Integrated multi-axial flux motor mine jaw crusher and control method

Abstract

The present application relates to the technical field of ore and construction waste crushing, and particularly relates to a mine jaw crusher integrated with a multi-axial magnetic flux motor and a control method, which comprises a driving unit, a driving assembly, and an auxiliary assembly arranged outside the driving assembly; a crushing unit, a crushing assembly arranged on one side of the driving assembly, and a protection assembly arranged on one side of the crushing assembly. The present application has the beneficial effect that the continuous rotation of the flywheels and eccentric wheels on both sides driven by the integrated multi-axial magnetic flux motor enables the periodic movement of the two moving jaws at the same time, and the material is crushed. Compared with a single-moving-jaw crusher, the material can be more efficiently crushed and discharged, which not only improves the crushing efficiency, but also ensures the stability and durability of the equipment, and improves the energy utilization rate and overall performance through the integrated multi-axial magnetic flux motor. The upper side guard plate, the middle side guard plate and the lower side guard plate are used for protecting the key components inside the crusher, reducing the damage to the machine caused by material abrasion.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ore and construction waste crushing, and particularly relates to a mining jaw crusher integrated with a multi-axial magnetic flux motor and a control method. BACKGROUND

[0002] The currently used jaw crusher is mainly a single-acting jaw design, that is, one fixed jaw plate and one moving jaw plate. Although this design is simple in structure, it has some limitations in crushing efficiency and energy consumption management. Among them, in the crushing process of the traditional single-acting jaw crusher, the material is mainly crushed by the reciprocating movement of one moving jaw plate, which limits the crushing area and crushing force, resulting in relatively low crushing efficiency. And because the single-acting jaw design needs a larger force to crush the material, it increases the energy consumption of the equipment, and at the same time, the single-acting jaw crusher may generate a large vibration and noise during the crushing process, affecting the running stability of the equipment, and the adaptability is also poor when processing materials of different hardness and size. If a double-acting jaw crusher is designed, the existing single-motor control method is no longer suitable, and the control and transmission power of the two moving jaws cannot be completely matched with the double-acting jaw crusher. SUMMARY

[0003] In view of the above or the problems existing in the prior art, the present application is proposed.

[0004] Therefore, the purpose of the present application is to provide a mining jaw crusher integrated with a multi-axial magnetic flux motor, which can improve the structure of the existing jaw crusher, increase the crushing capacity of the material, improve the crushing efficiency, and increase the running stability of the machine.

[0005] To solve the above technical problems, the present application provides the following technical scheme: a mining jaw crusher integrated with a multi-axial magnetic flux motor, comprising a driving unit, comprising a driving assembly, and an auxiliary assembly arranged on the outer side of the driving assembly;

[0006] A crushing unit comprising a crushing assembly arranged on one side of the driving assembly, and a protection assembly arranged on one side of the crushing assembly.

[0007] As a preferred scheme of the mining jaw crusher integrated with a multi-axial magnetic flux motor of the present application, wherein: the driving assembly comprises a multi-axial magnetic flux motor, a flywheel arranged on one side of the multi-axial magnetic flux motor, and an eccentric wheel fixedly connected with the flywheel.

[0008] As a preferred scheme of the mining jaw crusher integrated with a multi-axial magnetic flux motor of the present application, wherein: the auxiliary assembly comprises a rack body arranged on the lower side of the flywheel, a slide rail arranged on one side of the rack body, an adjusting seat in sliding connection with the slide rail, a thrust plate hinged to the adjusting seat, and a protection spring arranged on the lower side of the adjusting seat.

[0009] As a preferred scheme of the mining jaw crusher integrated with the multi-axial magnetic flux motor, the crushing assembly comprises a jaw body arranged outside the eccentric wheel, a movable jaw arranged on one side of the jaw body, and a movable jaw liner arranged between the movable jaw and the jaw body.

[0010] As a preferred scheme of the mining jaw crusher integrated with the multi-axial magnetic flux motor, the protection assembly comprises an upper edge protection plate arranged on both sides of the jaw body, a middle edge protection plate arranged on the lower side of the upper edge protection plate, and a lower edge protection plate arranged on the lower side of the middle edge protection plate.

[0011] As a preferred scheme of the mining jaw crusher integrated with the multi-axial magnetic flux motor, the flywheel is connected with the motor shaft of the multi-axial magnetic flux motor through a synchronous belt, so that the flywheel rotates synchronously with the motor shaft; and the change of the material level in the crushing cavity is monitored through a laser level meter.

