the block 35 acts as a further force tending to compress the hydraulic cylinder 36 , resulting in an increase in hydraulic pressure of the working fluid in the portion of the hydraulic circuit containing the hydraulic cylinder 36 .
- This increase in fluid pressure in the fluid pressure circuit is reflected in the fluid pressure control means 39a of the control section 39.
- the crushable object is not crushed smoothly between the stationary teeth 31 and the moving teeth 32, and the load on the moving teeth 32 is increased due to the presence of foreign matter that cannot be crushed.
- the crushing movement of the moving tooth 32 and the swing jaw 33 is delayed, leading to an abnormal rotational load on the rotary shaft 40 that prevents the swing jaw 33 from moving properly. value increases.
- a force acting to compress the fluid pressure cylinder 36 acts through the swing jaw 33 and others, increasing the fluid pressure in the fluid pressure circuit.
- the fluid pressure control means 39a of the control unit 39 controls the transient increase of the load on the moving teeth 32 due to the fact that the crushable object has the property of being difficult to crush and is not crushed smoothly during crushing.
- the communicating fluid pressure circuit temporarily releases a portion of the working fluid to a space outside the flow path of the fluid pressure circuit. control is performed to allow the retraction direction operation of the fluid pressure cylinder 36 to temporarily reduce the distance between one end and the other end of the fluid pressure cylinder 36 .
- the reaction force from the object to be crushed against the movement of the moving tooth 32 and the swing jaw 33 returns to its original state, and the fluid pressure cylinder 36 is activated.
- the fluid pressure control means 39a moves part of the released working fluid to the flow path of the fluid pressure circuit.
- the gap between one end and the other end of the fluid pressure cylinder 36 is returned to its original state.
- the gap between the stationary tooth 31 and the moving tooth 32 also returns to the initial set state.
- the fluid pressure control means 39a controls the working fluid to temporarily reduce the distance between one end and the other end of the fluid pressure cylinder 36 in response to the transient increase in the load on the moving tooth 32, By suppressing the load, the electric current value of the electric motor 37 detected by the electric motor control means 39b does not reach a condition corresponding to overload, and the electric motor 37 does not stop.
- the electric motor control means 39b of the control unit 39 at the initial stage While the electric current value of the electric motor 37 detected in 1 does not satisfy the condition corresponding to the situation in which the moving teeth are overloaded, the electric motor control means 39b keeps the electric motor 37 driven.
- the electric motor control means 39b recognizes that the detected electric current value of the electric motor 37 has reached the condition corresponding to the overload, the driving of the electric motor 37 is stopped. At this time, the feeder is also stopped so that the object to be crushed is not supplied to the crushing device 300 .
- the fluid pressure control mechanism 39c of the control unit 39 operates the fluid pressure motor 38, rotates the rotation shaft 40 forward and backward by the fluid pressure motor 38, moves the swing jaw 33, and is repeatedly changed (see FIG. 14). In this way, foreign matter remaining between the stationary teeth 31 and the moving teeth 32 and causing an overload state is easily discharged from between the stationary teeth 31 and the moving teeth 32 .
- the fluid pressure motor 38 When the foreign matter is ejected from between the stationary tooth 31 and the moving tooth 32 by forward and reverse rotation of the fluid pressure motor 38, the fluid pressure motor 38 is operated in the same manner as when the crushing operation is started, and then the electric motor 37 is operated. is operated to restart the supply of the crushed object by the feeder and return to the crushing work state.
- the fluid pressure control mechanism 39c of the control unit 39 controls the fluid pressure in each flow path connected to the fluid pressure cylinder 36 in the fluid pressure circuit to operate the fluid pressure cylinder 36 in the contraction direction to reduce the distance between one end and the other end of the fluid pressure cylinder 36 .
- the distance between one end and the other end of the fluid pressure cylinder 36 is made smaller than in the case of a transient increase in load caused by the crushable object not being crushed smoothly.
- the distance between one end and the other end of the fluid pressure cylinder 36 is reduced, and the toggle block 35 and the swing jaw 33 linked therewith are moved away from the stationary tooth 31 , thereby reducing the distance between the stationary tooth 31 and the moving tooth 32 are widened to make it easier to discharge foreign substances from between the stationary teeth 31 and the moving teeth 32 (see FIG. 15).
- the fluid pressure motor 38 is stopped in advance to stop the movement of the swing jaw 33 and the moving tooth 32. , the foreign matter may be taken out from the upper side of the space between the stationary teeth 31 and the moving teeth 32 .
- the fluid pressure of the control unit 39 is adjusted so that the distance becomes the original distance.
