A sliding mode control method and system for mine filling slurry concentration

Abstract

The present invention relates to the field of process control technology, and specifically to a mine filling slurry concentration sliding mode control method and system, comprising: step 1: collecting data in the mine filling slurry process to obtain various monitoring parameters of the mine filling slurry concentration sliding mode control, step 2: analyzing the various monitoring parameters of step 1 to obtain various control indicators of the mine filling slurry concentration sliding mode control, step 3: comparing the various control indicators obtained in step 2 with thresholds respectively, and triggering the mine filling slurry concentration control mechanism according to the comparison result, step 4: evaluating the result after sliding mode control obtained in step 3 to obtain the mine filling slurry sliding mode control evaluation index, and step 5: performing human-computer interaction on the evaluation result obtained in step 4, the mine filling slurry sliding mode control evaluation index; the present invention has strong anti-interference ability and robustness through the mine filling slurry concentration sliding mode control, and improves the control accuracy of the filling slurry concentration.

Description

Technical Field

[0001] The invention relates to the technical field of process control, and in particular to a sliding mode control method and system for mine filling slurry concentration. Background Art

[0002] Mine filling technology is an important mining engineering technology to improve the safety and stability of mines. In the filling process, the concentration of slurry is a key parameter. Accurate control of slurry concentration is of great significance to improving filling quality and ensuring mine safety. With the continuous development of technology, sliding mode control method has attracted much attention due to its strong robustness to system uncertainty and external interference.

[0003] Traditional control methods include PID control, direct detection and control, and two-stage stirring control. PID control refers to the control of the filling slurry concentration by the proportional-integral-differential control algorithm. Direct detection and control refers to installing a density meter on the sand discharge pipe under the tailings bin to directly detect the concentration of the tailings slurry, and then compare it with the actual required concentration. The opening of the slurry valve is adjusted according to the deviation to control the concentration of the tailings slurry, thereby achieving control of the filling slurry concentration. Two-stage stirring control refers to achieving stable control of the filling slurry concentration by controlling the slurry concentration and flow rate in the two stirring barrels.

[0004] However, the mine filling system has the characteristics of large hysteresis, nonlinearity, and multiple constraints, which makes the control of slurry concentration particularly complicated. PID control is often unable to achieve good control effects when facing such complex systems. When there are external disturbances or parameter uncertainties in the system, concentration fluctuations may occur, and direct detection and control effects may be affected. The secondary mixing control method may increase system cost and complexity. The sliding mode control method designs a sliding surface so that the system state can quickly return to the sliding surface when disturbed, and slides stably along the sliding surface. It can effectively reduce the oscillation amplitude, has a strong ability to suppress system disturbances, and achieves precise control of slurry concentration, while facilitating engineering implementation. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides a sliding mode control method and system for mine filling slurry concentration to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solution: a sliding mode control method for mine filling slurry concentration, comprising:

[0007] Step 1: Collect data on the mine filling slurry process through sensor technology and monitoring equipment to obtain various monitoring parameters for the sliding mode control of mine filling slurry concentration;

[0008] Step 2: Analyze the monitoring parameters of step 1 through big data analysis technology to obtain various control indicators of the sliding mode control performance of mine filling slurry concentration, including sliding mode control response indicator, slurry concentration stability control indicator, slurry fluidity control indicator and energy efficiency control indicator;

[0009] Step 3: Compare each control index obtained in step 2 with the threshold value, and trigger the mine filling slurry concentration control mechanism according to the comparison results;

[0010] Step 4: Using big data analysis technology, evaluate the results of the sliding form control obtained in step 3 to obtain the evaluation index of the sliding form control of the mine filling slurry;

[0011] Step 5: Perform human-computer interaction on the evaluation index of mine filling slurry sliding control obtained from the evaluation result of step 4.

[0012] Preferably, the monitoring parameters in step 1 include administrator identity authentication information, sliding mode control response parameters, slurry concentration stability parameters under sliding mode control, slurry fluidity parameters under sliding mode control, and energy consumption parameters under sliding mode control, wherein the sliding mode control response parameters include the initial concentration of the filling slurry and the time to reach the target slurry concentration under sliding mode control; the slurry concentration stability parameters under sliding mode control include the slurry concentration, the duration that meets the set range of slurry concentration fluctuations, and the number of times the sliding mode controller adjusts the filling slurry concentration; the slurry fluidity parameters under sliding mode control include slurry viscosity, slurry density, slurry flow rate and the inner diameter of the pipeline for transporting the slurry; the energy consumption parameters under sliding mode control include slurry flow rate, average slurry concentration, pump power for transporting the slurry and the running time of the sliding mode control system.

