CN104020791A - Reclaiming flow stability control device and method of coal stockyard - Google Patents
Reclaiming flow stability control device and method of coal stockyard Download PDFInfo
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- CN104020791A CN104020791A CN201410165297.7A CN201410165297A CN104020791A CN 104020791 A CN104020791 A CN 104020791A CN 201410165297 A CN201410165297 A CN 201410165297A CN 104020791 A CN104020791 A CN 104020791A
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Abstract
The invention discloses a reclaiming flow stability control device and method of a coal stockyard. The method comprises that a reference reclaiming flow of a bucket wheel is received, and according to the correspondence between a current value of a bucket wheel motor and a reclaiming flow of the bucket wheel, a current value, corresponding to the reference flow, of the bucket wheel motor is determined; a present current value of the bucket wheel motor and a present rotation speed of a cantilever are collected; under the condition that the collected present current value of the bucket wheel motor is different from the current value, corresponding to the reference flow, of the bucket wheel motor, an adjusted rotation speed of cantilever is calculated according to the present current value of the bucket wheel motor, the current value, corresponding to the reference flow, of the bucket wheel motor, and the present rotation speed of the cantilever; and according to the adjusted rotation speed of cantilever, rotation of the cantilever is controlled. According to the control method and device, the current of the bucket wheel motor is used as a negative feedback signal to automatically adjust the rotation speed of the cantilever during reclaiming and thus to control the reclaiming flow.
Description
Technical field
The present invention relates to stacker-reclaimer control technology field, particularly, relate to a kind of Coal Yard feeding stability of flow control device and control method.
Background technology
In Coal Yard reclaimer, on large mechanism of car, be equipped with slew gear, on slew gear, be equipped with cantilever, one end of cantilever is equipped with bucket wheel, on bucket wheel, there is bucket tooth, slew gear can be take axis as the center of circle, constantly carries out back and forth reciprocal rotation, and large mechanism of car can make stacker-reclaimer advance or retreat along orbital direction.During reclaimer feeding, bucket wheel rotates all the time with the rotation of slew gear, and bucket wheel self is also in continuous rotation, and each bucket tooth takes material successively in stockpile, and along with the rotation of bucket wheel, material is put on the belt of cantilever.When carrying out material extracting operation, staff need estimate coal stockpile and operate in pilothouse, can only by naked eyes, watch the instantaneous delivery of belt conveyer scale, by the speed of gyration of manual control cantilever, adjusts feeding flow.Place one's entire reliance upon operating personnel's proficiency of this kind of method, cannot guarantee the precision of feeding flow particularly, in long-time continuous operation process, to be difficult to guarantee the stationarity of the material of getting.
Summary of the invention
The object of this invention is to provide a kind of method, the method can be stablized control Coal Yard feeding flow.
To achieve these goals, the invention provides a kind of Coal Yard feeding stability of flow control method, comprise: receive the standard flow of bucket wheel feeding, according to the corresponding relation of the current value of motor of bucket-wheel and bucket wheel feeding flow, determine the current value of the motor of bucket-wheel corresponding with standard flow; Gather the current current value of motor of bucket-wheel and the current speed of gyration of cantilever, the current current value of the motor of bucket-wheel that contrast gathers and the current value described and motor of bucket-wheel that this standard flow is corresponding; In the situation that the current current value of gathered motor of bucket-wheel is different from the current value described and motor of bucket-wheel that standard flow is corresponding, according to the current current value of described motor of bucket-wheel, the current value of motor of bucket-wheel and the current speed of gyration of cantilever corresponding with standard flow, calculate the suspending arm rotary speed after adjusting; According to the suspending arm rotary speed after described adjusting, control cantilever and turn round, thereby regulate feeding flow, make it level off to standard flow.
Preferably, the relational expression of the corresponding relation of the current value of described motor of bucket-wheel and bucket wheel feeding flow is: Q=K
1* I, wherein, Q is bucket wheel feeding flow, K
1for scale-up factor, the current value that I is motor of bucket-wheel.