- the control mechanism 39c controls the fluid pressure of each flow path connected to the fluid pressure cylinder 36 in the fluid pressure circuit, operates the fluid pressure cylinder 36 in the extension direction, and crushes the gap between the stationary tooth 31 and the moving tooth 32. Restore the working settings. Then, similarly to the start of the crushing operation, the fluid pressure motor 38 drives the rotating shaft 40, and when the rotating shaft 40 reaches an appropriate number of revolutions, the electric motor 37 rotates the rotating shaft 40.
- the current value of the electric motor 37 during crushing is detected by the electric motor control means 39b of the control unit 39.
- the fluid pressure control means 39a of the control unit 39 temporarily reduces the distance between one end and the other end of the fluid pressure cylinder 36 to suppress the load and I'm trying not to stop 37.
- the current value of the motor 37 detected by the motor control means 39b satisfies the condition corresponding to the overload, and the motor is controlled.
- the means 39b will stop the electric motor 37.
- the control unit 39 stops the driving of the electric motor 37 and newly operates the fluid pressure motor 38.
- the fluid pressure motor 38 rotates the rotating shaft 40 forward and backward to move the swing jaw 33 and repeatedly change the interval between the stationary tooth 31 and the moving tooth 32.
- the present invention is not limited to this. Even if the swing jaw 33 and the moving tooth 32 are driven by the motor 38, it is expected that the foreign matter is extremely difficult to be ejected from between the stationary tooth 31 and the moving tooth 32 from the beginning of recognition of overload.
- the control unit 39 does not operate the fluid pressure motor 38, and at the same time or immediately after stopping the driving of the electric motor 37, the fluid pressure control mechanism 39c connects to the fluid pressure cylinder 36 in the fluid pressure circuit.
- the distance between one end and the other end of the fluid pressure cylinder 36 is reduced, and the swing jaw 33 is moved away from the stationary tooth 31 to reduce the distance between the stationary tooth 31 and the moving tooth 32 . may be widened to make it easier to discharge foreign matter from between the stationary teeth 31 and the moving teeth 32 .
- the motor control means 39b detects that the current value of the motor 37 satisfies the condition corresponding to overload, and the fluid pressure control mechanism 39c of the control unit 39 separates the drive of the motor 37 from being stopped.
- the fluid pressure in the fluid pressure circuit leading to the fluid pressure cylinder 36 increases to a predetermined upper limit value due to an increase in the load, by performing control to release the fluid pressure to the low pressure side, one end and the other end of the fluid pressure cylinder 36 , and widening the interval between the stationary tooth 31 and the moving tooth 32 to promote the discharge of the foreign matter.
- a relief valve is provided in the fluid pressure circuit leading to the fluid pressure cylinder 36, and when the fluid pressure increases and exceeds a set pressure, the relief valve operates.
- a predetermined fluid control means is provided in the fluid pressure circuit, and when the fluid pressure reaches the upper limit, a control action is executed to release the fluid pressure to the low pressure side.
- the load on the moving teeth 32 during crushing is increased by the crushable objects or uncrushed foreign objects that have entered between the stationary teeth 31 and the moving teeth 32 .
- the swing jaw 33 is displaced by the fluid pressure cylinder 36 as an adjustment part to widen the distance between the stationary tooth 31 and the moving tooth 32 to suppress further increase in the load and to crush the object to be crushed or remove the foreign matter.
- the gap between the stationary tooth 31 and the moving tooth 32 is restored to the original state by the fluid pressure cylinder 36, and the crushing can be continued.
- the device In the case of an object, the device is not stopped due to an increase in load, and the moving tooth 32 is quickly returned to its original state by the movement of the fluid pressure cylinder 36, so that the crushed object obtained by crushing can be crushed to a desired size. It can be maintained without problems, and the crushing work can be performed efficiently and accurately.
- the fluid pressure cylinder 36 widens the space between the stationary teeth 31 and the moving teeth 32, and after the foreign matter is discharged, the fluid pressure cylinder 36 moves the stationary teeth.
- the gap between 31 and moving tooth 32 can be quickly returned to the original state, interruption of crushing can be minimized, loss can be suppressed, and large uncrushed objects to be crushed can be prevented from flowing out.
- the electric current value of the electric motor 37 detected by the electric motor control means 39b of the control unit 39 will overload the moving teeth 32. While the condition corresponding to the situation is not satisfied, the motor control means 39b keeps driving the electric motor 37 until the current value satisfies the condition corresponding to the overload and the driving of the electric motor 37 is stopped.
- the controller 39 is configured not to perform any particular control other than the control on the fluid pressure circuit side, it is not limited to this.
