CN117289640A - Data driving control method and device for constant-current coal taking of gate bucket wheel machine - Google Patents

Abstract

The application discloses a data driving control method and a device for constant-current coal taking of a gate type bucket wheel machine, relates to the technical field of gate type bucket wheel machine control, utilizes a bucket wheel trolley coal taking flow model to construct a nonlinear relation model of coal taking flow and translation speed, converts the nonlinear relation model by using a differential median theorem to obtain a data driving model of the bucket wheel trolley coal taking flow, then designs a data driving controller of the bucket wheel trolley constant-current coal taking, calculates the bucket wheel trolley translation speed through the data driving controller, outputs the bucket wheel trolley translation speed to a motor executing mechanism, and the motor executing mechanism drives the bucket wheel trolley to translate according to the bucket wheel trolley translation speed, so that the bucket wheel trolley coal taking flow tracks the appointed constant coal flow, the problem of constant-current coal taking of the gate type bucket wheel machine is solved, the control precision of the bucket wheel trolley is improved, and the constant-current coal taking of the gate type bucket wheel machine is ensured.

Description

A data-driven control method and device for constant flow coal extraction by gantry bucket wheel machine

Technical field

The present application relates to the technical field of gantry bucket wheel machine control, and specifically relates to a data-driven control method and device for constant flow coal extraction of the gantry bucket wheel machine.

Background technique

Bucket wheel machines are the main equipment for stacking and reclaiming materials in coal-fired power plants and large steel plants. With the launch of large-unit thermal power plants and the continuous expansion of bulk material ports, the domestic demand for large bucket wheel machines continues to increase. In particular, the gantry bucket wheel machine has the advantages of large output and high recovery rate. It is an ideal equipment for efficient and continuous stacking of bulk materials and has been widely used in coal yards. At present, most coal extraction methods of gantry bucket wheel machines use the driver to manually operate the bucket wheel trolley and fix the translation speed of the bucket wheel trolley to extract coal. Due to the difference in driver's work experience and the approximate trapezoidal shape of the coal taken from the same layer, the coal loading process is unstable and the coal flow fluctuates greatly during the reciprocating movement of the bucket wheel trolley, and the coal flow fluctuates greatly. It is impossible to realize automatic constant flow coal taking, thus causing the unloading belt machine to Running empty or overloading will make the reclaimer belt machine inefficient and affect the coal loading efficiency. So far, there is no control method for constant flow coal extraction by gantry bucket wheel machine.

Contents of the invention

To this end, this application provides a data-driven control method and device for constant flow coal extraction by a portal bucket wheel machine to solve the problem of unstable coal loading and fluctuating coal flow rate during the reciprocating movement of the bucket wheel trolley in the existing technology. Large, causing the problem of being unable to realize automated constant flow coal extraction.

In order to achieve the above objectives, this application provides the following technical solutions:

In the first aspect, a data-driven control method for constant flow coal extraction by a gantry bucket wheel machine includes:

Step 1: Use the coal flow model of the bucket wheel trolley to construct a nonlinear relationship model between coal flow and translation speed;

Step 2: Apply the differential mean value theorem to convert the nonlinear relationship model to obtain a data-driven model of the coal flow rate of the bucket wheel trolley;

Step 3: Design a data-driven controller for constant-flow coal extraction by bucket-wheel trolleys based on the data-driven model;

Step 4: Calculate the translation speed of the bucket wheel trolley through the data-driven controller;

Step 5: Output the translation speed of the bucket wheel trolley to the motor actuator. The motor actuator drives the bucket wheel trolley to translate according to the translation speed of the bucket wheel trolley, so that the coal flow rate of the bucket wheel trolley tracks the specified constant coal flow rate.

Preferably, in step 1, the coal flow model of the bucket wheel trolley is:

in, Represents coal density,/> Indicates the coal seam height at a certain position in a trip,/> Indicates the translation speed of the bucket wheel trolley,/> Indicates the step length of each bucket wheel cart.

Preferably, in step 1, the nonlinear relationship model between the coal flow rate and the translation speed is:

in, Represents the coal flow rate of the bucket wheel trolley at time k,/> Represents the translation speed of the bucket wheel trolley at time k,/> is an unknown nonlinear function,/> and/> Represents a given positive integer.

