Single Slow Drive Device Control System of Mill and InCS Intelligent Control Method

Abstract

The present invention belongs to the technical field of mills, and discloses a control system for a single slow drive device of a mill and an InCS intelligent control method. The control system for the single slow drive device of the mill includes a touch screen, a slow drive variable-frequency motor, a slow drive motor frequency converter, a slow drive motor encoder, an intelligent control cabinet, a braking resistor cabinet, a slow drive clutch and a clutch hydraulic station. In the control system for the single slow drive device of the present invention, when the teeth are disengaged, by real-time monitoring of the reverse torque output by the frequency converter, the rotation angle value of the mill is calculated internally, and the center of gravity of the mill is controlled to slowly fall back by means of energy consumption braking, and finally the self-balanced shutdown of the mill and one-key tooth disengagement are realized. It is convenient to realize functions such as automatic balanced shutdown of the mill and one-key tooth disengagement, with convenient operation, reduced maintenance shutdown time, and reduced production and maintenance costs.

Description

Technical Field

[0001] The invention belongs to the technical field of mills, and in particular relates to a mill single slow drive device control system and an InCS intelligent control method. Background Art

[0002] Grinding is an important production link in the ore dressing plant. The working state of the mining mill directly affects the efficiency and output of the subsequent process. At present, the production and maintenance of the mill still rely heavily on manual operation, resulting in long maintenance time, insufficient utilization of equipment, and low production efficiency. In recent years, the slow drive device of the domestic large-scale mining double-drive mill generally adopts the dual hydraulic motor drive method.

[0003] Since it is often difficult for the slow-drive device of a dual-drive mill to stop at the lowest point of gravity, it is difficult for the slow-drive clutch to disengage the teeth. An experienced operator is required to repeatedly adjust the center of gravity of the mill on site until it stops at the lowest point before disengaging the teeth. This directly prolongs the maintenance time and affects the factory's production schedule requirements.

[0004] Therefore, it is necessary to design a mill single slow drive device control system and InCS intelligent control method that is easy to operate, reduces maintenance downtime, and reduces production and maintenance costs to solve the current technical problems. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a control system for a single slow drive device of a grinding mill and an InCS intelligent control method, which are easy to operate, reduce maintenance downtime, and reduce production and maintenance costs.

[0006] The technical solution of the present invention is: a control system for a single slow drive device of a grinding mill, comprising a touch screen, a slow drive variable frequency motor, a slow drive motor frequency converter, a slow drive motor encoder, an intelligent control cabinet, a brake resistor cabinet, a slow drive clutch and a clutch hydraulic station;

[0007] The intelligent control cabinet includes a control module, the slow-drive motor inverter is connected to the control module by using the Profinet protocol, the slow-drive motor encoder is connected to the high-speed pulse input end of the control module, the output end of the control module is connected to the clutch hydraulic station, and the clutch hydraulic station receives the control signal output by the control module to control the action of the slow-drive clutch;

[0008] The slow-drive motor encoder is drivingly connected to the slow-drive variable-frequency motor, and the output end of the slow-drive motor frequency converter is connected to the slow-drive variable-frequency motor;

[0009] The slow-drive clutch is connected to a pressure sensor for detecting the pressure value during its disengagement and engagement process, and the pressure sensor is connected to the control module;

[0010] The braking resistor cabinet is internally provided with a braking resistor, and the braking resistor is connected to the slow drive motor frequency converter;

[0011] The touch screen is communicatively connected to the control module.

[0012] A Profinet master station is connected to the control module, a Profinet slave station is connected to the slow drive motor frequency converter, and the Profinet master station is communicatively connected to the Profinet slave station.

[0013] The output end of the control module is connected to an intermediate relay, and the intermediate relay is connected to the clutch hydraulic station.

[0014] The single slow drive device control system of the mill further includes a remote control device. A remote control receiving device is connected to the control module, and the remote control receiving device is matched with the remote control device.

[0015] The control module is a PLC control module.

[0016] A network switch is connected to the control module.

