A method, device, and storage medium for material spacing control in a belt conveyor system.

Abstract

This invention discloses a material interval control method, device, and storage medium in a belt conveyor system, belonging to the field of industrial automation technology. The method includes: responding to the detection that an initial interval is less than a given interval, calculating the unit input displacement of the current belt; if the maximum allowable input of the motor corresponding to the current belt can make the material interval greater than the given interval, then calculating the control input of the current motor; otherwise, using the maximum allowable input as the control input and sending the control input to the current motor for speed control; responding to the detection that an initial interval is not less than the given interval, calculating an adjustment value for the material interval, calculating the unit input displacement of the current belt, if the adjustment value is less than half of the given interval, then calculating the control input of the current motor and sending it to the current motor for deceleration control; otherwise, calculating the control input and sending it to the current motor for speed control; and performing speed control on all motors according to the belt conveying sequence. This invention can improve the accuracy of material interval control.

Description

Technical Field

[0001] This invention relates to a method, device, and storage medium for controlling material spacing in a belt conveyor system, belonging to the field of industrial automation technology. Background Technology

[0002] Belt conveyors are a widely used material transport method in industrial production. With their advantages of economy, convenience, and efficiency, belt conveyors have become the most common mode of incoming material transport in industrial production. In actual production, the conveyor speed of the belt can be adjusted according to demand, and the structure of the belt conveyor can be flexibly adjusted and combined to provide stable and efficient materials for various production lines. With the increasing level of factory intelligence, the use of intelligent production units (robots, robotic arms, etc.) places high demands on the efficiency and performance of material transport. Typical intelligent production units require materials to enter at fixed intervals and can accept high-speed feeding to improve production efficiency. Traditional belt conveyors, which stack materials at one end of the belt and manually add them, are no longer suitable for the requirements of modern intelligent factories due to their reliance on manual labor, low efficiency, slow feeding, and inability to guarantee accurate material spacing.

[0003] To achieve intelligent upgrades in factories, the development of belt conveyor systems for automatic material separation is imperative. For such belt conveyor systems, the control method is both the key and the challenge in ensuring accurate and effective automatic separation. However, existing research largely focuses on control methods for belt conveyor systems under load, lacking effective methods for controlling belt conveyor systems used for automatic material separation, thus hindering accurate control of material spacing. Summary of the Invention

[0004] The purpose of this invention is to provide a material spacing control method, device, and storage medium in a belt conveyor system, thereby solving the problem of low accuracy in material spacing control in the prior art.

[0005] To achieve the above objectives, the present invention employs the following technical solution:

[0006] In a first aspect, the present invention provides a method for controlling material spacing in a belt conveyor system, comprising:

[0007] In response to the detection that the initial interval of the material is less than the given interval, the unit input displacement of the current belt is calculated based on the motor belt speed loop control model of the belt system according to the initial interval. If the maximum allowable input of the motor corresponding to the current belt can make the material interval greater than the given interval, the control input of the motor corresponding to the current belt is calculated based on the unit input displacement; otherwise, the maximum allowable input is used as the control input and the control input is sent to the motor corresponding to the current belt for speed control.

[0008] In response to the detection that the initial interval of the material is not less than the given interval, the adjustment value required for the material interval is calculated. Based on the adjustment value, the unit input displacement of the current belt is calculated based on the motor belt speed loop control model of the belt system. If the adjustment value is less than half of the given interval, the control input of the motor corresponding to the current belt is calculated based on the adjustment value and the unit input displacement and sent to the motor corresponding to the current belt for deceleration control. Otherwise, the control input is calculated based on the given interval, the adjustment value and the unit input displacement and sent to the motor corresponding to the current belt for speed-up control.

[0009] The above control steps are executed on all motors corresponding to the belts in the belt conveying sequence until all motors have completed speed control, thereby achieving material interval control.

[0010] Furthermore, the initial speed of each of the belts is consistent with that of the incoming conveyor belt.

[0011] Furthermore, based on the initial interval, the unit input displacement of the current belt is calculated using the motor belt speed loop control model of the belt system, and calculated using formulas (3) and (2):

[0012]

[0013] t s =D / (V) in *twenty two)

[0014] Among them, D s It is a unit input displacement, t s The belt can be used for adjustment, T is the time constant in the motor belt speed loop control model, e is the natural constant, D is the initial interval, and V is the time constant. in It refers to the speed of the incoming material conveyor belt;

[0015] The unit input displacement of the belt is calculated based on the adjustment value and the motor belt speed loop control model of the belt system, using formulas (3) and (9):

[0016] t s =D mod / (2×V in (9)

[0017] Among them, D mod It is an adjustment value.