Preferably, in step 2, the data-driven model of the coal flow rate of the bucket wheel trolley is:

in, Represents the translation speed error of the bucket wheel trolley at time k and time k-1,/> =/> ,/> Express/> estimated value,/> represents a variable;

in, and/> Represents an adjustable parameter.

Preferably, in step 3, the data-driven controller is:

in, Indicates adjustment parameters,/> Indicates adjustment parameters,/> Represents the constant flow rate of the specified coal, Indicates the location of the coal extraction point.

In the second aspect, a data-driven control device for a gantry bucket wheel machine to extract coal at a constant flow rate includes:

The nonlinear relationship model building module is used to construct a nonlinear relationship model between coal flow and translation speed using the coal flow model of the bucket wheel trolley;

A data-driven model building module is used to apply the differential mean value theorem to convert the nonlinear relationship model to obtain a data-driven model of the coal flow rate of the bucket wheel trolley;

A data-driven controller building module for designing a data-driven controller for constant flow coal extraction by bucket wheel trolleys based on the data-driven model;

A calculation module used to calculate the translation speed of the bucket wheel trolley through the data-driven controller;

The data output module is used to output the translation speed of the bucket wheel trolley to the motor actuator. The motor actuator drives the bucket wheel trolley to translate according to the translation speed of the bucket wheel trolley, so that the coal flow rate of the bucket wheel trolley tracks the designated constant coal flow rate. .

In a third aspect, a computer device includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, it implements a data-driven control method for a gantry bucket wheel machine to extract coal at a constant flow. step.

A fourth aspect is a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of a data-driven control method for constant flow coal extraction of a gantry bucket wheel machine are implemented.

Compared with the existing technology, this application has at least the following beneficial effects:

This application provides a data-driven control method and device for constant flow coal extraction of a gantry bucket wheel machine. By using the coal extraction flow model of the bucket wheel trolley, a nonlinear relationship model between the coal extraction flow and the translation speed is constructed, and the differential mean value theorem is applied to The nonlinear relationship model is converted to obtain a data-driven model of the bucket-wheel trolley's coal flow rate. Based on the data-driven model, a data-driven controller for the bucket-wheel trolley's constant flow coal flow is designed. The data-driven controller calculates the bucket-wheel trolley's translational speed and converts the bucket wheel trolley into The translation speed of the trolley is output to the motor actuator. The motor actuator drives the bucket wheel trolley to translate according to the translation speed of the bucket wheel trolley, so that the coal flow rate of the bucket wheel trolley tracks the specified constant coal flow rate, which solves the problem of constant flow coal extraction of the gantry bucket wheel machine. Moreover, the entire control method does not rely on the mathematical model of the gantry bucket wheel machine. It only uses the data information of the bucket wheel car's coal flow rate and translational speed, which improves the control accuracy of the bucket wheel car and ensures the constant flow of the gantry bucket wheel machine. coal.

Description of drawings

In order to more intuitively illustrate the prior art and the present application, exemplary drawings are given below. It should be understood that the specific shapes and structures shown in the drawings should generally not be regarded as limiting conditions when implementing the present application; for example, those skilled in the art will have the ability to implement the technical concepts and exemplary drawings disclosed in the present application. The addition/subtraction/attribution division, specific shape, positional relationship, connection method, size proportion relationship, etc. of certain units (components) are easy to make routine adjustments or further optimization.

Figure 1 is a flow chart of a data-driven control method for constant flow coal extraction by a gantry bucket wheel machine provided in Embodiment 1 of the present application;

Figure 2 is a working block diagram of a data-driven control method for constant flow coal extraction for a gantry bucket wheel machine provided in Embodiment 1 of the present application;

Figure 3 is a schematic diagram of the reciprocating motion of the gantry bucket wheel machine for coal extraction provided in Embodiment 1 of the present application;

Figure 4 is a schematic diagram of the communication interface circuit provided in Embodiment 1 of the present application.

Detailed ways

The present application will be further described in detail through specific embodiments in conjunction with the accompanying drawings.