- a current value flowing through the motor which is smaller than the current value when the condition corresponding to the overload situation is satisfied, is set in advance as a second threshold, and the current of the motor detected by the motor control means. If the value exceeds the second threshold, the motor may continue to be driven while the feeder that supplies the crushing object to the crushing device is stopped.
- the feeder first feeds the crushing device. supply of crushed objects is stopped.
- the current value of the motor detected by the motor control means exceeds the second threshold value
- the feeder first feeds the crushing device. supply of crushed objects is stopped.
- the current value of the electric motor falls below the second threshold based on the decrease in the load on the moving teeth
- the supply of the object to be crushed by the feeder is resumed.
- the driving of the motor is stopped.
- the feeder may be controlled to stop when the pressure applied to the fluid pressure cylinder exceeds a predetermined threshold value due to an increase in load due to an object to be crushed which is difficult to crush or foreign matter which cannot be crushed.
- the feeder can be stopped at a more appropriate timing based on the fact that the pressure in the fluid pressure circuit clearly rises as the load increases, and the feeder can appropriately respond to the conditions of the crushing equipment. and can safely continue crushing with the crusher.
- FIG. 16 is a system configuration diagram of the control system 1 when the crushing device 300 is used.
- the system configuration includes a jaw crusher 111 and an impact crusher 112 as specific examples of the crusher in the drive unit 11 .
- the drive unit 11 of the jaw crusher 111 and the impact crusher 112 as the crushing device 300 includes an electric motor 37 controlled by an inverter 12 as electric motor control means 39b, a hydraulic motor 38, a cylinder 36, and hydraulic control.
- a fluid pressure control mechanism portion 39c that controls the portion 39a is provided.
- the operation of the jaw crusher 111 and the impact crusher 112 in the control system 1 is controlled by the operation control unit 150.
- the operation of the electric motor 37 is performed by the inverter 12 based on the control signal from the PLC 15 as described above.
- Control is performed by operating the fluid pressure control mechanism portion 39c based on the control of the hydraulic control portion 15a.
- the crushing device 300 such as the jaw crusher 111 and the impact crusher 112 may be controlled by the operation control unit 150 (PLC 15 and/or the hydraulic control unit 15a) as a whole system.
- the configuration may be such that an electric motor control means 39b and a fluid pressure control mechanism 39c for controlling each device separately are provided.
- FIG. 17 is a diagram showing a control method using the control system according to this embodiment.
- crushed stones, concrete scraps, asphalt scraps, etc. are fed into the jaw crusher 111 from a feeder (not shown), and the materials, which have reached a certain size, pass through the metal detector 113 and enter the impact crusher 112. thrown in.
- the material crushed to the desired size by impact crusher 112 passes through screen 114 and is collected as a product. Material that does not meet the desired size and does not pass through the screen 114 is returned to the jaw crusher 111 or impact crusher 112 again, and the crushing operation is repeated.
- the jaw crusher 111 has adjusting means for adjusting the gap between the stationary teeth 31 and the moving teeth 32 according to the load as described above.
- the impact crusher 112 may also have means for adjusting the gap (set value) for passage of crushed material.
- the gap between the stationary tooth 31 and the moving tooth 32 is increased to discharge the foreign matter such as metal. can do. Since foreign matter such as discharged metal is detected by the metal detector 113 , the set value is controlled to the maximum value in the impact crusher 112 according to the reaction of the metal detector 113 . By doing so, foreign matter such as metal can pass through without colliding with the rotor, striker, repulsion plate, etc. of the impact crusher 112, and damage to internal parts can be prevented.
- each crusher is controlled to optimum values according to the load values of the return conveyor and each crusher. That is, for example, when the load on the jaw crusher 111 is small and the load on the impact crusher 112 is large, the rotation speed and set value of the jaw crusher 111 are adjusted to realize finer crushing, thereby making the impact crusher While suppressing the load on the impact crusher 112, since the load on the impact crusher 112 will be smaller than it is now, adjustments are made such as lowering the rotation speed and increasing the set value.