[0018] Furthermore, whether the maximum allowable input of the motor corresponding to the current belt can make the material interval greater than the given interval is true or false is determined by formula (4):

[0019] D s ×V cd_max ×2+D>D req (4)

[0020] If formula (4) is true, then the maximum allowable input of the motor corresponding to the current belt can make the material interval greater than the given interval; otherwise, the maximum allowable input of the motor corresponding to the current belt cannot make the material interval greater than the given interval.

[0021] Among them, V cd_max It is the maximum allowed input, D req It is a given interval.

[0022] Furthermore, the control input of the motor corresponding to the current belt is calculated based on the unit input displacement using formula (5):

[0023] V cd =(D req -D) / (2×D s (5)

[0024] Among them, V cd It controls the input.

[0025] Furthermore, the adjustment value required for calculating the material interval is calculated using formula (8):

[0026] D mod =DmodD req (8)

[0027] Here, mod represents the modulo operation.

[0028] Furthermore, the control input of the motor corresponding to the current belt is calculated based on the adjustment value and the unit input displacement, using formulas (11) and (12):

[0029] V cd =-D mod / (2×D s (11);

[0030] If the control input calculated according to formula (11) satisfies the formula |V cd |>V in Then the control input will be adjusted according to formula (12):

[0031] V cd =-V in (12);

[0032] The control input is calculated based on the given interval, adjustment value, and unit input displacement, using formula (13):

[0033] V cd =(D req -D mod ) / (D s *2) (13);

[0034] If the control input calculated according to formula (13) satisfies the formula |V cd |>V cd_max Then the control input will be adjusted according to formula (14):

[0035] V cd =V cd_max (14).

[0036] Furthermore, after the motor completes speed control, the calculation method for the material interval includes:

[0037] If the initial interval is less than the given interval, and the maximum allowable input of the motor corresponding to the current belt can make the material interval greater than the given interval, then the calculation is performed using formula (15):

[0038] D′=D req (15)

[0039] If the initial interval is less than the given interval, and the maximum allowable input of the motor corresponding to the current belt cannot make the material interval greater than the given interval, then the calculation is performed using formula (16):

[0040] D′=V cd ×D s ×2+D (16)

[0041] If the initial interval is not less than the given interval, and the adjustment value is less than half of the given interval, then the calculation is performed using formula (17):

[0042]

[0043] If the initial interval is not less than the given interval, and the adjustment value is not less than half of the given interval, then the calculation is performed using formula (18):

[0044]

[0045] Where D′ is the material interval after the motor completes speed regulation control, and N mod It is the number of elements in the initial interval that contain the given interval and are rounded down.

[0046] Secondly, the present invention also provides a material spacing control device for a belt conveyor system, comprising:

[0047] The first speed control module is configured to: respond to the detection that the initial interval of the material is less than the given interval, calculate the unit input displacement of the current belt based on the motor belt speed loop control model of the belt system according to the initial interval; if the maximum allowable input of the motor corresponding to the current belt can make the material interval greater than the given interval, calculate the control input of the motor corresponding to the current belt according to the unit input displacement; otherwise, use the maximum allowable input as the control input and send the control input to the motor corresponding to the current belt for speed control.

[0048] The second speed control module is configured to: in response to detecting that the initial interval of the material is not less than a given interval, calculate the adjustment value required for the material interval; based on the adjustment value, calculate the unit input displacement of the current belt based on the motor belt speed loop control model of the belt system; if the adjustment value is less than half of the given interval, calculate the control input of the motor corresponding to the current belt based on the adjustment value and the unit input displacement and send it to the motor corresponding to the current belt for deceleration control; otherwise, calculate the control input based on the given interval, the adjustment value and the unit input displacement and send it to the motor corresponding to the current belt for speed increase control.

[0049] The material interval control module is configured to execute the above control steps for all motors corresponding to the belts in the belt conveying sequence until all motors have completed speed regulation control, thereby realizing material interval control.

[0050] Thirdly, the present invention also provides a computer-readable storage medium having a computer program / instructions stored thereon, which, when executed by a processor, implements the steps of the material spacing control method in any of the belt systems described in the first aspect.

[0051] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0052] The present invention provides a material spacing control method, device and storage medium in a belt system. It only needs to obtain an initial spacing to complete the automatic separation of materials through the set control logic, so as to achieve accurate control of the material spacing. It does not require too many sensing devices, making the entire belt system simpler and more economical. The dynamic characteristics of the belt system are fully considered in the control process. Specifically, the dynamic characteristics of the motor belt speed loop control model are fully considered, so the system works more smoothly.