[0013] Preferably, the sliding mode control response index is obtained in step 2: under the sliding mode control, firstly, the initial concentration C_ini of the filling slurry before starting the sliding mode control is obtained through sensor technology; then, the time T_rea for reaching the target concentration C_tar of the slurry under the sliding mode control is obtained through timestamp technology; finally, the sliding mode control response index CRI is obtained through big data analysis technology, CRI=(C_tar-C_ini) / T_rea.

[0014] Preferably, the slurry concentration stability control index is obtained in step 2: under sliding mode control, the slurry concentration C of n measuring points is monitored in real time by sensor technology, and the slurry concentration fluctuation index CFI within the monitoring time t is obtained, CFI=б(C) / μ(C), wherein ρ(C) represents the standard deviation of the slurry concentration at n measuring points, and μ(C) represents the average value of the slurry concentration at n measuring points, and the slurry concentration fluctuation range ΔC is obtained, ΔC=(C_max-C_min) / 2; then, the time duration t_sta that ΔC meets the set range of slurry concentration fluctuation within the monitoring time t is recorded by timestamp technology; finally, the slurry concentration stability control index CSI is obtained by big data analysis technology. , where Af represents the number of times the sliding mode controller adjusts the filling slurry concentration within the monitoring time t, γ represents the interference factor, and a1 and a2 represent the weights of the slurry concentration stable time ratio and the slurry concentration fluctuation index, respectively.

[0015] Preferably, the slurry fluidity control index is obtained in the step 2: under sliding mode control, the slurry viscosity η, slurry density ρ and slurry flow rate v are first monitored in real time by sensor technology; then the slurry fluidity control index SLI is obtained by big data analysis technology, SLI=(v×d) / (η×ρ), where d represents the inner diameter of the pipe for transporting the slurry.

[0016] Preferably, the energy efficiency control index is obtained in step 2: under sliding mode control, the slurry flow rate Q and the average slurry concentration μ(C) are first monitored in real time by sensor technology, and the pump power P_pum for conveying the slurry is obtained; then, the energy efficiency control index EEI is obtained by big data analysis technology. , where t_run represents the running time of the sliding mode control system.

[0017] Preferably, triggering the mine filling slurry concentration control mechanism in step 3 comprises the following steps:

[0018] Step 3.1: Compare the sliding mode control response index CRI with the threshold CRI0 to obtain the adjustment factor f(CRI) of the sliding mode control response index, f(CRI)=(CRI0-CRI) / CRI0. If f(CRI)<0, it means that the mine filling concentration sliding mode control is good; otherwise, compare f(CRI) with the set range. If it is within the set range, the first control mechanism is triggered to transmit the control signal to the mine filling slurry concentration sliding mode control human-computer interaction module. If it is not within the set range, the second control mechanism is triggered to generate a control strategy.

[0019] Step 3.2: Compare the slurry concentration stability control index CSI with the threshold CSI0 to obtain the adjustment factor f(CSI) of the slurry concentration stability control index, f(CSI)=(CSI0-CSI) / CSI0. If f(CSI)<0, it means that the mine filling concentration sliding mode control is good; otherwise, compare f(CSI) with the set range. If it is within the set range, the first control mechanism is triggered, and the control signal is transmitted to the mine filling slurry concentration sliding mode control human-computer interaction module. If it is not within the set range, the second control mechanism is triggered to generate a control strategy.

[0020] Step 3.3: Compare the slurry fluidity control index SLI with the threshold SLI0 to obtain the adjustment factor f(SLI) of the slurry fluidity control index, f(SLI)=(SLI0-SLI) / SLI0. If f(SLI)<0, it means that the mine filling concentration sliding mode control is good; otherwise, compare f(SLI) with the set range. If it is within the set range, the first control mechanism is triggered, and the control signal is transmitted to the mine filling slurry concentration sliding mode control human-computer interaction module. If it is not within the set range, the second control mechanism is triggered to generate a control strategy.

