WO2021122371A1 - Device and method for energy-efficient control for continuously conveying material, in particular for conveying bulk material - Google Patents

Abstract

The invention relates to a control system (1) for a device (10) for continuously conveying material at a predefinable conveying capacity by means of a working element (6) which is designed to mine or at least to collect material and which can be moved relative to the ground in successive work processes by means of at least a first drive of the device, wherein a/the material throughput from the working element is set or is controlled by means of the drives (2) in a closed-loop manner, via at least one system component (4) which is connected downstream of the working element and which comprises at least a second drive (2) of the device (10), wherein the control system (1) is designed to detect at least one value of a capacity recorded during a work process by means of the respective first and second drives (2) of the device as a function of the conveying capacity, in particular as a function of an instantaneous mass pulse of the moved material mass, and to determine an energy efficiency for the work process on the basis of the at least two values, and to control the drives in a closed-loop manner as a function of the determined energy efficiency. The invention also relates to a corresponding open-loop/closed-loop control method.

Description

Device and method for energy efficiency control in the case of continuous material conveyance, in particular in the case of bulk material conveyance

Description:

TECHNICAL AREA

The invention relates to a device and a method for continuous material conveyance with a predefinable conveying capacity, whereby, on the one hand, an energetic optimization can take place and, on the other hand, the material throughput on a material flow path along several individual mining or conveying units can be regulated. In particular, the invention relates to a device and a method according to the features of the respective independent or co-ordinate claim. BACKGROUND

Handling systems have to be optimized with regard to material flow in many applications, in particular conveyor applications. Components or components of handling systems, especially for bulk goods, can be mentioned by way of example: raw material extraction systems or material receiving devices (in particular excavators, reclaimers, unloaders, scrapers), conveyor systems or transport systems (such as belt conveyors, conveyor belts, conveyor bridges, screw conveyors), processing systems (in particular crushers, mills , Cyclones, kilns) or sorting systems such as vibrating screen devices, or also settlers (material handling devices). Transshipment systems usually consist of a plurality of such components arranged one after the other or branched along at least one material flow path. The material should be conveyed or turned over from at least one receiving point to at least one depositing point at a predefined or desired throughput in a predefined or desired time window. Optionally, the material can also be processed or remunerated; For example, the material properties (in particular grain size, composition) can be changed. On the one hand, a maximum material throughput or a maximum loading of conveyor belts, for example, must not be exceeded, especially with regard to risks such as blockages, clogging, overloading, overheating. On the other hand, the material throughput varies quite strongly in many applications anyway, in particular as a function of the operating mode, operating phases, type of material, environmental conditions, or the like. The desired minimum or maximum material throughput may then not always be guaranteed. Depending on the application, the risks with regard to idling (no material throughput at all) are more or less great. In this respect, an effective control and regulation of the material flow process is therefore desirable.

In order to take into account the fluctuations in the material throughput, such systems are usually designed for around 40% above the desired average delivery rate in order to achieve the desired material throughput on average, for example at a utilization of around 70%. In real terms, the material throughput fluctuates around this value. This means that system parts are used differently at different times.

In some applications, it is difficult to control and regulate along the material flow chain. The individual system components extending along the material flow path are therefore usually designed for a standard throughput and operated in the corresponding standard operating mode, possibly also in a continuous manner in an operating mode for maximum material throughput. However, this is not optimal, neither in terms of energy nor in terms of technology, especially not before the goal of being able to provide a sustainable, resource-saving process. In particular, it is disadvantageous that the drives used are unnecessarily operated in many situations at high drive powers or at high speeds (for example also disadvantageously high idle powers). If a high proportion of idle or partial utilization phases cannot be avoided in a material flow process, this results in quite disadvantageous effects both for the energy balance and with regard to the technical complexity (in particular reduced service life, higher maintenance costs, more numerous technical failures, disproportionately high energy costs and, last but not least, unnecessary noise and exhaust emissions).

From DE 19880506 B4 a conveyor device for open-cast mining systems with at least one conveyor belt driven by means of at least one drive and a control is known, the speed of the conveyor belt being set as a function of the amount to be transported.