[0053] Furthermore, since the initial speed of each belt is consistent with that of the incoming material conveyor belt, the material conveying speed is not changed after control is completed, making it easy to integrate into existing production systems without altering the production rhythm of the existing systems. Attached Figure Description

[0054] Figure 1 This is a flowchart of a material spacing control method in a belt conveyor system provided by an embodiment of the present invention;

[0055] Figure 2 This is a schematic diagram of the belt system provided in an embodiment of the present invention;

[0056] Figure 3 This is a schematic diagram of the initial interval of materials provided in an embodiment of the present invention;

[0057] Figure 4 This is a schematic diagram of the material spacing after the material passes through the first conveyor belt, provided in an embodiment of the present invention;

[0058] Figure 5 This is a schematic diagram of the material spacing after the material passes through the second conveyor belt, provided in an embodiment of the present invention;

[0059] Figure 6 This is a schematic diagram of the material spacing after the material passes through the third conveyor belt, provided in an embodiment of the present invention.

[0060] Figure 7 This is a schematic diagram of the speed distribution of the first belt provided in an embodiment of the present invention;

[0061] Figure 8 This is a schematic diagram of the speed distribution of the second belt provided in an embodiment of the present invention;

[0062] Figure 9 This is a schematic diagram of the speed distribution of the third belt provided in an embodiment of the present invention. Detailed Implementation

[0063] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to illustrate the technical solution of the present invention more clearly, and should not be used to limit the scope of protection of the present invention.

[0064] Example 1

[0065] This invention provides a method for controlling material spacing in a belt conveyor system, comprising:

[0066] S1. In response to the detection that the initial interval of the material is less than the given interval, the unit input displacement of the current belt is calculated based on the motor speed loop control model of the belt system according to the initial interval. If the maximum allowable input of the motor corresponding to the current belt can make the material interval greater than the given interval, the control input of the motor corresponding to the current belt is calculated based on the unit input displacement. Otherwise, the maximum allowable input is used as the control input and the control input is sent to the motor corresponding to the current belt for speed control.

[0067] Among them, based on the initial interval, the unit input displacement of the current belt is calculated using the motor belt speed loop control model of the belt system, and is calculated using formulas (3) and (2):

[0068]

[0069] t s =D / (V) in *twenty two)

[0070] Among them, D s It is a unit input displacement, t s The belt can be used for adjustment, T is the time constant in the motor belt speed loop control model, e is the natural constant, D is the initial interval, and V is the time constant. in It refers to the speed of the incoming material conveyor belt.

[0071] The maximum allowable input of the motor corresponding to the current belt can make the material interval greater than the given interval. Whether this condition is met is determined by formula (4):

[0072] D s ×V cd_max ×2+D>D req (4)

[0073] If formula (4) is true, then the maximum allowable input of the motor corresponding to the current belt can make the material interval greater than the given interval; otherwise, the maximum allowable input of the motor corresponding to the current belt cannot make the material interval greater than the given interval.

[0074] Among them, V cd_max It is the maximum allowed input, D req It is a given interval.

[0075] Among them, the control input of the motor corresponding to the current belt is calculated based on the unit input displacement, and is calculated by formula (5):

[0076] V cd =(D req -D) / (2×D s (5)

[0077] Among them, V cd It controls the input.

[0078] S2. In response to the detection that the initial interval of the material is not less than the given interval, calculate the adjustment value required for the material interval. Based on the adjustment value, calculate the unit input displacement of the current belt based on the motor belt speed loop control model of the belt system. If the adjustment value is less than half of the given interval, calculate the control input of the motor corresponding to the current belt based on the adjustment value and the unit input displacement and send it to the motor corresponding to the current belt for deceleration control. Otherwise, calculate the control input based on the given interval, the adjustment value and the unit input displacement and send it to the motor corresponding to the current belt for speed-up control.

[0079] Among them, based on the adjustment value, the unit input displacement of the current belt is calculated using the motor belt speed loop control model of the belt system, and is calculated using formulas (3) and (9):

[0080] t s =D mod / (2×V in (9)

[0081] Among them, D mod It is an adjustment value.

[0082] The required adjustment value for the material interval is calculated using formula (8):

[0083] D mod =DmodD req (8)

[0084] Here, mod represents the modulo operation.

[0085] The control input of the motor corresponding to the current belt is calculated based on the adjustment value and the unit input displacement, using formulas (11) and (12):

[0086] V cd =-D mod / (2×D s (11);

[0087] If the control input calculated according to formula (11) satisfies the formula |V cd |>V in Then the control input will be adjusted according to formula (12):

[0088] V cd =-V in (12).