[0012] The mining jaw crusher integrated with the multi-axial magnetic flux motor has the following beneficial effects: the continuous rotation of the flywheels and the eccentric wheels on both sides driven by the multi-axial magnetic flux motor enables the movable jaws on both sides to simultaneously realize periodic motion and crush the materials, so that the materials can be more efficiently crushed and discharged compared with a single-movable-jaw crusher, the crushing efficiency is improved, the stability and durability of the equipment are ensured, and the energy utilization rate and overall performance are improved through the integration of the multi-axial magnetic flux motor. The upper edge protection plate, the middle edge protection plate and the lower edge protection plate are used for protecting the key components inside the crusher and reducing the damage of the materials to the machine caused by material abrasion.

[0013] In view of the fact that the single-motor control mode is no longer suitable for the double-movable-jaw crusher in actual use, the control of the movable jaws on both sides and the transmission power cannot be completely matched with the double-movable-jaw crusher.

[0014] To solve the above technical problems, the mining jaw crusher control method further comprises the following technical scheme: a mining jaw crusher control method, comprising setting upper and lower threshold values for switching between single-motor control and double-motor control modes of a double-movable-jaw crusher, and controlling the switching between the two modes through an axial magnetic flux motor control algorithm.

[0015] In the production process of the double-movable-jaw crusher, a model reference adaptive control is used to help the double-movable-jaw crusher optimize the control parameters.

[0016] The control parameters are dynamically adjusted through the gradient descent method, so that the system continuously optimizes the control performance during operation.

[0017] As a preferred scheme of the mining jaw crusher integrated with the multi-axial magnetic flux motor, the axial magnetic flux motor control algorithm comprises,

[0018] The upper threshold value L high, when the material level is higher than the value, the double-motor mode is started; the lower threshold L low , when the material level is lower than the value, the single-motor mode is switched to; the actual material level L(t) in the crushing cavity, by setting the upper and lower thresholds, the function realizes the switching of the two modes, and the expression is as follows:

[0019]

[0020] According to the hysteresis function, when H(L(t))=0, it is a single-motor mode, and the state equation input u(t) is:

[0021]

[0022] When H(L(t))=1, it is a double-motor mode, and the state equation input u(t) is:

[0023]

[0024] As a preferred scheme of the mining jaw crusher integrated with the multi-axial flux motor of the application, wherein: the model reference adaptive control comprises,

[0025] The state vector is set as x(t)=[L(t), I(t)] T , the control input is u(t)=[V f (t), T m1 (t), T m2 (t)] T ;

[0026] Wherein, the actual material level L(t) in the crushing cavity, the running current I(t) of the crusher, the feeding speed V f (t), the torque of the axial flux motor are T m1 (t) and T m2 (t) respectively, and the state equation is as follows:

[0027] x(t)=Ax(t)+Bu(t)

[0028] The material level error is set as e L (t), and the jaw crusher current error is e I (t), so that the actual material level L(t) and the actual current I(t) of the system can follow the set material level L set and the current I set , and the formula is as follows:

[0029] e L (t)=L set -L(t)

[0030] e I (t)=I setI(t)

[0031] The adaptive adjustment rate of the material level error e L (t) is calculated as follows:

[0032]

[0033]

[0034] Wherein, K pL (t) represents the current response of the feed rate controller to the error, K iL (t) represents the cumulative response of the feed rate controller to the error, and the feed rate V f (t) is determined by the current material level error e L (t) and the cumulative value K iL (t) of the error response of the feed rate controller, and is adjusted by a proportional and integral controller, so as to obtain the control rate of the feed rate V f (t) and the jaw crusher current error e I (t) is respectively:

[0035]

[0036] Wherein, take n=1 or 2; K pI n(t) represents the current response of the current controller to the error, K iIn (t) represents the cumulative response of the current controller to the error, and the control rate of the torque T m1 (t) and T m2 (t) of the axial flux motor is:

[0037]

[0038] Wherein, the torques T m1 (t) and T m2 (t) of the two motors are determined by the current current error and the cumulative value of the error, and are adjusted by a proportional and integral controller to ensure that the current reaches the target value.

[0039] As a preferred scheme of the mining jaw crusher integrated with multiple axial flux motors of the present application, wherein: the gradient descent method comprises,

[0040] The error function E(t) is defined as the weighted sum of the material level error and the current error:

[0041]

[0042] Wherein, ω L is the weight coefficient of the error e L (t), and ω I is the weight coefficient of the error eI The weight coefficient of (t) is used to update each control parameter by gradient descent method, and the formula is:

[0043]

[0044] Wherein, θ represents the control parameter to be adjusted, and α represents the learning rate. By calculating the partial derivative of the error function E(t) with respect to the parameter θ, the parameter θ is gradually adjusted to minimize the error function E(t).