Preferably, described Proportional coefficient K
1because different categories of coal is got different values.
Preferably, according to the current speed of gyration of the current value of the current current value of described motor of bucket-wheel, the motor of bucket-wheel corresponding with standard flow and cantilever, calculate the computing formula of the suspending arm rotary speed after regulating as follows: V
k=V
k-1+ K
2* (I
k-I
k-1)+I
k/ T
i, wherein, V
kfor the suspending arm rotary speed after regulating, V
k-1for the current speed of gyration of cantilever, K
2for scale-up factor, I
kfor the current value of the described motor of bucket-wheel corresponding with standard flow, I
k-1for the current current value of motor of bucket-wheel, T
ifor integral time.
Preferably, described Proportional coefficient K
2with T integral time
ibecause different categories of coal is got different values.
The present invention also provides a kind of Coal Yard feeding stability of flow control device, and this device comprises: acquisition module, for the speed of gyration of current value and the cantilever of Real-time Collection motor of bucket-wheel, and is sent to control module by the result of collection, receiver module, for receiving the standard flow of bucket wheel feeding and being sent to control module, control module, be connected with described acquisition module, receive the current current value of motor of bucket-wheel and the current speed of gyration of cantilever that described acquisition module collects, be connected with described receiver module, receive the standard flow of the bucket wheel feeding of described receiver module transmission, according to the corresponding relation of the current value of motor of bucket-wheel and bucket wheel feeding flow, determine the current value of the motor of bucket-wheel corresponding with standard flow, according to the current current value of described motor of bucket-wheel, the current value of the motor of bucket-wheel corresponding with standard flow, and the current speed of gyration of cantilever, calculate the suspending arm rotary speed after adjusting, according to the suspending arm rotary speed after regulating, controlling cantilever turns round, thereby regulate feeding flow, make it level off to standard flow.
Preferably, the relational expression of the corresponding relation of the current value of described motor of bucket-wheel and bucket wheel feeding flow is: Q=K
1* I, wherein, Q is bucket wheel feeding flow, K
1for scale-up factor, the current value that I is motor of bucket-wheel.
Preferably, described Proportional coefficient K
1because different categories of coal is got different values.
Preferably, according to the current speed of gyration of the current value of the current current value of described motor of bucket-wheel, the motor of bucket-wheel corresponding with standard flow and cantilever, calculate the computing formula of the suspending arm rotary speed after regulating as follows: V
k=V
k-1+ K
2* (I
k-I
k-1)+I
k/ T
i, wherein, V
kfor the suspending arm rotary speed after regulating, V
k-1for the current speed of gyration of cantilever, K
2for scale-up factor, I
kfor the current value of the described motor of bucket-wheel corresponding with standard flow, I
k-1for the current current value of motor of bucket-wheel, T
ifor integral time.
Preferably, described Proportional coefficient K
2with T integral time
ibecause different categories of coal is got different values.
Pass through technique scheme, receive the standard flow of bucket wheel feeding, the current current value of motor of bucket-wheel and the current speed of gyration of cantilever that gather reclaimer, calculate the suspending arm rotary speed after adjusting, controls suspending arm rotary carry out feeding with the suspending arm rotary speed after regulating.The present invention is usingd the electric current of motor of bucket-wheel as negative-feedback signal, and the suspending arm rotary speed while automatically regulating feeding is to reach the object of controlling feeding flow.
Other features and advantages of the present invention partly in detail are described the embodiment subsequently.
Accompanying drawing explanation
Accompanying drawing is to be used to provide a further understanding of the present invention, and forms a part for instructions, is used from explanation the present invention, but is not construed as limiting the invention with embodiment one below.In the accompanying drawings:
Fig. 1 is a kind of structural representation of Coal Yard feeding stability of flow control device;
Fig. 2 is a kind of process flow diagram of Coal Yard feeding stability of flow control method.