[0089] The control input is calculated based on the given interval, adjustment value, and unit input displacement, using formula (13):

[0090] V cd =(D req -D mod ) / (D s *2) (13);

[0091] If the control input calculated according to formula (13) satisfies the formula |V cd |>V cd_max Then the control input will be adjusted according to formula (14):

[0092] V cd =V cd_max (14).

[0093] S3. Perform the above control steps on all motors corresponding to the belts in the belt conveying sequence until all motors have completed speed control and material interval control is achieved.

[0094] After the motor completes speed control, the calculation method for the material interval includes:

[0095] If the initial interval is less than the given interval, and the maximum allowable input of the motor corresponding to the current belt can make the material interval greater than the given interval, then the calculation is performed using formula (15):

[0096] D′=D req (15)

[0097] If the initial interval is less than the given interval, and the maximum allowable input of the motor corresponding to the current belt cannot make the material interval greater than the given interval, then the calculation is performed using formula (16):

[0098] D′=V cd ×D s ×2+D (16)

[0099] If the initial interval is not less than the given interval, and the adjustment value is less than half of the given interval, then the calculation is performed using formula (17):

[0100]

[0101] If the initial interval is not less than the given interval, and the adjustment value is not less than half of the given interval, then the calculation is performed using formula (18):

[0102]

[0103] Where D′ is the material interval after the motor completes speed regulation control, and N mod It is the number of elements in the initial interval that contain the given interval and are rounded down.

[0104] Example 2

[0105] like Figure 1 As shown, the present invention provides a material spacing control method in a belt conveyor system, comprising:

[0106] Step (1): If the speed of the incoming material conveyor belt is V in To ensure that the material conveying speed after the belt system interval adjustment is consistent with the incoming material conveyor belt, the initial speeds of the first, second, and third control belts are set to be equal to the speed V of the incoming material conveyor belt. in .

[0107] Step (2): Use sensors (laser, vision, etc.) to detect the material spacing passing through the sensors. Assuming the initial spacing of the detected material is D, obtain the initial spacing.

[0108] Step (3): Determine whether the initial interval of the materials is less than the given interval D.req .

[0109] Step (iv): If the initial interval of the material is less than the given interval, calculate the unit input displacement of the current belt: Assuming that the motor belt speed loop control is used, the mathematical model of the motor-controlled belt system (motor belt speed loop control model) satisfies the dynamic model shown in formula (1).

[0110]

[0111] In the formula, T is the time constant of the system mathematical model, and V i It is the speed control input, V o This is the actual speed of the belt system. Based on this, the current unit input displacement of the belt, that is, the belt displacement under unit speed input, is calculated according to formulas (2) and (3).

[0112] t s =D / (2×V) in (2)

[0113]

[0114] Among them, t s It is the time that the belt can be used to adjust, D s It is the displacement of the belt under unit control input, i.e., unit input displacement.

[0115] Step (5): Determine whether the maximum permissible input of the belt system can make the material interval greater than the given interval. Assume that the maximum speed control input of the belt system (i.e., the maximum permissible input) is V. cd_max Then it is necessary to determine whether formula (4) is true.

[0116] D s ×V cd_max ×2+D>D req (4)

[0117] Step (6): If the maximum allowable input command can make the material interval greater than the given interval, then calculate the current belt control input according to formula (5).

[0118] V cd =(D req -D) / (2×D s (5)

[0119] Step (7): If the maximum allowable input command cannot make the material interval greater than the given interval, then the maximum allowable input command shall be used as the motor input.

[0120] V cd =V cd_max (6)

[0121] Step (8): Let the distance between the sensor and the starting end of the first control belt be S. At time t... in =S / V in After (i.e., after the first piece of material in the measured interval reaches the first control belt), the control input V is changed. cd The input signal is given to the motor for speed control. The input method is: input control signal V. cd (lasting t) s (seconds), then input control signal -V cd (lasting t) s Second).

[0122] Step (ix): If the initial interval of the material is not less than the given interval, calculate the size of the material interval adjustment (adjustment value) according to formula (7) and formula (8).

[0123] N mod =floor(D / D) req (7)

[0124] D mod =DmodD req (8)

[0125] In the formula, floor represents flooring down, and mod represents modulo. N mod D represents the number of elements in the initial interval that are a given interval and rounded down. mod The size (adjustment value) that the material interval needs to be adjusted.

[0126] Step (10): Calculate the unit input displacement of the current belt according to formula (9) and formula (3).

[0127] t s =D mod / (2×V in (9)

[0128]

[0129] Step (11): Determine whether the adjustment value to be considered for the material interval is less than half of the given interval. The determination method is shown in Formula (10). If Formula (10) is true, then the time adjustment amount to be considered for the material is less than half of the given interval.