[0045] The beneficial effects of the present application: the present application dynamically adjusts the control parameters according to real-time monitoring data, thereby optimizing the crushing process, improving the crushing efficiency, reducing the equipment wear and tear, and prolonging the service life. The switching between single motor and double motor modes ensures the optimal performance of the crusher under different working conditions, and the upper and lower threshold values are set through hysteresis control to avoid frequent switching due to fluctuations of the material level near a certain critical point. MRAC can also help optimize the control parameters and maintain high production efficiency. Through gradient descent method, the system can dynamically adjust the control parameters during operation, so that the crusher maintains the best operating state under different working conditions and meets the design requirements. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor. Among them:

[0047] Figure 1 It is a schematic diagram of the overall structure of the mine jaw crusher integrated with multi-axial flux motor.

[0048] Figure 2 It is a schematic diagram of the specific structure of the mine jaw crusher integrated with multi-axial flux motor.

[0049] Figure 3 It is a schematic diagram of the brief mechanism movement of the mine jaw crusher integrated with multi-axial flux motor.

[0050] Figure 4 It is a structure block diagram of the mine jaw crusher integrated with multi-axial flux motor.

[0051] Figure 5 It is a flowchart of gradient descent method adjusting control parameters of the mine jaw crusher control method. DETAILED DESCRIPTION

[0052] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings.

[0053] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be appreciated that the present application can be practiced in a variety of ways beyond the specifics set forth herein, without departing from the scope and spirit of the present application. Accordingly, the present application is not limited to the details of implementation set forth in the following description.

[0054] Second, the "one embodiment" or "an embodiment" as referred to herein means a specific implementation that can include features, structures or characteristics that are not included in other implementations. The various examples of "in one embodiment" appearing in this description are not necessarily all referring to the same embodiment.

[0055] Embodiment 1

[0056] Referring to Figures 1-4 For the first embodiment of the present application, the embodiment provides a jaw crusher for mining with integrated multi-axial flux motor 101a, which can increase the crushing capacity of the material, improve the crushing efficiency, and increase the stability of the machine by improving the structure of the existing jaw crusher.

[0057] Specifically, the driving unit 100 includes a driving assembly 101 and an auxiliary assembly 102 arranged on the outside of the driving assembly 101.

[0058] The crushing unit 200 includes a crushing assembly 201 arranged on one side of the driving assembly 101 and a protection assembly 202 arranged on one side of the crushing assembly 201.

[0059] Further, the driving assembly 101 includes an integrated multi-axial flux motor 101a, a flywheel 101b arranged on one side of the integrated multi-axial flux motor 101a, and an eccentric wheel 101c fixedly connected with the flywheel 101b, wherein the flywheel 101b is arranged on one end of the motor shaft of the integrated multi-axial flux motor 101a, and the flywheel 101b fixedly connected with the eccentric wheel 101c is connected through a synchronous belt, and the eccentric wheel 101c is fixedly connected with the flywheel 101b through a wheel shaft at an eccentric position.

[0060] Further, the auxiliary assembly 102 comprises a rack body 102a arranged at the lower side of the flywheel 101b, a slide rail 102b arranged at one side of the rack body 102a, an adjusting seat 102c in sliding connection with the slide rail 102b, a thrust plate 102d hinged to the adjusting seat 102c, and a protection spring 102e arranged at the lower side of the adjusting seat 102c, wherein the rack body 102a is hinged to the flywheel 101b and arranged at the outer side of the flywheel 101b, the slide rail 102b is fixedly connected to the inner side of the rack body 102a, and the protection spring 102e is fixedly connected to the inner side of the rack body 102a and the adjusting seat 102c.

[0061] Further, the crushing assembly 201 comprises a jaw body 201a arranged at the outer side of the eccentric wheel 101c, a moving jaw 201b arranged at one side of the jaw body 201a, and a moving jaw 201b lining plate arranged between the moving jaw 201b and the jaw body 201a, wherein the jaw body 201a is fixedly connected to the eccentric wheel 101c, the moving jaw 201b is fixedly connected to the moving jaw 201b lining plate, and the moving jaw 201b is connected to the jaw body 201a through an elbow body, so that a certain degree of relative movement can be generated between the moving jaw 201b and the jaw body 201a during the crushing process.