[0021] Step 3.4: Compare the energy efficiency control index EEI with the threshold EEI0 to obtain the adjustment factor f(EEI) of the energy efficiency control index, f(EEI)=(EEI0-EEI) / EEI0. If f(EEI)<0, it means that the mine filling concentration sliding mode control is good; otherwise, compare f(EEI) with the set range. If it is within the set range, the first control mechanism is triggered and the control signal is transmitted to the mine filling slurry concentration sliding mode control human-computer interaction module. If it is not within the set range, the second control mechanism is triggered to generate a control strategy.

[0022] Preferably, the mine filling slurry slip control evaluation index CPI in step 4 is: , where t_m represents the sliding surface maintenance time, t_a represents the sliding surface arrival time, o represents the number of oscillations near the sliding surface, 1 is added to avoid the denominator being 0, C_tar represents the slurry target concentration, and μ(C) represents the average slurry concentration of n measurement points.

[0023] Preferably, a mine filling slurry concentration sliding mode control system comprises:

[0024] Mine filling slurry data acquisition module: used to collect data during the mine filling slurry process, obtain and analyze various monitoring parameters for the mine filling slurry concentration sliding mode control performance, and transmit them to the mine filling slurry data analysis module;

[0025] Mine filling slurry data analysis module: used to analyze various monitoring parameters of the data acquisition module, obtain various control indicators of the mine filling slurry concentration sliding mode control performance, and transmit them to the mine filling slurry concentration sliding mode control module;

[0026] Mine filling slurry concentration sliding mode control module: used to compare the various control indicators obtained by the data analysis module with the threshold value, trigger the mine filling slurry concentration control mechanism according to the comparison results, and transmit the controlled results to the mine filling slurry concentration sliding mode control evaluation module and the mine filling slurry concentration sliding mode control human-computer interaction module;

[0027] Mine filling slurry concentration sliding mode control evaluation module: used to evaluate the control results obtained by the sliding mode control module, and transmit the evaluation results to the mine filling slurry concentration sliding mode control human-computer interaction module;

[0028] Mine filling slurry concentration sliding mode control human-computer interaction module: used to transmit the evaluation results obtained by the evaluation module to the management personnel information terminal for human-computer interaction.

[0029] Technical effects and advantages of the present invention:

[0030] 1. The present invention has a fast response speed through the sliding mode control of mine filling slurry concentration, and can quickly adjust the system state to cope with external changes; in the mine filling system, when the slurry concentration deviates from the target value, the control system can quickly respond and adjust the filling parameters to restore the concentration to the target range, which helps to reduce the impact of concentration fluctuations on the filling effect;

[0031] 2. The present invention has strong anti-interference ability and robustness through sliding mode control of mine filling slurry concentration, can cope with the complex production environment of mines, improves the control accuracy of filling slurry concentration, avoids problems such as pipeline blockage caused by too high concentration and inability to solidify the filling area caused by too low concentration, and improves the filling quality;

[0032] 3. The present invention can cope with the uncertainty of system parameters and external interference through the sliding mode control of mine filling slurry concentration; by optimizing the design of the sliding surface, the system's anti-interference ability and self-recovery ability can be enhanced, thereby improving the stability of the system and ensuring that the slurry concentration remains relatively stable during the filling process, which is beneficial to improving the filling effect and the overall performance of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the overall process of the present invention.

[0034] Figure 2 It is a schematic diagram of the method flow of the present invention. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] See also Figure 1 As shown, the present invention provides a mine filling slurry concentration sliding mode control system, including: a mine filling slurry data acquisition module, a mine filling slurry data analysis module, a mine filling slurry concentration sliding mode control module, a mine filling slurry concentration sliding mode control evaluation module and a mine filling slurry concentration sliding mode control human-computer interaction module.

[0037] The mine filling slurry data acquisition module is connected to the mine filling slurry data analysis module, the mine filling slurry concentration sliding mode control module is respectively connected to the mine filling slurry concentration sliding mode control evaluation module and the mine filling slurry data analysis module, and the mine filling slurry concentration sliding mode control human-computer interaction module is respectively connected to the mine filling slurry concentration sliding mode control evaluation module and the mine filling slurry concentration sliding mode control module.