[0130] D mod <D req / 2 (10)

[0131] Step (12): If the adjustment value to be considered for the material interval is less than half of the given interval, calculate the control input of the motor of the current belt according to formula (11).

[0132] V cd =-D mod / (2×D s (11)

[0133] In the formula, V cd It is the control input for the motor of the current belt.

[0134] If V is calculated according to formula (11) cd The amplitude is greater than the speed of the incoming conveyor belt, i.e., |V cd |>V in Then the control input of the motor of the current belt is adjusted according to formula (12).

[0135] V cd =-V in (12)

[0136] Then the control input V cd The input signal is given to the motor conveyor belt for speed reduction control. The input method is: input control signal V. cd (lasting t) s (seconds), then input control signal -V cd (lasting t) s Second).

[0137] Step (13): If the adjustment value to be considered for the material interval is not less than half of the given interval, calculate the control input of the motor of the current belt according to formula (13).

[0138] V cd =(D req -D mod ) / (2×D s (13)

[0139] In the formula, V cd This is the current motor control input for the belt.

[0140] If V is calculated according to formula (13) cd The amplitude is greater than the maximum allowed input, i.e., |V cd |>V cd_max Then the control input of the motor of the current belt is adjusted according to formula (14).

[0141] V cd =V cd_max (14)

[0142] Then the control input V cd The input signal is given to the motor conveyor belt for speed reduction control. The input method is: input control signal V. cd (lasting t) s (seconds), then input control signal -V cd(lasting t) s Second).

[0143] Step (XIV) Calculate the material interval D′ after motor speed adjustment. The calculation method is as follows:

[0144] (a) If the initial material spacing is less than the given spacing, and the maximum allowable input of the belt system allows the material spacing to be greater than the given spacing, then:

[0145] D′=D req (15)

[0146] (b) If the initial material spacing is less than the given spacing, and the maximum permissible input of the belt system cannot make the material spacing greater than the given spacing, then:

[0147] D′=V cd ×D s ×2+D (16)

[0148] (c) If the initial interval of the material is not less than the given interval, and the adjustment value to be considered for the material interval is less than half of the given interval, then:

[0149]

[0150] (d) If the initial interval of the material is not less than the given interval, and the adjustment value to be considered for the material interval is not less than half of the given interval, then:

[0151]

[0152] Step (15): Determine if the current belt is the last belt. If so, end the program; otherwise, proceed to step (3) and restart the above steps on the next belt.

[0153] Example 3

[0154] This invention provides a method for controlling material spacing in a belt conveyor system. By setting parameters of the belt conveyor system, a specific belt conveyor system is generated. The implementation process and effects of this invention are illustrated by describing the operation process and control effects of this system. Figure 2 As shown, assume the system contains three belts (a first control belt, a second control belt, and a third control belt). The initial speed of the three belts is equal to the speed V of the incoming material conveyor belt. in =0.5m / s, the distance S from the sensor to the beginning of the first belt is 0.8m, and the maximum allowable input (maximum allowable speed) V of the motor corresponding to the three belts is... cd_max =4m / s, the time constant of the mathematical model of the three belt conveyor system is the same T = 0.2s, and the given interval D of the material is... req=0.5m. In this embodiment, 101 materials (with 100 material intervals of random size) will be randomly generated and transported sequentially from the incoming conveyor belt to the belt system for automatic separation.

[0155] Step (1): Set the initial speed of the first control belt, the second control belt and the third control belt to be equal to the speed of the incoming material conveyor belt, which is 0.5 m / s.

[0156] Step (2): Use sensors (laser, vision, etc.) to detect the material interval passing through the sensors. Assume that the initial interval of the detected material is D, and obtain the initial interval. In this embodiment, D is a random quantity between 0.05m and 1.15m, that is, the material interval is set to a random quantity between 0.05m and 1.15m.

[0157] Step (3): Determine whether the initial interval of the materials is less than the given interval D. req D req =0.5m.

[0158] Step (iv): If the initial interval of the material is less than the given interval, calculate the unit input displacement of the current belt: Assuming that the motor belt speed loop control is used, the mathematical model of the motor-controlled belt system (motor belt speed loop control model) satisfies the dynamic model shown in formula (1).

[0159]

[0160] In the formula, T is the time constant of the system mathematical model, and V i It is the speed control input, V o This is the actual speed of the belt system. Based on this, the current unit input displacement of the belt, that is, the belt displacement under unit speed input, is calculated according to formulas (2) and (3).

[0161] t s =D / (2×0.5) (2)

[0162]

[0163] Among them, t s It is the time that the belt can be used to adjust, D s It is the displacement of the belt under unit control input, i.e., unit input displacement.