In the description of this application: unless otherwise stated, "plurality" means two or more. The terms "first", "second", "third", etc. in this application are intended to distinguish the objects they refer to, but do not have any special meaning in terms of technical connotation (for example, they should not be understood as indicating the degree of importance or order, etc. emphasis). Expressions such as "including", "including" and "having" also mean "not limited to" (certain units, components, materials, steps, etc.).

Terms such as "upper", "lower", "left", "right", "middle", etc. cited in this application are usually indications of general relative positional relationships for the purpose of facilitating intuitive understanding with reference to the drawings. It is not an absolute limitation on the positional relationship in the actual product.

Embodiment 1

Referring to Figures 1 and 2, this embodiment provides a data-driven control method for constant flow coal extraction by a portal bucket wheel machine, including:

S1: Use the coal flow model of the bucket wheel trolley to construct a nonlinear relationship model between coal flow and translation speed;

Specifically, the coal flow model of the bucket wheel car is:

(1)

in, Represents coal density,/> Indicates the coal seam height at a certain position in a trip,/> Indicates the translation speed of the bucket wheel trolley,/> Indicates the step length of each bucket wheel cart.

From equation (1), it can be seen that the coal flow rate is related to the translational speed of the bucket wheel trolley, so the nonlinear relationship model between the coal flow rate and the translation speed of the bucket wheel trolley is established as follows:

(2)

in, Represents the coal flow rate of the bucket wheel trolley at time k,/> Represents the translation speed of the bucket wheel trolley at time k,/> is an unknown nonlinear function,/> and/> Represents a given positive integer.

S2: Apply the differential mean value theorem to transform the nonlinear relationship model to obtain a data-driven model of the coal flow rate of the bucket wheel trolley;

Specifically, let the change in coal flow rate , according to formula (2), we can get:

(3)

According to the differential mean value theorem, equation (3) is written in the following form:

(4)

In formula (4),

(5)

(6)

in, Represents the translation speed error of the bucket wheel trolley at time k and time k-1,/> Express/> About/> The partial derivative value of ,/> Expression (3) is the remaining term after utilizing the differential mean value theorem.

For each fixed coal extraction time k, there is an expression , Equation (6) can be written into the following equation form:

(7)

Since the translation speed of the bucket wheel trolley is different at each moment, we can get , so there is at least one solution/> Let equation (7) be established, then combining equation (4) and equation (7) we can get:

(8)

Let the variable , further obtained from formula (8):

(9)

In order to obtain a data-driven model of coal flow, the variables in equation (9) need to be Make an estimate. make Express/> The estimated value of , define the estimation error/> . The design has a recursive form/> The estimated expression is as follows:

(10)

in, and/> is an adjustable parameter,/> The reset algorithm is as follows:

,

if or/> or/> (11)

in, and/> Represents a given constant.

In equation (10), subtract both sides of the equation at the same time Available:

(12)

Substituting equation (9) into equation (12) we can get:

(13)

In order to ensure a constant flow of coal from the bucket wheel trolley, it is necessary to observe the actual coal flow of the bucket wheel trolley at any time. Therefore, the sampling time of the gantry bucket wheel machine system is usually set to a short time. From this, it can be seen that the variables composed of the system input and output sampling data are used is slow time-varying, so it can be approximated/> , so it can be obtained from equation (13):

(14)

From formula (14), we can further obtain:

(15)

by adjustable parameters and/> It can be seen from the adjustment range that there is a constant/> Let the following inequality hold:

(16)

According to equation (15) and equation (16), the following inequality is obtained:

(17)

because Initial estimation error/> is bounded, so as the number of times the bucket wheel car takes out coal increases,/> Gradually converges to zero, from which we can get/> , thus obtaining the variables in equation (9)/> from equation (10) estimated value/> , so the data-driven model of the coal flow rate of the bucket wheel trolley was established as follows:

(18)

S3: Design a data-driven controller for constant flow coal extraction by bucket wheel trolley based on the data-driven model;