[0062] Further, the protection assembly 202 comprises an upper edge protection plate 202a arranged at both sides of the jaw body 201a, a middle edge protection plate 202b arranged at the lower side of the upper edge protection plate 202a, and a lower edge protection plate 202c arranged at the lower side of the middle edge protection plate 202b, wherein the upper edge protection plate 202a, the middle edge protection plate 202b, and the lower edge protection plate 202c are all fixedly connected to the rack body 102a and can be detached.

[0063] It should be noted that the rack body 102a provides stable structural support for the entire crusher, and the protection device is used to protect various components of the crusher to avoid damage caused by overload or other reasons. The spring provides a return force when the moving jaw 201b is lowered, ensuring the coordinated movement of the moving jaw 201b and the thrust plate 102d, and avoiding excessive contact between the two moving jaw 201b plates.

[0064] Preferably, the flywheel 101b is connected to the motor shaft of the multi-axial magnetic flux motor through a synchronous belt, so that the flywheel 101b rotates synchronously with the motor shaft; and a laser level meter is used to monitor the change of the material level in the crushing cavity.

[0065] It should be noted that the high precision of the laser level gauge can accurately detect the subtle changes of the material level, ensure the accurate monitoring of the material level in the crushing cavity, and avoid the problems of wear and pollution affecting the detection accuracy. The fast response capability enables it to reflect the changes of the material level in the crushing cavity in real time, adapt to the rapidly changing working conditions, and maintain high reliability in harsh environments such as high dust, high noise and strong vibration, ensuring long-term stable operation and solving the problem of easy failure of traditional measurement methods in such environments.

[0066] In use, according to the judgment of the need for crushing, the single-sided moving jaw 201b or the double-sided moving jaw 201b is started. When the material level in the crushing cavity is low, the integrated multi-axial magnetic flux motor 101a is started to control the movement of the single-sided moving jaw 201b for crushing. The integrated multi-axial magnetic flux motor 101a drives the flywheel 101b on one side of the multi-axial magnetic flux motor to rotate through the motor shaft, and the flywheel 101b drives the flywheel 101b away from the side of the multi-axial magnetic flux motor to rotate synchronously and in the same direction through the synchronous belt, and the flywheel 101b drives the eccentric wheel 101c to rotate synchronously and in the same direction, and the eccentric wheel 101c drives the moving jaw 201b to move up and down through the movement path formed by the eccentric rotation. At the same time, for different sizes and hardness of the material, the movement range and position of the moving jaw 201b are adjusted by adjusting the seat. When the adjustment of the adjusting seat is completed, the thrust plate 102d pushes the moving jaw 201b to make reciprocating motion, and the moving jaw 201b liner directly contacts the material for crushing, and at the same time, the protection spring 102e follows the swing of the moving jaw 201b to adaptively adjust to avoid overload. When the moving jaw 201b rises, the included angle between the thrust plate 102d and the moving jaw 201b increases, and the moving jaw 201b plate on one side moves close to the moving jaw 201b plate on the opposite side, crushing the material; when the moving jaw 201b descends, the included angle between the thrust plate 102d and the moving jaw 201b decreases, and under the action of the spring, the moving jaw 201b moves backward, so that the moving jaw 201b plate on one side is separated from the moving jaw 201b plate on the opposite side, and the crushed material is discharged through the discharge port of the crushing cavity.

[0067] When the material level in the crushing cavity is high, the integrated multi-axial magnetic motor 101a is started to control the two sides of the movable jaw 201b to crush the material at the same time. The integrated multi-axial magnetic motor 101a drives the two sets of flywheels 101b on one side of the multi-axial magnetic motor to rotate through the motor shaft. The flywheels 101b drive the two sets of flywheels 101b on the other side of the multi-axial magnetic motor to rotate synchronously and in the same direction through the synchronous belt. The flywheels 101b drive the two sets of eccentric wheels 101c to rotate synchronously and in the same direction. The eccentric wheels 101c drive the two sides of the movable jaw 201b to move up and down through the moving path formed by the eccentric rotation, and the center is crushed. At the same time, for different sizes and hardness of the material, the movable jaw 201b is adjusted in range and position through the two sides of the adjusting seat. When the adjusting seat is adjusted, the thrust plate 102d pushes the movable jaw 201b to move back and forth, and the movable jaw 201b liner directly contacts the material for crushing, and at the same time, the protection spring 102e adjusts adaptively following the swing of the movable jaw 201b to avoid overload. When the movable jaw 201b rises, the angle between the thrust plate 102d and the movable jaw 201b increases, the two sides of the movable jaw 201b plate are centered and close to each other, and the material is crushed. When the movable jaw 201b descends, the angle between the thrust plate 102d and the movable jaw 201b decreases, and under the action of the spring, the two sides of the movable jaw 201b move backward, so that the distance between the two sides of the movable jaw 201b plate is enlarged, and the crushed material is discharged through the discharge port of the crushing cavity.