[0038] Mine filling slurry data acquisition module: used to collect data during the mine filling slurry process, obtain and analyze various monitoring parameters for the mine filling slurry concentration sliding mode control performance, and transmit them to the mine filling slurry data analysis module;

[0039] Mine filling slurry data analysis module: used to analyze various monitoring parameters of the data acquisition module, obtain various control indicators of the mine filling slurry concentration sliding mode control performance, and transmit them to the mine filling slurry concentration sliding mode control module;

[0040] Mine filling slurry concentration sliding mode control module: used to compare the various control indicators obtained by the data analysis module with the threshold value, trigger the mine filling slurry concentration control mechanism according to the comparison results, and transmit the controlled results to the mine filling slurry concentration sliding mode control evaluation module and the mine filling slurry concentration sliding mode control human-computer interaction module;

[0041] Mine filling slurry concentration sliding mode control evaluation module: used to evaluate the control results obtained by the sliding mode control module, and transmit the evaluation results to the mine filling slurry concentration sliding mode control human-computer interaction module;

[0042] Mine filling slurry concentration sliding mode control human-computer interaction module: used to transmit the evaluation results obtained by the evaluation module to the management personnel information terminal for human-computer interaction.

[0043] See also Figure 2As shown, a mine filling slurry concentration sliding mode control method includes: step 1: using sensor technology and monitoring equipment to collect data in the mine filling slurry process to obtain various monitoring parameters of the mine filling slurry concentration sliding mode control, step 2: using big data analysis technology to analyze the various monitoring parameters of step 1 to obtain various control indicators of the mine filling slurry concentration sliding mode control performance, the various control indicators include sliding mode control response indicators, slurry concentration stability control indicators, slurry fluidity control indicators and energy efficiency control indicators, step 3: comparing the various control indicators obtained in step 2 with the threshold values ​​respectively, and triggering the mine filling slurry concentration control mechanism according to the comparison results, step 4: using big data analysis technology to evaluate the results after sliding mode control obtained in step 3 to obtain mine filling slurry sliding mode control evaluation indicators, step 5: performing human-computer interaction on the evaluation results obtained in step 4, i.e., mine filling slurry sliding mode control evaluation indicators.

[0044] Step 1: Through sensor technology and monitoring equipment, collect data from the mine filling slurry process to obtain various monitoring parameters of the mine filling slurry concentration sliding mode control, including administrator identity authentication information, sliding mode control response parameters, slurry concentration stability parameters under sliding mode control, slurry fluidity parameters under sliding mode control, and energy consumption parameters under sliding mode control, wherein the sliding mode control response parameters include the initial concentration of the filling slurry and the time to reach the target slurry concentration under sliding mode control; the slurry concentration stability parameters under sliding mode control include slurry concentration, duration that meets the set range of slurry concentration fluctuations, and the number of times the sliding mode controller adjusts the filling slurry concentration; the slurry fluidity parameters under sliding mode control include slurry viscosity, slurry density, slurry flow rate, and the inner diameter of the pipeline for conveying slurry; the energy consumption parameters under sliding mode control include slurry flow rate, average slurry concentration, pump power for conveying slurry, and running time of the sliding mode control system;

[0045] Step 2: Analyze the monitoring parameters of step 1 through big data analysis technology to obtain various control indicators of the sliding mode control performance of mine filling slurry concentration. The various control indicators include sliding mode control response indicators, slurry concentration stability control indicators, slurry fluidity control indicators and energy efficiency control indicators. The parameter analysis includes the following steps:

[0046] Step 2.1: Under sliding mode control, firstly, the initial concentration C_ini of the filling slurry before starting the sliding mode control is obtained through sensor technology; then, the time T_rea to reach the target slurry concentration C_tar is obtained through timestamp technology; finally, the sliding mode control response index CRI is obtained through big data analysis technology, CRI=(C_tar-C_ini) / T_rea;

[0047] What needs to be specifically explained in this embodiment is that by analyzing the sliding mode control response parameters, first the initial concentration data helps the control system understand the current state of the slurry concentration, so as to determine the control strategy; then the time to reach the target concentration reflects the response speed and efficiency of the control system; finally, it helps the sliding mode control system to adjust the control strategy according to the sliding mode control response index to achieve a smoother concentration transition.