A method for controlling a conveyor belt is known from EP 3 173879 A1.

A method for controlling belt conveyor lines is known from DD 234952 A1. Accordingly, there is interest in devices and methods as well as in a control-technically optimizable material flow process, if possible, also for those applications in which the material throughput cannot be exactly foreseen, in particular due to fluctuating degradation / conveying rates and is therefore suitable for optimizing energy efficiency.

DESCRIPTION OF THE INVENTION

The object of the invention is to provide a method with the features described at the beginning, with which the material handling along predefinable material flow paths can be optimized with regard to the situation-dependent conveying capacity requirement, in particular also from an energetic point of view. The task is in particular to work on material flow paths (especially also for bulk goods) that have several downstream

System components run to enable an optimizable setting of the system components as a function of one another, preferably also with the least possible wear of the device-related components provided for the material flow in batches or continuously. This object is achieved by the method with the features of the main claim. Advantageous exemplary embodiments are listed in the subclaims. The method according to the invention for controlling and regulating a device for continuous material conveyance with a predefinable conveying capacity by means of a working organ set up to dismantle or at least take up material, which can be moved relative to the ground by means of at least one drive of the device in successive work processes, serves to optimize the energy efficiency of the Device, the method comprising the following steps: a) setting or regulating a / the material throughput from the working organ via at least one system component downstream of the working organ comprising at least one second drive of the device, and b) detecting at least one value of one by means of the respective first and second drive of the device power consumed during a work process as a function of the conveying capacity, in particular as a function of an instantaneous mass impulse of the moving material masses, and c) Er averaging an energy efficiency for the work process on the basis of the at least two values, and d) regulating the drives as a function of the determined energy efficiency, the mass pulse being calculated from the mass distribution along the device and the speed profile along the device, and from the mass pulse and the The energy efficiency is determined by the energy absorbed by the drives.

In the context of the invention, the term mass impulse should not only be understood to refer to the physical term impulse as the product of mass and speed. Rather, the mass momentum in the sense of the invention can also be any quantity proportional to the kinetic energy, such as the product of mass and the square of the speed. The kinetic energy can also be determined from the product of momentum and speed. The aim is to compare the currently absorbed energy for the drive systems (drive power) directly with the sum of all mass impulses of the currently transported masses of conveyed goods or the speed-related change in the kinetic energy of the currently transported masses of conveyed goods in the overall system and thus to determine the efficiency and thus to regulate it precisely . Precise knowledge of the mass distribution is therefore essential. The speed can also be determined directly via the speeds of the working organs themselves. According to the invention, it is not a question of determining and optimizing an efficiency averaged over longer periods of time, but rather to determine the current energy efficiency promptly (preferably in real time), correctly and stably, and a speed or rate based on this

To enable flow control. The mass distribution along the conveyor chain fluctuates because, for example, the amount of degraded or abandoned material cannot be kept constant due to operational reasons. If the material is mined and abandoned by a bucket wheel excavator, for example, at the end of each pivoting process, disc dismantling and block dismantling, there will be a break in dismantling and thus a significant reduction or short break in the material application and thus in the material flow. These variations in the mass distribution are unavoidable, but inevitably lead to a significant variation in the currently transported masses, which often have no clear correlation with the currently determined flow rate at a popular measuring point (belt scale or volume scanner).

In a further embodiment of the invention, the mass pulse is detected in that the mass of the material on the working element (6) is measured in a time-resolved manner at at least one first position. In a further embodiment of the invention, at least one of the first and second drives is regulated in the load state as a function of the further drive (s) that the current drive power or energy consumption of the corresponding drive is related to the current drive Delivery rate or is optimized with respect to a target delivery rate to be set for a predefinable point in time.

In a further embodiment of the invention, the energy efficiency is regulated by controlling the utilization of the work organ and the downstream system components. For example, the adjustment can be made by adjusting the conveying speed.

In a further embodiment of the invention, the energy efficiency for the work process is determined as a function of at least four predefinable delivery rates and in relation to the first and second drives and the drives are regulated as a function of the determined at least four energy efficiencies, in particular when the respective delivery rate is correlated with at least a partial utilization level from the group: 0%, 25%, 50%, 75%, 100% material throughput.