[0164] Step (5): Determine whether the maximum permissible input of the belt system can make the material interval greater than the given interval. Assume that the maximum speed control input of the belt system (i.e., the maximum permissible input) is V. cd_max Then it is necessary to determine whether formula (4) is true.

[0165] 8D s +D>0.5 (4)

[0166] Step (6): If the maximum allowable input command can make the material interval greater than the given interval, then calculate the current belt control input according to formula (5).

[0167] V cd = (0.5-D) / (2×D) s (5)

[0168] Step (7): If the maximum allowable input command cannot make the material interval greater than the given interval, then the maximum allowable input command shall be used as the motor input.

[0169] V cd =4 (6)

[0170] Step (8): Let the distance between the sensor and the starting end of the first control belt be S. At time t... in =S / V in =1.6 after (i.e., after the first piece of material in the measured interval reaches the first control belt), set the control input V. cd The input signal is given to the motor for speed control. The input method is: input control signal V. cd (lasting t) s (seconds), then input control signal -V cd (lasting t) s Second).

[0171] Step (ix): If the initial interval of the material is not less than the given interval, calculate the size of the material interval adjustment (adjustment value) according to formula (7) and formula (8).

[0172] N mod =floor(D / 0.5) (7)

[0173] D mod =Dmod0.5 (8)

[0174] In the formula, floor represents flooring down, and mod represents modulo. N mod D represents the number of elements in the initial interval that are a given interval and rounded down. mod The size (adjustment value) that the material interval needs to be adjusted.

[0175] Step (10): Calculate the unit input displacement of the current belt according to formula (9) and formula (3).

[0176] t s =D mod / (2×0.5) (9)

[0177]

[0178] Step (11): Determine whether the adjustment value to be considered for the material interval is less than half of the given interval. The determination method is shown in Formula (10). If Formula (10) is true, then the time adjustment amount to be considered for the material is less than half of the given interval.

[0179] D mod <0.25 (10)

[0180] Step (12): If the adjustment value to be considered for the material interval is less than half of the given interval, calculate the control input of the motor of the current belt according to formula (11).

[0181] V cd =-D mod / (2×D s (11)

[0182] In the formula, V cd It is the control input for the motor of the current belt.

[0183] If V is calculated according to formula (11) cd The amplitude is greater than the speed of the incoming conveyor belt, i.e., |V cd |>V in Then the control input of the motor of the current belt is adjusted according to formula (12).

[0184] V cd =-0.5 (12)

[0185] Then the control input V cd The input signal is given to the motor conveyor belt for speed reduction control. The input method is: input control signal V. cd (lasting t) s (seconds), then input control signal -V cd (lasting t) s Second).

[0186] Step (13): If the adjustment value to be considered for the material interval is not less than half of the given interval, calculate the control input of the motor of the current belt according to formula (13).

[0187] V cd = (0.5-D mod ) / (2×D s (13)

[0188] In the formula, V cd This is the current motor control input for the belt.

[0189] If V is calculated according to formula (13) cd The amplitude is greater than the maximum allowed input, i.e., |V cdIf |>0.5, then the control input of the motor of the current belt is adjusted according to formula (14).

[0190] V cd =4 (14)

[0191] Then the control input V cd The input signal is given to the motor conveyor belt for speed reduction control. The input method is: input control signal V. cd (lasting t) s (seconds), then input control signal -V cd (lasting t) s Second).

[0192] Step (XIV) Calculate the material interval D′ after motor speed adjustment. The calculation method is as follows:

[0193] (a) If the initial material spacing is less than the given spacing, and the maximum allowable input of the belt system allows the material spacing to be greater than the given spacing, then:

[0194] D′=0.5 (15)

[0195] (b) If the initial material spacing is less than the given spacing, and the maximum permissible input of the belt system cannot make the material spacing greater than the given spacing, then:

[0196] D′=V cd ×D s ×2+D (16)

[0197] (c) If the initial interval of the material is not less than the given interval, and the adjustment value to be considered for the material interval is less than half of the given interval, then:

[0198]

[0199] (d) If the initial interval of the material is not less than the given interval, and the adjustment value to be considered for the material interval is not less than half of the given interval, then:

[0200]

[0201] Step (15): Determine if the current belt is the last belt. If so, end the program; otherwise, proceed to step (3) and restart the above steps on the next belt.

[0202] from Figure 3 , Figure 4 , Figure 5 and Figure 6As can be seen, after gradually adjusting the spacing between materials through three belts, the spacing of the materials finally reached the expected requirement (equal to the given spacing or an integer multiple of the given spacing), which demonstrates the rationality and feasibility of the system designed in this invention. Furthermore, the process is completely executed automatically by the belt system, which is highly efficient and highlights the advantages of this invention.