[0017] The InCS intelligent control method for the single slow drive device of the mill includes a balanced parking control method, and the balanced parking control method includes the following steps:

[0018] S1. Define the balanced interval range of the mill according to the mill specifications and simulation tests;

[0019] S2. According to different conditions of 10 - 100% load of the mill, monitor and count the torque value sets within the corresponding balanced interval range of the mill under different load conditions;

[0020] S3. According to the torque value sets obtained in step S2, use the minimum value function to calculate the minimum torque thresholds within the balanced interval range under different load conditions respectively;

[0021] S4. Repeat step S2 and step S3, and use the same method to calculate at least ten groups of minimum torque thresholds within the balanced interval range under different load conditions, and take the average value as the minimum torque threshold under the corresponding load condition;

[0022] S5. Take the minimum torque thresholds within the balanced interval range under different load conditions as the torque setting values under the corresponding load conditions;

[0023] S6. Compare by obtaining the torque of the slow drive frequency conversion motor with the torque setting value under the corresponding load condition. When the obtained torque of the slow drive frequency conversion motor is less than or equal to the torque setting value under the corresponding load condition, it is regarded as reaching the lowest point of the mill, and balanced parking at the lowest point of the mill is achieved.

[0024] The InCS intelligent control method for the single slow drive device of the mill includes a tooth disengaging control method, and the tooth disengaging control method includes the following steps:

[0025] S1. Implement balanced parking of the mill at the lowest point by using the balanced parking control method;

[0026] S2. Detect the pressure value F required for the slow drive clutch to disengage the teeth, and calculate the rotation angle α corresponding to the rotation of one tooth width distance of the slow drive clutch in the minimum balance interval of the mill according to the tooth width of the slow drive clutch;

[0027] S3. Obtain the pressure values during the meshing and disengagement of the gears in the slow drive clutch through a pressure sensor;

[0028] S4. The control module sends a tooth disengagement command to the clutch hydraulic station. If the teeth are disengaged, the tooth disengagement process is completed; if the teeth are not disengaged, step S5 is executed;

[0029] S5. The slow drive frequency conversion motor drives the slow drive clutch to rotate forward by α, and then the control module sends a tooth disengagement command to the clutch hydraulic station. If the teeth are disengaged, the tooth disengagement is completed; if the teeth are not disengaged and the pressure value in the slow drive clutch is greater than the pressure value F at this time, step S6 is executed;

[0030] S6. The slow drive frequency conversion motor drives the slow drive clutch to rotate backward by 2α, and then the control module sends a tooth disengagement command to the clutch hydraulic station.

[0031] In step S4, repeat steps S2 and S3, and use the same method to calculate ten groups of minimum torque thresholds within the balance interval under different load conditions.

[0032] Advantages of the present invention:

[0033] (1) In the control system of the single slow drive device of the mill in the present invention, during tooth disengagement, by real-time monitoring of the counter torque output by the frequency converter, calculating the rotation angle value of the mill through internal calculation, and controlling the slow fall of the center of gravity of the mill through the energy consumption braking method, finally realizing self-balanced shutdown of the mill and one-key tooth disengagement; it is convenient to realize functions such as automatic balanced shutdown of the mill and one-key tooth disengagement, with convenient operation, reducing the shutdown time for maintenance, and lowering the production and maintenance costs;

[0034] (2) The touch screen can display the disengaged or engaged position of the clutch, the operating status, operating parameters, brake status of the slow drive frequency conversion motor, alarm and fault information, and can also display the operation data trend chart and store relevant data. Relevant parameters can also be queried, set, and modified on the touch screen;

[0035] (3) The braking resistor is connected to the frequency converter of the slow drive motor, and the braking resistor is used to implement the energy consumption braking method of the mill;

[0036] (4)After commissioning, the InCS intelligent control method of the single slow drive device of the mill in the present invention can automatically find the minimum interval for balanced parking of the slow drive and achieve balanced parking at the lowest point of the mill. Description of the Drawings

[0037] Figure 1 It is a schematic block diagram of the control system of the single slow drive device of the mill in the present invention. Detailed Embodiments

[0038] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and in no way limits the present invention and its application or use. The present invention can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present invention thorough and complete and to fully convey the scope of the present invention to those skilled in the art. It should be noted that: unless otherwise specifically stated, the relative arrangements of components and steps, the components of materials, numerical expressions and values set forth in these embodiments should be construed as merely exemplary and not as limitations.