It is preferred not only conveying devices, but also, for example, other system components, for example crushers, to be operated in partial capacity levels, in particular 0%, 25%, 50%, 75%, 100% material throughput. In addition, a crusher, for example, cannot change the capacity and thus the material throughput quickly and at will. However, if the crusher is running at a higher capacity than the amount of material fed in, the energy efficiency is correspondingly poor. Therefore, regulation is particularly preferably carried out on the basis of the component that is most difficult to regulate. For example, a crusher is mentioned that is to be operated in the partial load levels 0%, 25%, 50%, 75%, 100%. If it becomes clear from the mass distribution that the partial utilization level has to be changed because either more or less material is being fed in, the partial utilization level is preferably regulated at an early stage and the amount of material supplied is adjusted via an easily adjustable change in the conveying speed, so that in this case the crusher in optimal energy efficiency range is operated. In a further embodiment of the invention, a material throughput-dependent power regulation takes place by regulating a throughput graduation with respect to at least two of the drives; and / or wherein a material throughput-dependent power regulation takes place by regulating an / the operating state of the respective drive in a time window defined by at least one switchover or throughput level adjustment time.

In a further embodiment of the invention, in addition to optimizing the energy efficiency, a controllable storage device connected between the working organ and the system component connected downstream of the working organ is controlled. For example, let the working organ be a conveyor belt and the system component a crusher. In this case, an intermediate store is arranged between the conveyor belt and the crusher. The conveyor belt preferably has a controllable outlet in order to provide the crusher with material inflows that can be set in steps, which correspond to the partial utilization levels of the crusher. This allows the mass distribution to be adjusted very easily and quickly to changes in the partial load levels of the crusher.

A conveyor belt can also be used as an intermediate store. In particular, in the case of several conveyor belts arranged one behind the other, they can be used for the targeted variation of the mass distribution through different running speeds and can therefore take up or dispense material as intermediate storage. In a further aspect, the invention relates to a control system for a device for continuous material conveyance, the control system being designed to carry out the method according to the invention

The method according to the invention is carried out on a control system for a device for continuous material conveyance with a predefinable conveying capacity, in particular for bulk material conveyance, by means of a working element set up for dismantling or at least for picking up material, which is driven by at least one first drive of the device in successive Work processes can be moved relative to the subsurface, wherein a / the material throughput (or material flow) from the working organ is set or regulated by means of the drives via at least one system component downstream of the working organ comprising at least one second drive of the device, the control system being set up at least one To detect the value of a power consumed by the respective first and second drive of the device during a work process, in particular electrical power, as a function of the conveying capacity, in particular as a function of an instantaneous mass impulse of the moving material masses, and on the basis of the at least two values (the power consumed by the drives , in particular electrical power,) to determine an energy efficiency for the work process (as a function of the conveying capacity and in relation to the first and second drives) and the drives as a function of the determined energy To regulate energy efficiency, in particular with regard to at least two predefined / predefinable conveying capacities, for example in a range corresponding to 25 to 75% of the maximum achievable throughput. On the one hand, this favors the optimization of an operating state of the device with regard to material flow (for example avoidance of overcrowding or clogging); on the other hand, the device can also be operated in an energetically optimized manner. In particular, it has been shown that with regard to the power consumption or the idle power of individual drives of the device, a savings potential in the range of at least 30% can be exploited.

The material handling along the at least one predefined material flow path can also be optimized at one or more material transfer points (in particular P1, P2, ..., Pn), for example by regulating system components in the form of bunkers.

The material can also be dismantled / picked up in batches.

For example, by means of the control system, the current drive current or the current drive power as well as the material throughput are measured or determined in some other way. Based on these Values can be subjected to a continuous plausibility check, in particular to determine whether a selected power / throughput level of the drive is still advantageous for a momentary utilization of the device. For example, such a plausibility check takes place continuously or at least after a few seconds or minutes or as a function of a momentary change in measured values and / or when an application-specific definable threshold value is exceeded or not reached (e.g. minimum load on a conveyor belt).