[0203] Figure 7 , Figure 8 and Figure 9 The speed distributions of the first, second, and third belts are shown respectively. It can be seen that under the control method adopted in this invention, the motor runs smoothly, and the material conveying speed is not changed after the speed of each belt is adjusted. It is easy to integrate into the existing production system without changing the production cycle of the existing system.

[0204] Example 4

[0205] This invention provides a material spacing control device for a belt conveyor system, comprising:

[0206] The first speed control module is configured to: respond to the detection that the initial interval of the material is less than the given interval, calculate the unit input displacement of the current belt based on the motor belt speed loop control model of the belt system according to the initial interval; if the maximum allowable input of the motor corresponding to the current belt can make the material interval greater than the given interval, calculate the control input of the motor corresponding to the current belt according to the unit input displacement; otherwise, use the maximum allowable input as the control input and send the control input to the motor corresponding to the current belt for speed control.

[0207] The second speed control module is configured to: in response to detecting that the initial interval of the material is not less than a given interval, calculate the adjustment value required for the material interval; based on the adjustment value, calculate the unit input displacement of the current belt based on the motor belt speed loop control model of the belt system; if the adjustment value is less than half of the given interval, calculate the control input of the motor corresponding to the current belt based on the adjustment value and the unit input displacement and send it to the motor corresponding to the current belt for deceleration control; otherwise, calculate the control input based on the given interval, the adjustment value and the unit input displacement and send it to the motor corresponding to the current belt for speed increase control.

[0208] The material interval control module is configured to execute the above control steps for all motors corresponding to the belts in the belt conveying sequence until all motors have completed speed regulation control, thereby realizing material interval control.

[0209] Example 5

[0210] This invention provides a computer-readable storage medium storing a computer program / instructions thereon. When executed by a processor, the computer program / instructions implement the steps of the material spacing control method in the belt conveyor system provided in Embodiment 1:

[0211] In response to the detection that the initial interval of the material is less than the given interval, the unit input displacement of the current belt is calculated based on the motor belt speed loop control model of the belt system according to the initial interval. If the maximum allowable input of the motor corresponding to the current belt can make the material interval greater than the given interval, the control input of the motor corresponding to the current belt is calculated based on the unit input displacement; otherwise, the maximum allowable input is used as the control input and the control input is sent to the motor corresponding to the current belt for speed control.

[0212] In response to the detection that the initial interval of the material is not less than the given interval, the adjustment value required for the material interval is calculated. Based on the adjustment value, the unit input displacement of the current belt is calculated based on the motor belt speed loop control model of the belt system. If the adjustment value is less than half of the given interval, the control input of the motor corresponding to the current belt is calculated based on the adjustment value and the unit input displacement and sent to the motor corresponding to the current belt for deceleration control. Otherwise, the control input is calculated based on the given interval, the adjustment value and the unit input displacement and sent to the motor corresponding to the current belt for speed-up control.

[0213] The above control steps are executed on all motors corresponding to the belts in the belt conveying sequence until all motors have completed speed control, thereby achieving material interval control.

[0214] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0215] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0216] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0217] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0218] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for controlling material spacing in a belt conveyor system, characterized in that, include: In response to the detection that the initial interval of the material is less than the given interval, the unit input displacement of the current belt is calculated based on the motor belt speed loop control model of the belt system according to the initial interval. If the maximum allowable input of the motor corresponding to the current belt can make the material interval greater than the given interval, the control input of the motor corresponding to the current belt is calculated based on the unit input displacement; otherwise, the maximum allowable input is used as the control input and the control input is sent to the motor corresponding to the current belt for speed control. In response to the detection that the initial interval of the material is not less than the given interval, the adjustment value required for the material interval is calculated. Based on the adjustment value, the unit input displacement of the current belt is calculated based on the motor belt speed loop control model of the belt system. If the adjustment value is less than half of the given interval, the control input of the motor corresponding to the current belt is calculated based on the adjustment value and the unit input displacement and sent to the motor corresponding to the current belt for deceleration control. Otherwise, the control input is calculated based on the given interval, the adjustment value and the unit input displacement and sent to the motor corresponding to the current belt for speed-up control. The above control steps are executed on all motors corresponding to the belts in the belt conveying sequence until all motors have completed speed control, thereby achieving material interval control.

2. The material spacing control method in a belt conveyor system according to claim 1, characterized in that, The initial speed of each of the belts is consistent with that of the incoming conveyor belt.