[0048] Step 2.2: Under sliding mode control, the slurry concentration C of n measuring points is monitored in real time by sensor technology, and the slurry concentration fluctuation index CFI within the monitoring time t is obtained, CFI=б(C) / μ(C), where ρ(C) represents the standard deviation of the slurry concentration at n measuring points, and μ(C) represents the average value of the slurry concentration at n measuring points. The slurry concentration fluctuation range ΔC is obtained, ΔC=(C_max-C_min) / 2; then, the time stamp technology is used to record the duration t_sta that ΔC meets the set range of slurry concentration fluctuation within the monitoring time t; finally, the slurry concentration stability control index CSI is obtained through big data analysis technology. , where Af represents the number of times the sliding mode controller adjusts the filling slurry concentration within the monitoring time t, for example, it is obtained by recording the change in the controller output or the number of actions of the actuator (such as valves, pumps, etc.), γ represents the interference factor, such as environmental factors such as temperature and pressure during the mixing process. When the slurry is transported in the pipeline, it may be affected by factors such as pipeline resistance and flow rate changes, resulting in uneven concentration distribution. a1 and a2 represent the weights of the slurry concentration stable time ratio and the slurry concentration fluctuation index, for example, a1=0.5 and a2=0.5;

[0049] What needs to be specifically explained in this embodiment is that by analyzing the slurry concentration stability parameters under sliding mode control, firstly, the slurry concentration fluctuation index quantifies the degree of concentration fluctuation, which is a key indicator for evaluating stability accuracy; the proportion of slurry concentration stable time helps to understand the stability level of the sliding mode control system; the adjustment frequency reflects the number of times the control system adjusts the concentration fluctuation, reflecting the strategy and adjustment ability of the sliding mode control.

[0050] Step 2.3: Under sliding mode control, firstly, the slurry viscosity η, slurry density ρ and slurry flow rate v are monitored in real time by sensor technology; then, the slurry fluidity control index SLI is obtained by big data analysis technology, SLI=(v×d) / (η×ρ), where d represents the inner diameter of the pipeline for conveying the slurry;

[0051] In this embodiment, it is necessary to specifically explain that by analyzing the fluidity parameters of the slurry under the sliding mode control, the slurry with higher viscosity often contains more solid particles and thus has a higher concentration; the change in flow rate may also affect the distribution and concentration of the slurry in the pipeline; studies have shown that the slurry has a critical concentration, and when the concentration exceeds this critical value, its fluidity will drop sharply. Therefore, in order to maintain good fluidity of the slurry, its concentration needs to be controlled within a certain range.

[0052] Step 2.4: Under sliding mode control, firstly, the slurry flow rate Q and the average slurry concentration μ(C) are monitored in real time through sensor technology, and the pump power P_pum for conveying the slurry is obtained; then, the energy efficiency control index EEI is obtained through big data analysis technology. , where t_run represents the running time of the sliding mode control system;

[0053] What needs to be specifically explained in this embodiment is that by analyzing the energy consumption parameters under sliding mode control, under sliding mode control, optimizing the pump power can reduce energy consumption and improve the energy efficiency of the system; reasonable slurry flow rate can ensure the stability and efficiency of the system; optimizing the system operating time can improve the reliability and stability of the system while reducing maintenance costs.

[0054] Step 3: Compare each control index obtained in step 2 with the threshold value, and trigger the mine filling slurry concentration control mechanism according to the comparison results, including the following steps:

[0055] Step 3.1: Compare the sliding mode control response index CRI with the threshold CRI0 to obtain the adjustment factor f(CRI) of the sliding mode control response index, f(CRI)=(CRI0-CRI) / CRI0. If f(CRI)<0, it means that the mine filling concentration sliding mode control is good; otherwise, compare f(CRI) with the set range. If it is within the set range, the first control mechanism is triggered, and the control signal is transmitted to the mine filling slurry concentration sliding mode control human-computer interaction module to remind the management personnel to pay attention at all times. If it is not within the set range, the second control mechanism is triggered to generate a control strategy, such as real-time monitoring of the change rate of slurry concentration and adjusting the controller parameters to keep it within the controllable range.