Description of reference numerals
10 acquisition module 20 receiver module 30 control modules
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is elaborated.Should be understood that, embodiment described herein only, for description and interpretation the present invention, is not limited to the present invention.
Reclaimer is when carrying out material extracting operation, and bucket wheel is to carry out feeding with constant speed rotation, and the speed of gyration of cantilever is adjustable, its speed of gyration is faster, bucket wheel feeding amount is higher, and feeding amount is higher, and the electric current of the motor of bucket-wheel of driving bucket wheel self rotation is just larger.Therefore, using motor of bucket-wheel current value as negative-feedback signal, suitably control suspending arm rotary speed, can control the electric current of motor of bucket-wheel, also just control feeding flow.
To achieve these goals, as shown in Figure 1, the invention provides a kind of Coal Yard feeding stability of flow control device, this device comprises: acquisition module 10, be arranged on the associated components of the motor of bucket-wheel of stacker-reclaimer, for the current value of Real-time Collection motor of bucket-wheel and the speed of gyration of cantilever, and the result of collection is sent to control module 30; As an embodiment, described acquisition module 10 comprises and is positioned at that bucket wheel drives current transformer on frequency converter output cable and for gathering the speed pickup of suspending arm rotary speed.Receiver module 20, is mainly used in receiving the standard flow of the bucket wheel feeding that staff inputs when automatic material taking operation starts, and this standard flow is sent to control module 30.Control module 30, be connected with described acquisition module 10, receive the current current value of motor of bucket-wheel and the current speed of gyration of cantilever that described acquisition module 10 collects, be connected with described receiver module 20, receive the standard flow of the bucket wheel feeding of described receiver module 20 transmissions, according to the corresponding relation of the current value of motor of bucket-wheel and bucket wheel feeding flow, determine the current value of the motor of bucket-wheel corresponding with standard flow, according to the current current value of described motor of bucket-wheel, the current value of the motor of bucket-wheel corresponding with standard flow, and the current speed of gyration of cantilever, calculate the suspending arm rotary speed after adjusting, according to the suspending arm rotary speed after regulating, controlling cantilever turns round, thereby regulate feeding flow, make it level off to standard flow.As an embodiment, in control module 30 of the present invention, there are the current value of motor of bucket-wheel and the corresponding relation database of bucket wheel feeding flow, the corresponding relation database of the current value of motor of bucket-wheel and suspending arm rotary speed and the database of categories of coal.The present invention is usingd the electric current of motor of bucket-wheel as negative-feedback signal, and the suspending arm rotary speed while automatically regulating feeding is to reach the object of controlling feeding flow.
Stacker-reclaimer bucket wheel when feeding is rotated with constant speed, to adjust suspending arm rotary speed, regulate feeding flow, in actual reclaiming process, gather the current value of motor of bucket-wheel and the belt conveyer scale flow of cantilever, both correspondences can obtain the corresponding relation of current value and belt conveyer scale flow, current value is larger, and feeding flow is higher.The relational expression that can obtain the current value of motor of bucket-wheel and the corresponding relation of bucket wheel feeding flow is: Q=K
1* I, wherein, Q is bucket wheel feeding flow, K
1for scale-up factor, the current value that I is motor of bucket-wheel.Described Proportional coefficient K
1because different categories of coal is got different values.By this relational expression, can obtain according to the standard flow of the bucket wheel feeding of staff's input the current value of the motor of bucket-wheel corresponding with standard flow.