The invention is also based on the concept of changing the speed of drives in such a way that the temporal flow rate curves are specified or adapted with a view to minimized power consumption, in particular with regard to the entire material flow chain along a plurality of drives connected in series in the material flow direction. For this purpose, a target value for the delivery rate can also be defined as a control parameter.

According to one of the possible types of regulation, the drive speed is at least partially adapted, in particular a point-in-time adaptation of the idle drive power. An adaptation measure can also be carried out in advance, in particular by completing a throughput level adaptation measure (for example increase in speed) at a predetermined point in time (initiation of the measure with a predefinable time buffer). The device can optionally also be equipped with material flow buffers such as intermediate bunkers or speed regulators for conveyor belts, whereby these material flow units can also be coupled to the control system or integrated into the control system. It has been shown that a material throughput monitor or an occupancy sensor (in particular a fill level sensor) can facilitate control / regulation. The actual current delivery rate can in practice depending on the design of the system or the process of the respective the desired or predefined delivery rate. One or more occupancy sensors (in particular based on radar, ultrasound, laser or force signals or measured values), in particular also in an arrangement at the entrance to the system, enable monitoring of actual delivery rates. Based on this, a local, site-specific throughput rate can also be determined, for example by multiplying the conveyor belt occupancy with the belt speed at a material transfer point to the next conveyor belt or intermediate bunker. Through integration, both the current bunker content and the mass occupancy of subsequent conveyor belts can be determined.

The mass impulse of the moved material mass is understood in particular to be the sum product of the moved material masses with the movement speed. The ratio of these two variables (drive power to mass impulse, or vice versa) relative to one another facilitates the quantitative assessment of energy efficiency, especially for horizontal displacement (transport). The resulting physical unit [kWh / (t km)] or [J / (kg m)] or [N / kg] can (analogously) be compared with the specific total transport resistance, and is advantageously (only) based on the currently ( current) transopted material mass and the entire transport route.

To increase the control quality of inclined, angularly arranged systems (the movement path of the material to be conveyed also runs in a vertical direction), it can be recommended to subtract the current lifting power (sum product of gravity and vertical speed) from the drive power.

According to an exemplary embodiment, the control system is also set up to regulate at least one of the first and second drives in the load state as a function of the further drive (s), in particular to regulate down from a full load state to a partial load state, that the current drive power or energy consumption of the corresponding drive with regard to the current conveying capacity (material throughput at point P 1, P2, ..., Pn on the material flow path) or with regard to a predefinable / predefined Point in time to be set target delivery rate is optimized, in particular is minimized. As a result, the mode of operation can also be designed to be particularly sustainable.

According to one embodiment, the control system is set up to determine a first and second energy efficiency for the work process as a function of a first and second predefined / predefinable delivery rate and in relation to the first and second drives and to assign the drives as a function of the determined first and second energy efficiency regulate, especially with changing delivery rates in the range of a minimum variation of 20 to 50 percent, especially for the purpose of achieving better / maximum energy efficiency. This also enables particularly resource-saving operation.

According to an exemplary embodiment, the control system is set up to determine the energy efficiency for the work process as a function of at least four predefined / predefinable conveying capacities and in relation to the first and second drives and to regulate the drives as a function of the determined at least four energy efficiencies, especially when there is a correlation of the respective conveying capacity with at least one partial utilization level from the group: 0%, 25%, 50%, 75%, 100% material throughput. This also provides good practicability, in particular in that the regulation takes place with regard to a comparatively small, manageable number of adjustment stages.

According to one exemplary embodiment, the control system is set up to control and regulate the respective drive as a function of time in such a way that the operating state of the respective drive to be set or regulated is ensured in relation to the switchover point, in particular by correlating a / the predefined / predefinable conveying capacity or a target material throughput with a drive-specific and / or operating state-specific switchover time (ramp duration) of the respective drive or the respective system component. This also promotes good utilization with optimized load changes and, last but not least, also enables a lean structural design (with a possibly reduced safety factor). According to one exemplary embodiment, the control system comprises at least one material flow or material throughput monitor (including at least one sensor) and is set up to provide material throughput information (measured values) recorded upstream of at least one of the drives for control of the respective drive when the operating state is set of the respective drive with a drive-specific switchover time (ramp duration). In this way, a predictive adaptation of operating states can take place in the case of long switching times or slow switching processes, so that the load changes can be carried out more easily and more frequently without disadvantages for the material flow.