Specifically, please refer to Figure 3. During one stroke of the bucket wheel trolley taking coal, the step length L of the bucket wheel trolley remains unchanged. Since the coal pile is usually tapered, the shape of the coal taken from a certain layer is approximately trapezoidal. h changes with the position of the bucket wheel trolley when taking coal. On both sides, h is smaller and larger in the middle, resulting in coal flow. It is smaller on both sides and larger in the middle, resulting in uneven coal flow. Therefore, it is necessary to control the translation speed of the bucket wheel car to achieve a constant flow of coal. So the design translation speed The performance index function is as follows:

(19)

in, Indicates the constant flow rate of the specified coal,/> To adjust parameters,/> Indicates the location of the coal extraction point. For equation (19) about/> Minimization calculation can be obtained:

(20)

According to equation (20), the design has parameters The translation speed of the bucket wheel trolley/> The data driven controller is as follows:

(twenty one)

in, Indicates adjustment parameters.

S4: Calculate the translation speed of the bucket wheel trolley through the data-driven controller;

Specifically, the data-driven controller can track the specified constant coal flow rate and make the coal flow tracking error tend to zero, thereby realizing the constant flow coal flow rate of the gantry bucket wheel machine.

Define the coal flow rate of the bucket wheel trolley at time k+1 with specified constant coal flow/> The tracking error is:

(twenty two)

Substituting the data-driven model (18) into equation (22), the following expression can be obtained:

(twenty three)

because , and according to the parameters/> and/> The adjustment range can be obtained:

(twenty four)

Furthermore, there are constants ,get:

(25)

Combining Equation (23) and Equation (25), it can be obtained that the coal flow tracking error satisfies:

(26)

It can be seen from equation (26) that as the number of times the bucket wheel car takes out coal increases, the coal flow tracking error is established, that is/> . In this way, under the action of the data-driven controller (21), a constant flow of coal is achieved by controlling the translation speed of the bucket wheel car.

S5: Output the translation speed of the bucket wheel trolley to the motor actuator. The motor actuator drives the bucket wheel trolley to translate according to the translation speed of the bucket wheel trolley, so that the coal flow rate of the bucket wheel trolley tracks the specified constant coal flow rate.

Specifically, please refer to Figure 4. The STM32H7 series microcontroller is used as the main controller, and the constant coal flow rate specified by the bucket wheel trolley is And the actual coal flow/> Error, the main controller calculates the translation speed of the bucket wheel trolley according to the predetermined control algorithm, and provides it to the motor actuator through the communication interface. The motor actuator drives the bucket wheel trolley to translate, thereby realizing the constant flow coal extraction of the gantry bucket wheel machine. .

This embodiment provides a data-driven control method for the constant flow coal extraction of the gantry bucket wheel machine, which solves the problem of constant flow coal extraction of the gantry bucket wheel machine, and is realized from a new perspective of controlling the translation speed of the bucket wheel trolley and considering the position of the coal extraction point. The entire control scheme does not rely on the mathematical model of the gantry bucket wheel machine. It only uses the data information of the coal flow rate and translational speed of the bucket wheel car, which improves the control accuracy of the bucket wheel car and ensures the safety of the gantry bucket wheel machine. The turbine's constant flow of coal is of great significance to meet the refined management of coal yards and improve the efficiency of coal yard operations.

Embodiment 2

This embodiment provides a data-driven control device for constant flow coal extraction by a gantry bucket wheel machine, including:

The nonlinear relationship model building module is used to construct a nonlinear relationship model between coal flow and translation speed using the coal flow model of the bucket wheel trolley;

A data-driven model building module is used to apply the differential mean value theorem to convert the nonlinear relationship model to obtain a data-driven model of the coal flow rate of the bucket wheel trolley;

A data-driven controller building module for designing a data-driven controller for constant flow coal extraction by bucket wheel trolleys based on the data-driven model;

A calculation module used to calculate the translation speed of the bucket wheel trolley through the data-driven controller;

The data output module is used to output the translation speed of the bucket wheel trolley to the motor actuator. The motor actuator drives the bucket wheel trolley to translate according to the translation speed of the bucket wheel trolley, so that the coal flow rate of the bucket wheel trolley tracks the specified constant coal flow rate. .