[0068] In summary, the integrated multi-axial magnetic motor 101a drives the continuous rotation of the two sides of the flywheel 101b and the eccentric wheel 101c, so that the two sides of the movable jaw 201b realize periodic motion at the same time, and the material is crushed. Compared with the single movable jaw 201b type crusher, it can crush and discharge more efficiently, not only improves the crushing efficiency, but also ensures the stability and durability of the equipment, and improves the energy utilization rate and overall performance through the integrated multi-axial magnetic motor 101a. The upper side guard plate, the middle side guard plate and the lower side guard plate are used to protect the key components inside the crusher, and reduce the damage to the machine caused by material abrasion.

[0069] Embodiment 2

[0070] Reference Figure 5 For the second embodiment of the application, the embodiment provides a control method for a mine jaw crusher, which can adaptively adjust the single and double movable jaw 201b control, reduce energy consumption, and reduce the excessive wear of the movable jaw 201b.

[0071] Specifically, the upper threshold and lower threshold are set for the single motor control and double motor control modes of the double movable jaw 201b jaw crusher, and the switching of the two modes is controlled through the axial magnetic motor control algorithm;

[0072] In the production process of the double-piston jaw 201b jaw crusher, the model reference adaptive control helps the double-piston jaw 201b jaw crusher to optimize the control parameters;

[0073] It should be noted that the model reference adaptive control (MRAC) is a method of using a reference model to define the ideal system behavior, and adjusting the controller parameters to make the actual system follow the output of the reference model. In the production process of the double-piston jaw 201b jaw crusher, MRAC can help optimize the control parameters and maintain high production efficiency.

[0074] By gradient descent method, the control parameters are dynamically adjusted to continuously optimize the control performance of the system during operation.

[0075] Further, the upper threshold L high is set, and when the material level is higher than the value, the double-motor mode is started; the lower threshold L low is set, and when the material level is lower than the value, the single-motor mode is switched to; the actual material level L(t) in the crushing cavity is switched between the two modes by setting the upper and lower thresholds, and the expression is as follows:

[0076]

[0077] According to the hysteresis function, when H(L(t))=0, it is a single-motor mode, and the state equation input u(t) is:

[0078]

[0079] When H(L(t))=1, it is a double-motor mode, and the state equation input u(t) is:

[0080]

[0081] The threshold is set by the hysteresis control function, and the upper threshold and the lower threshold are set to avoid the possibility of frequent switching between single-motor mode and double-motor mode due to the material level fluctuating above and below the critical value.

[0082] The control output is limited and saturated to ensure that the feed speed is not lower than V min or exceeds V max to maintain the safety and stability of the system, and to ensure that the torque T m (t) is within the range of [T min , T max ], avoiding too small or too large torque, thereby protecting the motor and the system, and the formula is as follows:

[0083] V f (t) = min(max(V f (t), V min ), Vmax )

[0084] T m1 (t) = min(max(T m1 (t), T min ), T max )

[0085] T m2 (t) = min(max(T m2 (t), T min ), T max )

[0086] Further, the model reference adaptive control comprises,

[0087] The state vector is set as x(t) = [L(t), I(t)] T , and the control input is u(t) = [V f (t), T m1 (t), T m2 (t)] T ;

[0088] Wherein, the actual material level L(t) in the crushing chamber, the running current I(t) of the crusher, the feeding speed V f (t), the torque of the axial flux motor are T m1 (t) and T m2 (t) respectively, and the state equation is as follows:

[0089] x(t) = Ax(t) + Bu(t)

[0090] The set material level error is e L (t), the jaw crusher current error is e I (t), so that the actual material level L(t) and the actual current I(t) of the system can follow the set material level L set and the current I set , and the formula is as follows:

[0091] e L (t) = L set -L(t)

[0092] e I (t) = I set -I(t)

[0093] The adaptive adjustment rate of the material level error e L (t) is calculated as follows:

[0094]