In material extracting operation, when bucket wheel carries out after feeding with constant speed rotation, if suspending arm rotary speed is faster, feeding flow is higher, and motor of bucket-wheel electric current is larger.So using motor of bucket-wheel current value as negative-feedback signal, suitably control suspending arm rotary speed, can control motor of bucket-wheel electric current, also can play the object of controlling feeding flow.Therefore, proportion of utilization integral PI regulates control principle, can obtain following relational expression: V
k=V
k-1+ K
2* (I
k-I
k-1)+I
k/ T
i, wherein, V
kfor the suspending arm rotary speed after regulating, V
k-1for the current speed of gyration of cantilever, K
2for scale-up factor, I
kfor the current value of the described motor of bucket-wheel corresponding with standard flow, I
k-1for the current current value of motor of bucket-wheel, T
ifor integral time.Described relational expression is stored in control module 30, simultaneously, acquisition module 10 also can Real-time Collection cantilever speed of gyration, control module 30 is calculated the suspending arm rotary speed after regulating according to the current current value of motor of bucket-wheel, the current value of motor of bucket-wheel and the current speed of gyration of cantilever corresponding with standard flow.Suspending arm rotary speed after adjusting is sent into turning motor frequency converter by bus communication mode, controls suspending arm rotary.Bucket wheel Current Control when suspending arm rotary speed can be by feeding, and bucket wheel electric current can accurately, promptly reflect feeding flow, so can effectively form a closed-loop control process.
As shown in Figure 2, the present invention also provides a kind of Coal Yard feeding stability of flow control method, comprise: receive the standard flow of bucket wheel feeding, according to the corresponding relation of the current value of motor of bucket-wheel and bucket wheel feeding flow, determine the current value of the motor of bucket-wheel corresponding with standard flow; Gather the current current value of motor of bucket-wheel and the current speed of gyration of cantilever, the current current value of the motor of bucket-wheel that contrast gathers and the current value described and motor of bucket-wheel that this standard flow is corresponding; In the situation that the current current value of gathered motor of bucket-wheel is different from the current value described and motor of bucket-wheel that standard flow is corresponding, according to the current current value of described motor of bucket-wheel, the current value of motor of bucket-wheel and the current speed of gyration of cantilever corresponding with standard flow, calculate the suspending arm rotary speed after adjusting; According to the suspending arm rotary speed after described adjusting, control cantilever and turn round, thereby regulate feeding flow, make it level off to standard flow.
In the actual production operation in goods stock ground, various coal goods are because of kind difference, and density is different, and bulk density is also different.If adopt single control model, will cause the defect that control accuracy is not high, even cause process out of control.So need to set up one according to the database of categories of coal, when producing different coal, according to selected categories of coal, control program can call different control parameters, can better meet control accuracy requirement like this.This database has comprised different categories of coal, corresponding Proportional coefficient K
1, K
2, T
ietc. data, can obtain according to on-the-spot repetition test.
Below describe by reference to the accompanying drawings the preferred embodiment of the present invention in detail; but; the present invention is not limited to the detail in above-mentioned embodiment; within the scope of technical conceive of the present invention; can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
It should be noted that in addition each the concrete technical characterictic described in above-mentioned embodiment, in reconcilable situation, can combine by any suitable mode.
In addition, between various embodiment of the present invention, also can carry out combination in any, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (10)
1. a Coal Yard feeding stability of flow control method, is characterized in that, comprising:
Receive the standard flow of bucket wheel feeding, according to the corresponding relation of the current value of motor of bucket-wheel and bucket wheel feeding flow, determine the current value of the motor of bucket-wheel corresponding with standard flow;
Gather the current current value of motor of bucket-wheel and the current speed of gyration of cantilever, the current current value of the motor of bucket-wheel that contrast gathers and the current value described and motor of bucket-wheel that this standard flow is corresponding;
In the situation that the current current value of gathered motor of bucket-wheel is different from the current value described and motor of bucket-wheel that standard flow is corresponding, according to the current current value of described motor of bucket-wheel, the current value of motor of bucket-wheel and the current speed of gyration of cantilever corresponding with standard flow, calculate the suspending arm rotary speed after adjusting;
According to the suspending arm rotary speed after described adjusting, control cantilever and turn round, thereby regulate feeding flow, make it level off to standard flow.
2. Coal Yard feeding stability of flow control method according to claim 1, is characterized in that, the relational expression of the corresponding relation of the current value of described motor of bucket-wheel and bucket wheel feeding flow is:
Q＝K
1*I，
Wherein, Q is bucket wheel feeding flow, K
1for scale-up factor, the current value that I is motor of bucket-wheel.