[0039] The "first", "second" and similar terms used in the present invention do not denote any order, quantity or importance, but are only used to distinguish different parts. Terms such as "including" or "comprising" mean that the elements preceding the term cover the elements listed after the term and do not exclude the possibility of also covering other elements. "Upper", "lower", "left", "right", etc. are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0040] As Figure 1 shown, the control system of the single slow drive device of the mill includes a touch screen 12, a slow drive variable frequency motor 3, a slow drive motor frequency converter 2, a slow drive motor encoder 4, an intelligent control cabinet 1, a braking resistor cabinet 5, a slow drive clutch 61 and a clutch hydraulic station 6; the intelligent control cabinet 1 includes a control module 11, the slow drive motor frequency converter 2 communicates with the control module 11 using the Profinet protocol, the slow drive motor encoder 4 is connected to the high-speed pulse input terminal of the control module 11, the output terminal of the control module 11 is connected to the clutch hydraulic station 6, and the clutch hydraulic station 6 receives the control signal output by the control module 11 to control the operation of the slow drive clutch 62; the slow drive motor encoder 4 is drivingly connected to the slow drive variable frequency motor 3, and the output terminal of the slow drive motor frequency converter 2 is connected to the slow drive variable frequency motor 3; a pressure sensor 62 for detecting the pressure value during the disengagement and engagement processes of the slow drive clutch 61 is connected to the slow drive clutch 61, and the pressure sensor 62 is connected to the control module 11; a braking resistor is provided inside the braking resistor cabinet 5, and the braking resistor is connected to the slow drive motor frequency converter 2; the touch screen 12 communicates with the control module 11.

[0041] In the above embodiments, the control module 11 in the intelligent control cabinet 1 can monitor key parameters such as the rotational speed, torque, current, and operating state of the slow drive variable-frequency motor 3 by communicating with the slow drive motor frequency converter 2 and the slow drive motor encoder 4, perform precise positioning and angular control on the slow drive variable-frequency motor 3, and eliminate the need for manual speed regulation. When aligning the gears, a jogging speed dedicated to gear alignment is set. During the gear alignment process, the operator can immediately stop the motor when observing that the angle is appropriate. The relatively low gear alignment speed leaves sufficient reaction time for the operator, thus avoiding the phenomenon of excessive rotation of the clutch. When disengaging the gears, by continuously monitoring the counter torque output by the frequency converter, calculating the rotation angle value of the mill through internal calculations, and controlling the slow descent of the center of gravity of the mill through energy consumption braking, the self-balanced shutdown of the mill and one-key gear disengagement are ultimately achieved. This facilitates the realization of functions such as automatic balanced shutdown of the mill and one-key gear disengagement, is convenient to operate, reduces the maintenance shutdown time, and lowers the production and maintenance costs. The touch screen 12 can display the disengaged or engaged position of the clutch, the operating state, operating parameters, and brake state of the slow drive variable-frequency motor 3, alarm and fault information, and can also display the operation data trend chart and store relevant data. Relevant parameters can be queried, set, and modified on the touch screen 12. The braking resistor is connected to the slow drive motor frequency converter and is used to implement the energy consumption braking mode of the mill.

[0042] In some embodiments, as a specific implementation manner of the Profinet protocol communication connection between the PLC controller 11 and the slow drive motor frequency converter 2, a Profinet master station 14 is connected to the control module 11, and a Profinet slave station 7 is connected to the slow drive motor frequency converter 2. The Profinet master station 14 is communicatively connected to the Profinet slave station 7.

[0043] In some embodiments, the output end of the control module 11 is connected to an intermediate relay 16, and the intermediate relay 16 is connected to the clutch hydraulic station 6. The clutch hydraulic station 6 is used to control the moving state of the clutch. By controlling the output state of the output end of the control module 11, the on / off of the intermediate relay 16 is controlled, and the clutch hydraulic station 6 is indirectly controlled, thereby realizing the state control of the hydraulic clutch.

[0044] In some embodiments, the single slow drive device control system of the mill further includes a remote control device 8. A remote control receiving device 15 is connected to the control module 11. The remote control receiving device 15 is matched with the remote control device 8, and the single slow drive device control system of the mill can be remotely controlled through the remote control device 8.

[0045] In some embodiments, the control module 11 is a PLC control module.

[0046] In some embodiments, a network switch 13 is connected to the control module 11, and through the network switch 13, communication can be carried out between the single slow drive device control system of the mill and external devices.

[0047] In some embodiments, an InCS intelligent control method for a single slow drive device of a mill is disclosed.