- control system 11 drive unit 11a IPM motor 12 inverter 13 converter 14 lithium ion battery 15 PLC 15a hydraulic control unit 16 DC bus 17 BMS 18 measurement unit 19 AC power supply 20 harmonic filter module 21 capacity input information 22 information acquisition unit 23 drive control unit 24 battery control unit 25 calculation unit 30 body frame 31 fixed tooth 32 moving tooth 33 swing jaw 34 toggle plate 35 toggle block 36 fluid Pressure cylinder 37 electric motor 38 fluid pressure motor 39 control section 39a fluid pressure control means 39b electric motor control means 39c fluid pressure control mechanism section 40 rotating shaft 41 eccentric shaft section 45 flywheel 50 tension rod 150 motion control section 300 crushing device
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Abstract
Description
本実施形態に係る制御システムについて、図1ないし図4を用いて説明する。本実施形態に係る制御システムは、建設機器の電源を制御するものであり、特にハイブリット型のクラッシャを含む建設機器の電源制御に関するものである。ハイブリッド型のクラッシャは、発電機や商用電源などの外部電源からの供給電力と、二次電池などのバッテリ電源からの供給電力を駆動エネルギーとするものであり、駆動部の負荷が大きい場合などに外部電源からの電力供給に加えてバッテリ電源からの電力供給で補給を行うものである。逆に駆動部の負荷が小さく外部電源に余裕がある場合には、余剰電力をバッテリ電源に蓄電しておくことでエネルギーを有効活用する。
本実施形態に係る制御システムについて、図5ないし図8を用いて説明する。本実施形態に係る制御システムは、前記第1の実施形態の場合と同様に、ハイブリット型のクラッシャによる破砕作業等を行う場合の駆動制御システムについて説明するが、ここでは、建設機器の駆動部をIPMモータで高性能に動作させつつ、当該IPMモータを制御するためのインバータを保護する制御システムについて説明する。なお、本実施形態において前記第1の実施形態と重複する説明は省略する。
本実施形態に係る制御システムについて、図9ないし図17を用いて説明する。本実施形態においては、建設機器としてジョークラッシャを用いた場合の制御について説明する。なお、本実施形態において前記各実施形態と重複する説明は省略する。
11 駆動部
11a IPMモータ
12 インバータ
13 コンバータ
14 リチウムイオンバッテリ
15 PLC
15a 油圧制御部
16 直流母線
17 BMS
18 計測部
19 交流電源
20 高調波フィルタモジュール
21 容量入力情報
22 情報取得部
23 駆動制御部
24 バッテリ制御部
25 演算部
30 本体フレーム
31 不動歯
32 動歯
33 スイングジョー
34 トッグルプレート
35 トッグルブロック
36 流体圧シリンダ
37 電動機
38 流体圧モータ
39 制御部
39a 流体圧制御手段
39b 電動機制御手段
39c 流体圧制御機構部
40 回転軸
41 偏心軸部
45 フライホイール
50 テンションロッド
150 動作制御部
300 破砕装置
Claims (14)
- 建設機器を駆動する駆動部と、
当該駆動部に接続され、当該駆動部に供給される電力の変換を行うインバータと、
前記駆動部を駆動するための電力を交流電源から受け取って直流電力に変換するコンバータと、
前記駆動部の駆動状態に応じて前記コンバータで変換された直流電力を充電し、又は前記駆動部の駆動状態に応じて当該駆動部に電力供給する二次電池と、
前記二次電池の状態及び前記交流電源の出力容量に基づいて、前記コンバータの変換電圧を設定するPLCとを備えることを特徴とする制御システム。 - 請求項1に記載の制御システムにおいて、
前記二次電池がリチウムイオン電池であり、
前記PLCは、前記リチウムイオン電池が電圧変動しにくい範囲の電圧値に前記コンバータの変換電圧を設定する制御システム。 - 請求項1又は2に記載の制御システムにおいて、
前記PLCは、前記交流電源の出力容量に基づいて、前記コンバータの変換電圧の上限値を演算して設定する制御システム。 - 請求項3に記載の制御システムにおいて、
前記駆動部の消費電力が前記コンバータの変換電圧の上限値を超える場合に、前記二次電池から前記駆動部に電力が供給される制御システム。 - 請求項1又は2に記載の制御システムにおいて、