3. Coal Yard feeding stability of flow control method according to claim 2, is characterized in that described Proportional coefficient K
1because different categories of coal is got different values.
4. Coal Yard feeding stability of flow control method according to claim 1, it is characterized in that, the computing formula of calculating the suspending arm rotary speed after regulating according to the current speed of gyration of the current value of the current current value of described motor of bucket-wheel, the motor of bucket-wheel corresponding with standard flow and cantilever is as follows:
V
k＝V
k-1+K
2*(I
k-I
k-1)+I
k/T
i，
Wherein, V
kfor the suspending arm rotary speed after regulating, V
k-1for the current speed of gyration of cantilever, K
2for scale-up factor, I
kfor the current value of the described motor of bucket-wheel corresponding with standard flow, I
k-1for the current current value of motor of bucket-wheel, T
ifor integral time.
5. Coal Yard feeding stability of flow control method according to claim 4, is characterized in that described Proportional coefficient K
2with T integral time
ibecause different categories of coal is got different values.
6. a Coal Yard feeding stability of flow control device, is characterized in that, this device comprises:
Acquisition module, for the speed of gyration of current value and the cantilever of Real-time Collection motor of bucket-wheel, and is sent to control module by the result of collection;
Receiver module, for receiving the standard flow of bucket wheel feeding and being sent to control module;
Control module, be connected with described acquisition module, receive the current current value of motor of bucket-wheel and the current speed of gyration of cantilever that described acquisition module collects, be connected with described receiver module, receive the standard flow of the bucket wheel feeding of described receiver module transmission, according to the corresponding relation of the current value of motor of bucket-wheel and bucket wheel feeding flow, determine the current value of the motor of bucket-wheel corresponding with standard flow, according to the current current value of described motor of bucket-wheel, the current value of the motor of bucket-wheel corresponding with standard flow, and the current speed of gyration of cantilever, calculate the suspending arm rotary speed after adjusting, according to the suspending arm rotary speed after regulating, controlling cantilever turns round, thereby regulate feeding flow, make it level off to standard flow.
7. Coal Yard feeding stability of flow control device according to claim 6, is characterized in that, the relational expression of the corresponding relation of the current value of described motor of bucket-wheel and bucket wheel feeding flow is:
Q＝K
1*I，
Wherein, Q is bucket wheel feeding flow, K
1for scale-up factor, the current value that I is motor of bucket-wheel.
8. Coal Yard feeding stability of flow control device according to claim 7, is characterized in that described Proportional coefficient K
1because different categories of coal is got different values.
9. Coal Yard feeding stability of flow control device according to claim 6, it is characterized in that, the computing formula of calculating the suspending arm rotary speed after regulating according to the current speed of gyration of the current value of the current current value of described motor of bucket-wheel, the motor of bucket-wheel corresponding with standard flow and cantilever is as follows:
V
k＝V
k-1+K
2*(I
k-I
k-1)+I
k/T
i，
Wherein, V
kfor the suspending arm rotary speed after regulating, V
k-1for the current speed of gyration of cantilever, K
2for scale-up factor, I
kfor the current value of the described motor of bucket-wheel corresponding with standard flow, I
k-1for the current current value of motor of bucket-wheel, T
ifor integral time.