[0095] Wherein, K pL(t) represents the current response of the feed rate controller to the error, K iL (t) represents the cumulative response of the feed rate controller to the error, while the feed rate V f (t) is determined by the current stock level error e L (t), the cumulative value of the error of the feed rate controller K iL (t) rate of change, adjusted by the proportional and integral controller, so as to obtain the feed rate V f (t) control rate and jaw crusher current error e I (t) control rate is respectively:

[0096]

[0097] Where, take n = 1 or 2; K pI n(t) represents the current response of the current controller to the error, K iIn (t) represents the cumulative response of the current controller to the error, to obtain the torque T m1 (t) and T m2 (t) control rate is:

[0098]

[0099] Where, the torque T m1 (t) and T m2 (t) is determined by the current current error, the cumulative value of the error, adjusted by the proportional and integral controller to ensure that the current reaches the target value.

[0100] Finally, according to the calculation formula of each parameter, the final form of the state equation is obtained:

[0101]

[0102] Further, the gradient descent method includes,

[0103] Define the error function E(t) as the weighted sum of the stock level error and the current error:

[0104]

[0105] Where, ω L is the weight coefficient of the error e L (t), ω I is the weight coefficient of the error e I (t), update each control parameter by gradient descent method, its formula is:

[0106]

[0107] Where θ represents the control parameter to be adjusted, and α represents the learning rate, the parameter θ is adjusted step by step to minimize the error function E(t) by calculating the partial derivative of the error function E(t) with respect to the parameter θ.

[0108] According to the parameter K obtained in the foregoing steps pL , K iL , K pI 1, K iI 1, K pI 2, K iI 2, the gradient descent method is used to adjust the control, that is:

[0109]

[0110]

[0111] Where K is updated according to the gradient of the error function E(t) pL , K iL , and K pI , and K iI , α and β are learning rates for controlling the step size of the update; the gradient calculation formula of the error function E(t) with respect to the control parameter is as follows:

[0112]

[0113] E(t) is the material level error e L (t), the jaw crusher current error e I (t) with respect to each control parameter can be solved by the response model of the control system, K is the control parameter K pL , K iL , K pI 1, K iI 1, K pI 2, K iI 2.

[0114] The gradient reflects the sensitivity of the error function E(t) to the controller parameter K, and is usually used to optimize the parameters of the controller to reduce the system error.

[0115] The learning rate α can be set as:

[0116]

[0117] Where α0 is the initial learning rate, λ is the decay factor, and t is the current time step.

[0118] When using the gradient descent method to optimize the parameters, the learning rate α is set to 0.1, the maximum number of iterations is 2000, and the convergence tolerance is 1×10 -5In the simulation control, the sampling time is set to 0.25 seconds.

[0119] Set the initial value K pL = 1.0, K iL = 0.15, K pI 1 = 1.0, K iI 1 = 0.5, K pI 2 = 1.0, K iI 2 = 0.5, and the control parameters are optimized using the gradient descent method to minimize the function E(t). When the iteration number a = 1568, the value of the function E(t) obtained by MATLAB simulation is 0.01542; after optimizing the control parameters, the final K pL = 1.0535, K iL = 0.2054, K pI 1 = 1.2471, K iI 1 = 0.5542, K pI 2 = 1.2203, K iI 2 = 0.5361.

[0120] This shows that the optimization algorithm can obtain better control parameters, thereby improving the control performance and stability of the system. Through multiple experiments, it is found that as the control parameters are optimized, the material level and current error of the system are significantly reduced, and the total error function E(t) gradually tends to be stable. The finally selected parameter combination enables the system to maintain stable and efficient operation state under different working conditions.

[0121] It should be noted that the formula for calculating the volume of material discharged by the jaw crusher per unit time is as follows:

[0122]

[0123] This formula is used to calculate the processing capacity V h of the jaw crusher, where L is the length of the discharge port of the jaw crusher, n p is the stable running speed of the eccentric shaft of the crusher, X1 is the horizontal travel of the moving jaw, b is the maximum size of the discharge port formed during the movement of the moving jaw, S1 is a specific size of the discharge port, a is the mesh angle, and mu is the loose coefficient of the crushed material.

[0124] The theoretical speed of the jaw crusher is as follows:

[0125]

[0126] The theoretical speed n p of the jaw crusher, i.e. the number of times the eccentric shaft should rotate in one minute. By adjusting the horizontal travel of the moving jaw and the mesh angle, the theoretical speed of the crusher can be calculated to optimize the working efficiency of the crusher.