[0048] The InCS intelligent control method for a single slow drive device of a mill includes a balanced parking control method, and the balanced parking control method includes the following steps:

[0049] S1. Define the balance interval range of the mill according to the mill specifications and simulation tests;

[0050] S2. According to different conditions of the mill load from 10% to 100%, monitor and count the torque value sets within the corresponding balance interval range of the mill under different load conditions;

[0051] S3. According to the torque value sets obtained in step S2, use the minimum value function to calculate the minimum torque thresholds within the balance interval range under different load conditions respectively;

[0052] S4. Repeat step S2 and step S3, and use the same method to calculate at least ten groups of minimum torque thresholds within the balance interval range under different load conditions, and take the average value as the minimum torque threshold under the corresponding load condition;

[0053] S5. Take the minimum torque thresholds within the balance interval range under different load conditions as the torque setting values under the corresponding load conditions;

[0054] S6. Compare by obtaining the torque of the slow drive frequency conversion motor with the torque setting value under the corresponding load condition. When the torque of the obtained slow drive frequency conversion motor is less than or equal to the torque setting value under the corresponding load condition, it is regarded as reaching the lowest point of the mill, and balanced parking at the lowest point of the mill is achieved.

[0055] As a specific implementation manner of the balance parking control method in the InCS intelligent control method of the above-mentioned single slow drive device of the mill, in step S2, under the conditions of 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, and 100% loads of the mill, the torque value sets within the corresponding balance intervals of the mill under different load conditions are monitored and statistically obtained. The 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, and 100% loads of the mill correspond to torque value sets A1, torque value set A2, torque value set A3, torque value set A4, torque value set A5, torque value set A6, torque value set A7, torque value set A8, torque value set A9, and torque value set A10; in step S3, according to the torque value sets A1 - A10, the minimum torque thresholds x1 - x within the balance intervals under different load conditions are respectively calculated using the minimum value function. 10 ; in step S4, repeat the above steps S2 and S3, and use the same method to calculate the minimum torque thresholds x1 - x within the balance intervals corresponding to ten groups of 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, and 100% loads of the mill. 10 Take the average value to obtain 1 - 10 .

[0056] In some embodiments, when the mill stops at the lowest point in the ideal state, the center of gravity of the material in the mill cylinder is at the lowest point. At this time, the control module sends a tooth disengaging command to the clutch hydraulic station to successfully complete tooth disengagement; during actual operation, the mill often stops at a point higher or lower than the lowest point in the ideal state. The torque of the material in the cylinder acts on the gear of the slow drive clutch 61, increasing the friction between the gears and making tooth disengagement difficult. To solve this technical problem, in this embodiment, an InCS intelligent control method for a single slow drive device of the mill is proposed, including a tooth disengagement control method.

[0057] The above tooth disengagement control method includes the following steps:

[0058] S1, adopt the balance parking control method to achieve the lowest point balance parking of the mill;

[0059] S2, detect the pressure value F required for the slow drive clutch to disengage the teeth, and calculate the rotation angle α corresponding to the rotation of one tooth width distance of the tooth width of the slow drive clutch of the mill within the minimum balance interval according to the tooth width of the slow drive clutch;

[0060] S3, obtain the pressure values during the meshing and disengagement of the gears in the slow drive clutch through a pressure sensor;

[0061] S4, the control module sends a tooth disengaging command to the clutch hydraulic station. If the teeth are disengaged, the tooth disengaging process is completed; if the teeth are not disengaged, step S5 is executed;

[0062] S5, the slow drive frequency conversion motor drives the slow drive clutch to rotate forward by α, and then the control module sends a tooth disengaging command to the clutch hydraulic station. If the teeth are disengaged, the tooth disengaging is completed; if the teeth are not disengaged and the pressure value in the slow drive clutch is greater than the pressure value F at this time, step S6 is executed;

[0063] S6, the slow drive frequency conversion motor drives the slow drive clutch to rotate backward by 2α, and then the control module sends a tooth disengaging command to the clutch hydraulic station;

[0064] The pressure value F required for the slow drive clutch to disengage the teeth can be obtained through a limited number of tests during the debugging process. The pressure value F required for the slow drive clutch to disengage the teeth is a fixed value, but there may be differences in the pressure value F required for the slow drive clutch to disengage the teeth of different specifications of the clutch hydraulic station 6 or different specifications of the mill.

[0065] So far, the embodiments of the present invention have been described in detail. In order to avoid obscuring the concept of the present invention, some details known in the art are not described. Those skilled in the art can fully understand how to implement the technical solutions disclosed here based on the above description.

[0066] The above-described embodiments only represent some implementation manners of the present invention. Their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the invention patent should be subject to the appended claims.