前記PLCが、前記駆動部が無負荷状態である場合に前記二次電池のモジュール間のバランス制御を行う制御システム。 - 請求項1又は2に記載の制御システムにおいて、
前記建設機器への急激な負荷変動に応じて当該建設機器の駆動部を駆動させるIPMモータを備え、
前記二次電池は、前記インバータに直流母線で接続し、前記駆動部に電力を供給するための給電領域と前記駆動部からの急激な負荷変動による回生エネルギーを吸収して前記インバータを保護する保護充電領域とを有することを特徴とする制御システム。 - 請求項6に記載の制御システムにおいて、
前記二次電池の前記給電領域と前記保護充電領域とを前記直流母線の電圧値で調整する電圧調整手段を備える制御システム。 - 請求項6に記載の制御システムにおいて、
前記インバータが前記IPMモータを制御するための周波数及び/又は電圧値の設定が上限値に調整されている制御システム。 - 請求項6に記載の制御システムにおいて、
前記IPMモータが駆動する駆動部がクラッシャーのフライホイールであり、当該フライホールの動作に合わせて駆動する破砕歯に掛かる負荷変動の回生エネルギーが前記二次電池に吸収される制御システム。 - 請求項1又は2に記載の制御システムにおいて、
前記建設機器が、本体フレームに固定される不動歯と、当該不動歯に対向して配置される動歯と、当該動歯を取り付けられて少なくとも揺動可能に本体フレームに配設されるスイングジョーとを備え、不動歯に対して動歯をスイングジョーと共に動かして、不動歯と動歯との間に入れた破砕対象物を破砕する、ジョークラッシャである破砕装置を含み、
当該破砕装置が、
前記スイングジョーの本体フレームに対する可動範囲の位置決めを行って、前記不動歯と動歯の間隔を調整可能とする調整部と、
破砕時における動歯に対する負荷の変動に対応して、少なくとも前記調整部を制御する制御部とを備え、
破砕可能な破砕対象物又は破砕不能な異物によって、動歯に対し負荷が増大すると、前記制御部が、少なくとも前記調整部で不動歯と動歯との間隔を広げるようにし、負荷の増大の原因となった破砕対象物の破砕後、又は、異物の不動歯と動歯間からの排出後、調整部を元の状態に復帰させることを特徴とする制御システム。 - 前記請求項10に記載の制御システムにおいて、
前記スイングジョー及び動歯を動かす電動機と、
当該電動機と別途にスイングジョーを動かせる流体圧モータとを備え、
前記制御部が、破砕不能な異物によって、動歯に対し負荷が増大すると、前記調整部で不動歯と動歯との間隔を広げるより前に、電動機による駆動を停止させると共に、流体圧モータを正逆回転駆動させて前記スイングジョーを動かし、不動歯と動歯との間隔を繰り返し変化させ、負荷上昇の原因となった異物が不動歯と動歯との間から排出されやすくすることを特徴とする制御システム。 - 前記請求項10に記載の制御システムにおいて、
前記調整部が、前記スイングジョーに対し前記不動歯のある側とは反対側となる所定箇所に配設される流体圧シリンダとされ、当該流体圧シリンダの一端と他端との間隔を変えて前記スイングジョーを位置決めし、前記不動歯と動歯の間隔を調整可能とされ、
前記制御部が、動歯に対し負荷が増大すると、前記調整部としての流体圧シリンダの一端と他端との間隔を縮小させて前記スイングジョーを動かし、不動歯と動歯との間隔を広げるようにし、負荷の増大の原因となった破砕対象物の破砕後、又は、異物の不動歯と動歯間からの排出後、流体圧シリンダを元の状態に復帰させることを特徴とする制御システム。 - 前記請求項12に記載の制御システムにおいて、
前記制御部が、
動歯に対し負荷が増大して、スイングジョーを通じて前記流体圧シリンダの一端と他端との間隔を縮小しようとする力が強まり、流体圧シリンダに通じる流体圧回路の流体圧が高くなると、流体圧シリンダの一端と他端との間隔の一時的な縮小を伴いつつ流体を制御して、動歯に対する負荷を抑制可能とする流体圧制御手段と、
前記電動機に流れる電流を検出し、検出した電流値が、不動歯と動歯との間に破砕不能な異物が入って動歯に対し過負荷となる状況に対応した、あらかじめ設定された所定の条件を満たす場合には、電動機の駆動を停止させる一方、検出した電流値が前記条件を満たさない場合には、電動機の駆動を継続させる電動機制御手段とを備え、
前記流体圧制御手段が、破砕可能な破砕対象物によって動歯に対し過渡的に負荷が増大すると、前記電動機制御手段で検出される電動機の電流値が前記条件を満たす状態に到らない程度に、流体圧シリンダに通じる流体圧回路の流体を制御して流体圧シリンダの一端と他端との間隔を一時的に縮小させることを特徴とする制御システム。 - 前記請求項10に記載の制御システムにおいて、
前記制御部の電動機制御手段が、動歯に対する負荷の上昇が生じた状態における電動機に流れる電流値であって、過負荷の状況に対応した前記条件を満たす場合の電流値より小さい所定の電流値を、第二の閾値としてあらかじめ設定し、
前記電動機制御手段が、電動機に流れる電流を検出し、検出した電流値が前記条件を満たさない場合で、且つ前記第二の閾値を超える場合には、電動機の駆動を継続させつつ、破砕装置に破砕対象物を供給するフィーダを停止させることを特徴とする制御システム。
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