10. Coal Yard feeding stability of flow control device according to claim 9, is characterized in that described Proportional coefficient K
2with T integral time
ibecause different categories of coal is got different values.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410165297.7A CN104020791A (en) | 2014-04-23 | 2014-04-23 | Reclaiming flow stability control device and method of coal stockyard |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410165297.7A CN104020791A (en) | 2014-04-23 | 2014-04-23 | Reclaiming flow stability control device and method of coal stockyard |
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| CN104020791A true CN104020791A (en) | 2014-09-03 |
Family
ID=51437598
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|---|---|---|---|
| CN201410165297.7A Pending CN104020791A (en) | 2014-04-23 | 2014-04-23 | Reclaiming flow stability control device and method of coal stockyard |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105404318A (en) * | 2015-12-31 | 2016-03-16 | 中国神华能源股份有限公司 | Reclaimer reclaiming flow control method and device |
| CN106364924A (en) * | 2016-11-23 | 2017-02-01 | 国电浙江北仑第发电有限公司 | Constant-flow automatic material taking control method based on bucket wheel current |
| CN107336972A (en) * | 2017-05-31 | 2017-11-10 | 泸州成邦机械工程有限公司 | Multidirectional adjustable uploading in rice steamer arm system |
| CN107422751A (en) * | 2017-05-23 | 2017-12-01 | 中国神华能源股份有限公司 | Automatic material taking flow control methods and device for bucket wheel reclaimer |
| CN107544565A (en) * | 2017-09-26 | 2018-01-05 | 泰富国际工程有限公司 | A kind of reclaimer feeding flow control methods and feeding flow control system |
| CN108203855A (en) * | 2016-08-18 | 2018-06-26 | 陈玉玲 | A kind of spinning frame broken yarn protects system |
| CN109917827A (en) * | 2019-03-14 | 2019-06-21 | 广州极飞科技有限公司 | It disturbs the rotation speed regulating method of part, device, broadcast sowing equipment and storage medium |
| CN112850191A (en) * | 2020-12-30 | 2021-05-28 | 华电重工股份有限公司 | Reclaimer, reclaiming flow control method and device of reclaimer and storage medium |
| CN113879860A (en) * | 2021-11-05 | 2022-01-04 | 北京华能新锐控制技术有限公司 | Constant-flow material taking method and device of bucket-wheel stacker reclaimer based on dynamics |
| CN114815754A (en) * | 2022-05-09 | 2022-07-29 | 京能（锡林郭勒）发电有限公司 | Automatic change stock ground management and control platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105404318A (en) * | 2015-12-31 | 2016-03-16 | 中国神华能源股份有限公司 | Reclaimer reclaiming flow control method and device |
| CN108203855A (en) * | 2016-08-18 | 2018-06-26 | 陈玉玲 | A kind of spinning frame broken yarn protects system |
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| CN107336972A (en) * | 2017-05-31 | 2017-11-10 | 泸州成邦机械工程有限公司 | Multidirectional adjustable uploading in rice steamer arm system |
| CN107544565A (en) * | 2017-09-26 | 2018-01-05 | 泰富国际工程有限公司 | A kind of reclaimer feeding flow control methods and feeding flow control system |
| CN109917827A (en) * | 2019-03-14 | 2019-06-21 | 广州极飞科技有限公司 | It disturbs the rotation speed regulating method of part, device, broadcast sowing equipment and storage medium |
| CN109917827B (en) * | 2019-03-14 | 2022-11-08 | 广州极飞科技股份有限公司 | Method and device for adjusting rotating speed of disturbance element, broadcast equipment and storage medium |
| CN112850191A (en) * | 2020-12-30 | 2021-05-28 | 华电重工股份有限公司 | Reclaimer, reclaiming flow control method and device of reclaimer and storage medium |
| CN112850191B (en) * | 2020-12-30 | 2022-08-23 | 华电重工股份有限公司 | Reclaimer, reclaiming flow control method and device of reclaimer and storage medium |
| CN113879860A (en) * | 2021-11-05 | 2022-01-04 | 北京华能新锐控制技术有限公司 | Constant-flow material taking method and device of bucket-wheel stacker reclaimer based on dynamics |
| CN113879860B (en) * | 2021-11-05 | 2023-09-08 | 北京华能新锐控制技术有限公司 | Constant-flow material taking method and device for bucket-wheel stacker reclaimer based on dynamics |
| CN114815754A (en) * | 2022-05-09 | 2022-07-29 | 京能（锡林郭勒）发电有限公司 | Automatic change stock ground management and control platform |
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Application publication date: 20140903 |