Claims

1. A control system for a single slow drive device of a mill, characterized in that: Including touch screen, slow drive variable frequency motor, slow drive motor inverter, slow drive motor encoder, intelligent control cabinet, brake resistor cabinet, slow drive clutch and clutch hydraulic station; The intelligent control cabinet includes a control module, the slow-drive motor inverter is connected to the control module by using the Profinet protocol, the slow-drive motor encoder is connected to the high-speed pulse input end of the control module, the output end of the control module is connected to the clutch hydraulic station, and the clutch hydraulic station receives the control signal output by the control module to control the action of the slow-drive clutch; The slow-drive motor encoder is drivingly connected to the slow-drive variable-frequency motor, and the output end of the slow-drive motor frequency converter is connected to the slow-drive variable-frequency motor; The slow-drive clutch is connected to a pressure sensor for detecting the pressure value during its disengagement and engagement process, and the pressure sensor is connected to the control module; The braking resistor cabinet is provided with a braking resistor inside, and the braking resistor is connected to the slow-drive motor frequency converter; The touch screen is communicatively connected with the control module.

2. The control system of the single slow drive device of the mill according to claim 1, characterized in that: The control module is connected to a Profinet master station, the slow-drive motor frequency converter is connected to a Profinet slave station, and the Profinet master station is in communication connection with the Profinet slave station.

3. The control system of the single slow drive device of the mill according to claim 1, characterized in that: An output end of the control module is connected to an intermediate relay, and the intermediate relay is connected to the clutch hydraulic station.

4. The control system of the single slow drive device of the mill according to claim 1, characterized in that: It also includes a remote control device. The control module is connected to a remote control receiving device, and the remote control receiving device matches the remote control device.

5. The control system of the single slow drive device of the mill according to claim 1, characterized in that: The control module is a PLC control module.

6. The control system of the single slow drive device of the mill according to claim 1, characterized in that: The control module is connected with a network switch.

7. An InCS intelligent control method for a single slow drive device of a mill, characterized in that, The invention comprises a control system for a single slow drive device of a grinding mill and a balanced parking control method according to any one of claims 1 to 6, wherein the balanced parking control method comprises the following steps: S1, defines the balance range of the mill according to mill specifications and simulation tests; S2, according to different conditions of mill load from 10% to 100%, monitor and count the torque value sets within the mill balance range corresponding to different load conditions; S3, according to the torque value set obtained in step S2, using the minimum value function to calculate the minimum torque threshold within the balance interval under different load conditions; S4, repeating step S2 and step S3, using the same method to calculate the minimum torque threshold within the balance range under at least ten groups of different load conditions, and taking the average value as the minimum torque threshold under the corresponding load condition; S5, taking the minimum torque threshold within the balance interval under different load conditions as the torque setting value under the corresponding load condition; S6, by obtaining the torque of the slow-drive variable frequency motor and comparing it with the torque setting value under the corresponding load condition, when the obtained torque of the slow-drive variable frequency motor is less than or equal to the torque setting value under the corresponding load condition, it is regarded as reaching the lowest point of the mill, and the mill is stopped in a balanced manner at the lowest point.

8. The InCS intelligent control method for the single slow drive device of the mill according to claim 7, characterized in that, The invention comprises a tooth removal control method, wherein the tooth removal control method comprises the following steps: S1, using the balanced parking control method to achieve balanced parking at the lowest point of the mill; S2. Detect the pressure value F required for the slow drive clutch to disengage its teeth, and calculate the rotation angle α corresponding to the rotation of one tooth width distance of the slow drive clutch of the mill in the minimum balance interval according to the tooth width of the slow drive clutch. S3. Obtain the pressure values during the gear meshing and disengagement processes in the slow drive clutch through a pressure sensor. S4. The control module sends a tooth disengagement command to the clutch hydraulic station. If the teeth are disengaged, the tooth disengagement process is completed; if the teeth are not disengaged, step S5 is executed. S5. The slow drive frequency conversion motor drives the slow drive clutch to rotate forward by α, and then the control module sends a tooth disengagement command to the clutch hydraulic station. If the teeth are disengaged, the tooth disengagement is completed; if the teeth are not disengaged and the pressure value in the slow drive clutch at this time is greater than the pressure value F, step S6 is executed. S6. The slow drive frequency conversion motor drives the slow drive clutch to rotate backward by 2α, and then the control module sends a tooth disengagement command to the clutch hydraulic station.

9. The InCS intelligent control method for the single slow drive device of the mill according to claim 7, characterized in that, In S4, repeat step S2 and step S3, and use the same method to calculate the minimum torque thresholds within the balance interval under ten different load conditions.

Images