3. The material spacing control method in a belt conveyor system according to claim 1, characterized in that, The unit input displacement of the belt is calculated based on the motor belt speed loop control model of the belt system according to the initial interval, using formulas (3) and (2): t s =D / (V in *2) (2) Among them, D s It is a unit input displacement, t s The belt can be used for adjustment, T is the time constant in the motor belt speed loop control model, e is the natural constant, D is the initial interval, and V is the time constant. in It refers to the speed of the incoming material conveyor belt; The unit input displacement of the belt is calculated based on the adjustment value and the motor belt speed loop control model of the belt system, using formulas (3) and (9): t s =D mod / (2×V in ) (9) Among them, D mod It is an adjustment value.

4. The material spacing control method in a belt conveyor system according to claim 3, characterized in that, Whether the maximum allowable input of the motor corresponding to the current belt can make the material interval greater than the given interval is determined by formula (4): D s ×V cd_max ×2+D>D req (4) If formula (4) is true, then the maximum allowable input of the motor corresponding to the current belt can make the material interval greater than the given interval; otherwise, the maximum allowable input of the motor corresponding to the current belt cannot make the material interval greater than the given interval. Among them, V cd_max It is the maximum allowed input, D req It is a given interval.

5. The material spacing control method in a belt conveyor system according to claim 4, characterized in that, The control input of the motor corresponding to the current belt is calculated based on the unit input displacement, and is calculated using formula (5): V cd =(D req -D) / (2×D s ) (5) Among them, V cd It controls the input.

6. The material spacing control method in a belt conveyor system according to claim 5, characterized in that, The adjustment value required for calculating the material interval is calculated using formula (8): D mod =D mod D req (8) Here, mod represents the modulo operation.

7. The material spacing control method in a belt conveyor system according to claim 6, characterized in that, The control input of the motor corresponding to the current belt is calculated based on the adjustment value and the unit input displacement, using formulas (11) and (12): V cd =-D mod / (2×D s ) (11); If the control input calculated according to formula (11) satisfies the formula |V cd |>V in Then the control input will be adjusted according to formula (12): V cd =-V in (12); The control input is calculated based on the given interval, adjustment value, and unit input displacement, using formula (13): V cd =(D req -D mod ) / (D s *2) (13); If the control input calculated according to formula (13) satisfies the formula |V cd |>V cd_max Then the control input will be adjusted according to formula (14): V cd =V cd_max (14)。 8. The material spacing control method in a belt conveyor system according to claim 7, characterized in that, After the motor completes speed control, the calculation method for the material interval includes: If the initial interval is less than the given interval, and the maximum allowable input of the motor corresponding to the current belt can make the material interval greater than the given interval, then the calculation is performed using formula (15): D′=D req (15) If the initial interval is less than the given interval, and the maximum allowable input of the motor corresponding to the current belt cannot make the material interval greater than the given interval, then the calculation is performed using formula (16): D′=V cd ×D s ×2+D (16) If the initial interval is not less than the given interval, and the adjustment value is less than half of the given interval, then the calculation is performed using formula (17): If the initial interval is not less than the given interval, and the adjustment value is not less than half of the given interval, then the calculation is performed using formula (18): Where D′ is the material interval after the motor completes speed regulation control, and N mod It is the number of elements in the initial interval that contain the given interval and are rounded down.

9. A material spacing control device for a belt conveyor system, characterized in that, include: The first speed control module is configured to: respond to the detection that the initial interval of the material is less than the given interval, calculate the unit input displacement of the current belt based on the motor belt speed loop control model of the belt system according to the initial interval; if the maximum allowable input of the motor corresponding to the current belt can make the material interval greater than the given interval, calculate the control input of the motor corresponding to the current belt according to the unit input displacement; otherwise, use the maximum allowable input as the control input and send the control input to the motor corresponding to the current belt for speed control. The second speed control module is configured to: in response to detecting that the initial interval of the material is not less than a given interval, calculate the adjustment value required for the material interval; based on the adjustment value, calculate the unit input displacement of the current belt based on the motor belt speed loop control model of the belt system; if the adjustment value is less than half of the given interval, calculate the control input of the motor corresponding to the current belt based on the adjustment value and the unit input displacement and send it to the motor corresponding to the current belt for deceleration control; otherwise, calculate the control input based on the given interval, the adjustment value and the unit input displacement and send it to the motor corresponding to the current belt for speed increase control. The material interval control module is configured to execute the above control steps for all motors corresponding to the belts in the belt conveying sequence until all motors have completed speed regulation control, thereby realizing material interval control.

10. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instruction is executed by the processor, it implements the steps of the material spacing control method in the belt system according to any one of claims 1-8.

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