According to one embodiment, the control system is set up for material throughput-dependent power regulation by setting / regulating a throughput graduation with respect to at least two of the drives of the device. Last but not least, this favors a practicable control concept that is comparatively easy to implement even on a technical scale, in particular with only a few predefined throughput levels.

Graduated throughput is to be understood in particular as a gradation of the power levels of the drives with comparatively few (for example two to about ten) levels.

According to one embodiment, the control system is set up for material throughput-dependent power regulation by setting / regulating an / the operating state of the respective drive in a predefined / predefinable time window, in particular in a time window defined by at least one switching or throughput level adjustment time. This also provides predictive control along comparatively sluggish material flow chains, for example also on conveyor belts, and can homogenize the material flow.

According to one embodiment, the control system is set up for material throughput-dependent power regulation by setting / regulating one / the operating state of at least two in the material flow direction Drives connected in series with a time offset, in particular taking into account the integral storage function of at least one intermediate bunker (or other material buffer in the case of strong variations in the material flow) with predetermined storage volumes, and / or in particular as a function of at least one intermediate bunker of the device (or other material buffer in the case of strong variations in the material flow ) specified time offset. The storage function can define the size of the buffer. The time offset can also be defined, for example, by the time required to run through a certain distance along the material flow path

According to one embodiment, the control system is set up for frequency control of at least one drive of the device. This type of control and regulation has proven to be advantageous for various types of drive and devices.

A device for continuous material conveyance for carrying out the method according to the invention, in particular for bulk material conveyance, comprising a working element set up to pick up material, which can be moved relative to the ground by means of at least one first drive in successive work processes, further comprising at least one system component downstream of the working element, comprising at least a second drive, the working element and the at least one downstream system component defining at least one material flow path for the material, and further comprising a previously described control system for regulating the device by means of the drives. This results in the aforementioned advantages.

According to one embodiment, the device comprises at least one conveyor belt or at least one conveyor belt system (downstream system component), the device being set up for frequency control of the drives (second drives) of the conveyor belt. Last but not least, this also favors the regulation of drives that are supposed to move large masses. The method for controlling and regulating a device for continuous material conveyance with a predefinable conveying capacity, in particular for bulk material conveyance, by means of a working element set up to dismantle or at least take up material, which is movable relative to the ground by means of at least one drive of the device in successive work processes, in particular below Use of a control system described above is further elaborated below: Setting or regulating a / the material throughput (or material flow) from the working organ via at least one system component downstream of the working organ, comprising at least one second drive of the device, and detecting at least one value of one by means of the respective first and second drive of the device power consumed during a work process as a function of the delivery rate, in particular as a function of a momentary measure enimpulses of the moving material masses, and determining an energy efficiency for the work process (as a function of the conveying capacity and in relation to the first and second drives) on the basis of the at least two values (the power consumed by the drives), and regulating the drives as a function of the determined energy efficiency, in particular with regard to at least two predefined / predefinable delivery rates. This results in the aforementioned advantages.

According to one embodiment, at least one of the first and second drives is controlled in the load state as a function of the further drive (s) that the current drive power or energy consumption of the corresponding drive with respect to the current delivery output or with respect to a target value to be set for a predefinable point in time. Delivery rate is optimized.

According to one embodiment, the energy efficiency for the work process is determined as a function of at least four predefinable delivery rates and in relation to the first and second drives and the drives are controlled as a function of the determined at least four energy efficiencies, in particular when the respective delivery rate is correlated with at least one partial utilization level from the group: 0%, 25%, 50%, 75%, 100% material throughput. According to one embodiment, the respective drive is controlled as a function of time with respect to the rotational speed and controlled in relation to the switching point in time, in particular by means of a frequency converter. This particular embodiment also provides advantages that have already been described above.