[0127] When the material level in the crushing cavity is below a certain height, the cooperative optimization controller only allocates the torque of a single motor, at this time only one side of the moving jaw moves to crush the material; when the material level in the crushing cavity reaches a certain height, since the double-pulley jaw crusher is basically a symmetrical structure, the same torque is allocated to the two axial flux motors to drive different flywheels to rotate. Since only the torque of a single axial flux motor is considered, only the movement of the crusher on one side is analyzed.

[0128] In summary, the application dynamically adjusts the control parameters according to real-time monitoring data, thereby optimizing the crushing process, improving the crushing efficiency, reducing equipment wear and tear, and prolonging the service life. The switching between single-motor and double-motor modes ensures the optimal performance of the crusher under different working conditions, and the upper and lower threshold values set by the hysteresis control avoid frequent switching due to fluctuations in the material level near a certain critical point. MRAC can also help optimize the control parameters to maintain high production efficiency. Through the gradient descent method, the system can dynamically adjust the control parameters during operation, so that the crusher maintains the best operating state under different working conditions and meets the design requirements.

[0129] Importantly, it should be noted that the constructions and arrangements of the present application shown in the various different exemplary embodiments are merely illustrative. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art will readily comprehend, without departing from the novel teachings and advantages described in this application, that many modifications are possible, variations are possible, changes in installation arrangements, use of materials, colors, orientation, etc. For example, elements shown as integrally formed can be constructed of multiple parts or elements, the position of elements can be inverted or otherwise changed, and the nature or number or position of discrete elements can be altered or changed. Accordingly, all such modifications are intended to be included within the scope of the present application. The order or sequence of any process or method steps can be changed or re-ordered in accordance with alternative embodiments. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the function and not only structural equivalents, but also equivalent structures. Other substitutions, modifications, changes, and omissions can be made in the design, operating conditions, and arrangements of the exemplary embodiments without departing from the scope of the present application. Accordingly, the present application is not limited to particular embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0130] Furthermore, in order to provide a brief description of the exemplary embodiments, not all features of a practical embodiment can be described.

[0131] It is to be understood that the development of the particular implementations described herein was motivated by the desire to solve real-world problems, and as such the claimed implementations can be susceptible to further implementation while still being generically consistent with the descriptions provided herein. Specifically, although many of the examples provided herein describe one or more implementations with any particular feature, an individual feature can be replaced by alternative features within the scope of the application. Thus, features discussed in one example can be interchanged with features in another example. Any implementation of more than one feature disclosed herein is specifically referenced within the scope of the application.

[0132] It should be noted that the above examples are merely used to illustrate the technical solutions of the present application, rather than limit the present application. Although the present application is described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application, which should be covered in the scope of the claims of the present application.​