Regarding the specific implementation content of each module in a data-driven control device for a gantry bucket wheel machine with a constant flow of coal, please refer to the above limitations on a data-driven control method for a gantry bucket wheel with a constant flow of coal, which will not be discussed here. Repeat.

Embodiment 3

This embodiment provides a computer device, including a memory and a processor. The memory stores a computer program. When the processor executes the computer program, it implements a data-driven control method for a gantry bucket wheel machine to extract coal at a constant flow. A step of.

Embodiment 4

This embodiment provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of a data-driven control method for a gantry bucket wheel machine to extract coal at a constant flow are implemented.

The technical features of the above embodiments can be combined in any way (as long as there is no contradiction in the combination of these technical features). To make the description concise, all possible combinations of the technical features in the above embodiments are not described; these are not explicitly stated. The written examples should also be considered to be within the scope described in this specification.

Claims (8)

1. The data driving control method for constant-current coal taking of the gate bucket wheel machine is characterized by comprising the following steps of:

step 1: constructing a nonlinear relation model of coal taking flow and translation speed by utilizing a bucket wheel trolley coal taking flow model;

step 2: converting the nonlinear relation model by applying a differential median theorem to obtain a data driving model of the coal taking flow of the bucket wheel trolley;

step 3: designing a constant-current coal taking data driving controller of the bucket wheel trolley according to the data driving model;

step 4: calculating the translational speed of the trolley of the bucket wheel through the data driving controller;

step 5: and outputting the translational speed of the bucket wheel trolley to a motor executing mechanism, wherein the motor executing mechanism drives the bucket wheel trolley to translate according to the translational speed of the bucket wheel trolley, so that the coal taking flow of the bucket wheel trolley tracks the appointed constant coal flow.

2. The method for data driving control of constant-current coal taking of a gate bucket wheel machine according to claim 1, wherein in the step 1, the bucket wheel trolley coal taking flow model is as follows:

wherein,represents coal density->Indicating that the coal layer is taken up at a certain position in one journey,/->Indicating the translational speed of the trolley of the bucket wheel, +.>Indicating the stepping length of the trolley of the bucket wheel each time.

3. The method for controlling the constant-current coal taking data driving of the gate bucket wheel machine according to claim 2, wherein in the step 1, the nonlinear relation model of the coal taking flow and the translation speed is as follows:

wherein (1)>Represents the coal taking flow of the bucket wheel trolley at the moment k,/->Indicating the translational speed of the trolley at time k,/->Is an unknown nonlinear function, ++>And->Representing a given positive integer.

4. The method for data driving control of constant-current coal taking of a gate bucket wheel machine according to claim 3, wherein in the step 2, a data driving model of the coal taking flow of the bucket wheel trolley is as follows:

wherein (1)>Indicating the translational speed error of the moment k and the moment k-1 of the trolley of the bucket wheel, +.>=/>，/>Representation->Estimated value of ∈10->Representing a variable;

wherein (1)>And->Representing the adjustable parameter.

5. The method for data driving control of constant-current coal taking of a gate bucket wheel machine according to claim 4, wherein in the step 3, the data driving controller is:

wherein (1)>Representing the adjustment parameters->Representing the adjustment parameters->Represents the constant flow of the specified coal, +.>Indicating the location of the coal pick-up point.

6. The utility model provides a gate-type bucket wheel machine constant current is got data drive controlling means of coal which characterized in that includes:

the nonlinear relation model building module is used for building a nonlinear relation model of coal taking flow and translation speed by utilizing a bucket wheel trolley coal taking flow model;

the data driving model construction module is used for converting the nonlinear relation model by applying a differential median theorem to obtain a data driving model of the bucket wheel trolley coal taking flow;

the data driving controller construction module is used for designing a constant-current coal taking data driving controller of the bucket wheel trolley according to the data driving model;

the calculation module is used for calculating the translational speed of the trolley of the bucket wheel through the data driving controller;

and the data output module is used for outputting the translational speed of the bucket wheel trolley to the motor executing mechanism, and the motor executing mechanism drives the bucket wheel trolley to translate according to the translational speed of the bucket wheel trolley, so that the coal taking flow of the bucket wheel trolley tracks the appointed constant coal flow.

7. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 5 when the computer program is executed.

8. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 5.