According to one embodiment, a material throughput-dependent power regulation takes place by regulating a throughput graduation with respect to at least two of the drives; and / or the material throughput-dependent power regulation takes place by regulating an / the operating state of the respective drive in a time window defined by at least one switchover or throughput level adjustment time. This also helps avoid overcrowding or long idle times. The entire device can be designed / constructed to be lean in terms of device technology, even with comparatively strong fluctuations in throughput, and operated in an energetically efficient manner.

According to the invention, the aforementioned object is also achieved in particular by using a control system for regulating a device for continuous material conveyance by means of a plurality of first and second drives provided for successive work processes, in particular a control system described above, the control system for detecting values of a consumed power of the respective drive is used as a function of the conveying capacity, in particular as a function of an instantaneous mass pulse of the moving material masses, and for determining and regulating an energy efficiency for the work performed by the drives, in particular for regulating the drives as a function of a

Throughput level adjustment time, in particular as a function of at least one item of material throughput information. This results in the aforementioned advantages. According to the invention, the aforementioned object is also achieved, in particular, by a computer program product comprising program code, which has a computer device for carrying out a method described above caused when the program code is executed on the computing device. This results in the aforementioned advantages.

FIGURE DESCRIPTION

Further features and advantages of the invention emerge from the description of at least one exemplary embodiment with reference to drawings and from the drawings themselves

1 shows a schematic representation of the degree of utilization over time,

Throughput, availability and material volume, with regulation according to an exemplary embodiment being able to take place as a function of some of these parameters or all of these parameters;

2 shows a schematic representation of a control system in / on a

Device according to one of the exemplary embodiments.

DETAILED DESCRIPTION OF THE FIGURES

In the case of reference symbols that are not explicitly described with reference to an individual figure, reference is made to the other figures.

1 illustrates a dependency between the relative throughput, the material occupancy (here: filling level in a bunker), the availability of individual system components (here: crusher), in particular with reference to a drive speed, and also a time dependency. The abscissa is the time axis (in particular seconds; here: time window, for example 300 seconds), and the ordinate relates to the percentage utilization (0 to 100%). In this example, the bunker is equipped with a variable outlet opening.

The material throughput (continuous line) fluctuates sinusoidally; the discharge throughput (in particular discharge from an intermediate bunker; short dashed line) fluctuates discontinuously with comparatively large jumps, depending on the design of the outlet opening and its mode of operation, the curve of the discharge throughput intersecting the material throughput curve at some points; the crusher availability (especially drive speed; long dashed line) runs despite discontinuities at least approximately parallel to the curve (course) of the material throughput and above this curve, each with a short lead time; the material level in the bunker (bottom line with circular dots) fluctuates rather moderately in this example in the range from 0 to approx. 35% (intermediate bunker only partially used). 1 illustrates an operating state in which the entire device works in an energy-optimized manner by interconnecting the system components, although the device is also designed for significantly larger throughputs and the throughput could be set to a higher power level. In this respect, FIG. 1 also illustrates that, in spite of discontinuous load levels, a comparatively smooth, continuous adjustment of the material throughput can be realized. The drive speed of the crusher can also be optimized with regard to the current material throughput.

1 also illustrates, in particular, a simulation of operating states at a throughput of 25, 50, 75 and 100% or a corresponding power consumption. A momentary amount of material at one of the points of the material flow path, for example at the beginning of the material flow path, can be recorded and sent to the control system (or to a control / regulating device of the control system) as a control parameter with a time lead, in particular at least ten (10) seconds. be passed on. The intermediate bunker or its outlet opening can also be set, for example, in four operating states, in particular for 25, 50, 75 and 100% throughput. In this respect, FIG. 1 also illustrates a throughput staggered crusher operation, in particular such that at least 30% of the power consumption or the idle power of the crusher drive (s) can be saved.