Claims

1. A method of controlling a mining jaw crusher, characterized by: The application relates to a mining jaw crusher applied to an integrated multi-axial magnetic flux motor, the mining jaw crusher comprising, A driving unit (100) comprises a driving assembly (101); A crushing unit (200) comprises a crushing assembly (201) arranged on one side of the driving assembly (101); The driving assembly (101) comprises an integrated multi-axial magnetic flux motor (101a), a flywheel (101b) arranged on one side of the integrated multi-axial magnetic flux motor (101a) and an eccentric wheel (101c) fixedly connected with the flywheel (101b); and The crushing assembly (201) comprises a jaw body (201a) arranged outside the eccentric wheel (101c), a moving jaw (201b) arranged on one side of the jaw body (201a) and a moving jaw (201b) lining plate arranged between the moving jaw (201b) and the jaw body (201a). The method comprises: Threshold values are set for two modes of single-motor control and double-motor control of a double-moving-jaw (201b) jaw crusher, and the switching of the two modes is controlled through an axial magnetic flux motor control algorithm; In the production process of the double-moving-jaw (201b) jaw crusher, model reference adaptive control is used to help the double-moving-jaw (201b) jaw crusher optimize control parameters; The control parameters are dynamically adjusted through the gradient descent method, so that the system continuously optimizes the control performance in the running process; The axial magnetic flux motor control algorithm comprises, Setting upper threshold L high , when the material level is higher than the value, the double motor mode is started; lower threshold L low , when the material level is lower than the value, the single motor mode is switched to; the actual material level L(t) in the crushing cavity, by setting the upper and lower thresholds, the switching of the two modes is realized, and the expression is as follows: ； According to a hysteresis function, when H(L(t))=0, it is a single-motor mode, and the state equation input u(t) is: ； When H(L(t))=1, it is a double-motor mode, and the state equation input u(t) is: ； The model reference adaptive control comprises, The state vector is set as x(t) = [L(t), I(t)] T , and the control input is u(t) = [V f (t), T m1 (t), T m2 (t)] T ; Wherein, the actual material level L(t) in the crushing chamber, the running current I(t) of the crusher, the feeding speed V f (t), the torque of the axial flux motor are T m1 (t) and T m2 (t) respectively, and the state equation is as follows: ； The set material position error is e L The jaw crusher current error is e I The actual material position value L(t) and the actual current value I(t) of the system can follow the set material position L set and the current I set , and the formula is as follows: ； ； For the material level error e L The adaptive adjustment rate of (t) is calculated as follows: ； ； Where K pL (t) represents the current response of the feed rate controller to the error, K iL (t) represents the cumulative response of the feed rate controller to the error, while the feed rate V f (t) is determined by the current stock level error e L (t), the cumulative value K iL (t) of the feed rate controller to the error, and the change rate, adjusted by the proportional and integral controllers, to obtain the control rate of the feed rate V f (t). The control rates of the jaw crusher current error e I (t) are as follows: ； ； ； Where n = 1 or 2; K pI n(t) represents the current response of the current controller to the error, K iIn (t) represents the cumulative response of the current controller to the error, yielding the torque T of the axial flux motor. m1 (t) and T m2 The control rate of (t) is: ； ； Wherein, the torque T of two motors m1 (t) and T m2 (t) are determined by the current error, the cumulative value of the error, and are adjusted by proportional and integral controllers to ensure that the current reaches the target value. The gradient descent method comprises, An error function E(t) is defined as the weighted sum of the material level error and the current error: ； Where, ω L For error e L The weighting coefficients of (t), ω I For error e I The weighting coefficients of (t) are used in gradient descent. The formula for updating each control parameter is as follows: Wherein, theta represents the control parameter to be adjusted, and alpha represents the learning rate. The partial derivative of the error function E(t) with respect to the parameter theta is calculated, and the parameter theta is gradually adjusted to minimize the error function E(t).

2. A mining jaw crusher integrated with a multi-axial flux machine, using the method according to claim 1, characterized in that, Comprise: A driving unit (100) comprises a driving assembly (101) and an auxiliary assembly (102) arranged outside the driving assembly (101); A crushing unit (200) comprises a crushing assembly (201) arranged on one side of the driving assembly (101) and a protection assembly (202) arranged on one side of the crushing assembly (201).

3. A mining jaw crusher integrating a polyphase flux motor (101a) as claimed in claim 2, characterized in that: The driving assembly (101) comprises an integrated multi-axial magnetic flux motor (101a), a flywheel (101b) arranged on one side of the integrated multi-axial magnetic flux motor (101a) and an eccentric wheel (101c) fixedly connected with the flywheel (101b).

4. A mining jaw crusher integrating a polyphase flux motor (101a) as claimed in claim 3, wherein: The auxiliary assembly (102) comprises a rack body (102a) arranged at the lower side of the flywheel (101b), a slide rail (102b) arranged at one side of the rack body (102a), an adjusting seat (102c) in sliding connection with the slide rail (102b), a thrust plate (102d) hinged to the adjusting seat (102c), and a protection spring (102e) arranged at the lower side of the adjusting seat (102c).

5. The integrated multi-axial flux motor (101a) mining jaw crusher of claim 4, wherein: The crushing assembly (201) comprises a jaw body (201a) arranged at the outer side of the eccentric wheel (101c), a moving jaw (201b) arranged at one side of the jaw body (201a), and a moving jaw (201b) lining plate arranged between the moving jaw (201b) and the jaw body (201a).

6. A mining jaw crusher integrating a polyphase flux motor (101a) as claimed in claim 5 characterized in that: The protection assembly (202) comprises upper edge protection plates (202a) arranged at both sides of the jaw body (201a), middle edge protection plates (202b) arranged at the lower side of the upper edge protection plates (202a), and lower edge protection plates (202c) arranged at the lower side of the middle edge protection plates (202b).

7. A mining jaw crusher integrating a polyphase flux motor (101a) as claimed in claim 6 characterized in that: The flywheel (101b) is connected with the motor shaft of the multi-axial magnetic flux motor through a synchronous belt, so that the flywheel (101b) rotates synchronously with the motor shaft; the change of the material level in the crushing cavity is monitored by a laser material level meter.

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