FIG. 2 shows a control system 1 which is coupled to a device 10 for continuous material conveyance or is integrated therein. The device 10 comprises several conveying drives 2 connected one behind the other in the material flow direction, each of which drives a conveyor belt 4 (downstream system component) by means of which the material 3 is conveyed. A material throughput monitor 5 with at least one sensor (optionally with several measuring units) enables a more in-depth analysis of the material throughput (current conveying capacity). For example the material throughput monitor 5 comprises an occupancy sensor which is set up to detect a layer height of the material 3. The conveyor belts 4 can, for example, also each have individual gradients or inclines. Intermediate bunkers can also be provided at the material transfer points between the individual conveyor belts.

The three conveyor belts 4 each convey a momentarily moving mass of material at an individual momentary belt speed. A speed can be specified for each of the three drives 2, in particular as a function of a respective individual instantaneous drive power. The control / regulation-related interaction is indicated by the arrows between the conveying components and the control system 1.

FIG. 2 also illustrates a smoothing function of intermediate bins at the material transfer points. In particular, the intermediate bunkers can limit a maximum layer height of the material on the respective conveyor belt, for example by providing a correspondingly arranged or dimensioned or adjustable outlet opening. In particular, the storage / buffer function of the respective intermediate bunker enables a gentle variation of the downstream belt speed, in particular taking into account the current bunker filling level, which can be detected by means of the sensors 5, for example.

A working element 6 can be connected upstream of the system components shown in FIG. 2, for example a bucket wheel or an excavator shovel. The working element 6 delivers a more or less constant flow of material (amount per unit of time) depending on the conditions of use and / or the nature of the soil.

The exemplary embodiments illustrated in the figures described above can be combined with one another with regard to their individual features, unless this is / is not explicitly denied. List of reference symbols:

1 control system

2 drive 3 material

4 conveyor belt (downstream system component)

5 material throughput monitor (sensor / measuring units)

6 working body

10 Device for continuous material conveyance

Claims

1. A method for controlling and regulating a device (10) for continuous material conveyance with a predefinable conveying capacity by means of a working element (6) which is set up to dismantle or at least take up material and which can be moved relative to the ground by means of at least one drive of the device in successive work processes, The method serves to optimize the energy efficiency of the device, the method comprising the following steps: a) Setting or regulating the material throughput from the working element (6) via at least one system component (4) downstream of the working element, comprising at least one second drive ( 2) the device, and b) recording at least one value of a power consumed by means of the respective first and second drive of the device during a work process as a function of the conveying capacity, in particular as a function of an instantaneous mass pulse of the moving Material masses, and c) determining an energy efficiency for the work process on the basis of the at least two values, and d) regulating the drives as a function of the determined energy efficiency, the mass pulse being calculated from the mass distribution along the Device and the speed profile along the device is determined, the energy efficiency being determined from the mass pulse and the energy absorbed by the drives. 2. The method according to claim 1, characterized in that the mass pulse is detected in that the mass of the material on the working element (6) is measured in a time-resolved manner at at least one first position. 3. The method according to any one of the preceding claims, characterized in that at least one of the first and second drives (2) is regulated in the load state as a function of the further drive (s) that the current drive power or energy consumption of the corresponding drive ( 2) is optimized with respect to the current delivery rate or with respect to a target delivery rate to be set for a predefinable point in time. 4. The method according to any one of the preceding claims, characterized in that the energy efficiency is regulated by controlling the utilization of the work organ (6) and the downstream system component (4). 5. The method according to any one of the preceding claims, characterized in that the energy efficiency for the work process is determined as a function of at least four predefinable delivery rates and in relation to the first and second drives (2) and the drives are regulated as a function of the determined at least four energy efficiencies , especially when the respective delivery rate is correlated with at least one Partial utilization level from the group: 0%, 25%, 50%, 75%, 100% Material throughput. 6. The method according to any one of the preceding claims, characterized in that a material throughput-dependent power control takes place by regulating a throughput graduation with respect to at least two of the drives; and / or wherein a material throughput-dependent power regulation by regulating a / the operating state of the respective Drive in one by at least one switching or Throughput level adjustment time defined time window takes place. 7. The method according to any one of the preceding claims, characterized in that in addition to optimizing the energy efficiency A controllable storage device connected between the working element (6) and the system component (4) connected downstream of the working element is controlled. 8. Control system (1) for a device (10) for continuous material conveyance, the control system being designed to carry out the method according to the invention