[0056] Step 3.2: Compare the slurry concentration stability control index CSI with the threshold CSI0 to obtain the adjustment factor f(CSI) of the slurry concentration stability control index, f(CSI)=(CSI0-CSI) / CSI0. If f(CSI)<0, it means that the mine filling concentration sliding mode control is good; otherwise, compare f(CSI) with the set range. If it is within the set range, the first control mechanism is triggered, and the control signal is transmitted to the mine filling slurry concentration sliding mode control human-computer interaction module to remind the management personnel to pay attention at all times. If it is not within the set range, the second control mechanism is triggered to generate a control strategy, for example, according to the concentration deviation and fluctuation, the control input (such as feeding rate, dilution water volume, etc.) is dynamically adjusted to make the concentration converge to the target value quickly;

[0057] Step 3.3: Compare the slurry fluidity control index SLI with the threshold SLI0 to obtain the adjustment factor f(SLI) of the slurry fluidity control index, f(SLI)=(SLI0-SLI) / SLI0. If f(SLI)<0, it means that the mine filling concentration sliding mode control is good; otherwise, compare f(SLI) with the set range. If it is within the set range, the first control mechanism is triggered to transmit the control signal to the mine filling slurry concentration sliding mode control human-computer interaction module to remind the management personnel to pay attention at all times. If it is not within the set range, the second control mechanism is triggered to generate a control strategy. For example, according to the real-time measured slurry fluidity data, the sliding mode controller is used to calculate the required control quantity (such as the opening of the regulating valve, the speed of the pump, etc.) to adjust the slurry concentration.

[0058] Step 3.4: Compare the energy efficiency control index EEI with the threshold EEI0 to obtain the adjustment factor f(EEI) of the energy efficiency control index, f(EEI)=(EEI0-EEI) / EEI0. If f(EEI)<0, it means that the mine filling concentration sliding mode control is good; otherwise, f(EEI) is compared with the set range. If it is within the set range, the first control mechanism is triggered to transmit the control signal to the mine filling slurry concentration sliding mode control human-computer interaction module to remind the management personnel to pay attention at all times. If it is not within the set range, the second control mechanism is triggered to generate a control strategy, such as reducing the pump power to reduce energy consumption, but it is necessary to ensure that the slurry delivery capacity is not seriously affected. By adjusting the flow control valve, the slurry input flow is adjusted to match the system's processing capacity;

[0059] Step 4: Use big data analysis technology to evaluate the results of the sliding form control obtained in step 3 and obtain the mining filling slurry sliding form control evaluation index CPI. , where t_m represents the sliding surface maintenance time, which is obtained by recording the time the system state maintains stability on the sliding surface through state monitoring technology, t_a represents the sliding surface arrival time, which is obtained by recording the time required from startup to the system state first meeting the sliding surface conditions (i.e. reaching the predetermined state or trajectory), o represents the number of oscillations near the sliding surface, and 1 is added to avoid the denominator being 0. Through sensor technology and data acquisition, the number of oscillations of the system state near the sliding surface can be calculated, C_tar represents the slurry target concentration, and μ(C) represents the average slurry concentration of n measurement points;

[0060] It should be specifically explained in this embodiment that sliding mode control is a robust control method, which achieves the control target of the system by driving the system state onto the sliding surface and sliding along the sliding surface; in the mine filling system, the control of slurry concentration is a key link, which is directly related to the filling effect and the stability of the system, which means that the slurry concentration can be more accurately controlled within the target range to avoid problems such as pipeline blockage due to too high concentration or slurry failure to solidify due to too low concentration.

[0061] Step 5: Perform human-computer interaction on the evaluation results of the mine filling slurry sliding control evaluation index obtained in step 4. If the mine filling slurry sliding control evaluation index belongs to the set allowable range, it means that the mine filling slurry sliding control is good. Otherwise, the administrator is prompted to take timely measures to optimize the design of the sliding surface. For example, the parameters of the sliding surface can be optimized by using intelligent optimization algorithms such as genetic algorithms and particle swarm optimization to enhance the system's anti-interference and self-recovery capabilities.

[0062] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

[0063] The above contents are merely examples and explanations of the concept of the present invention. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the concept of the invention or exceed the defined scope, they should all fall within the protection scope of the present invention.

Claims

1. A sliding mode control method for mine filling slurry concentration, characterized in that: include: Step 1: Collect data on the mine filling slurry process through sensor technology and monitoring equipment to obtain various monitoring parameters for the sliding mode control of mine filling slurry concentration; The monitoring parameters in step 1 include administrator identity authentication information, sliding mode control response parameters, slurry concentration stability parameters under sliding mode control, slurry fluidity parameters under sliding mode control, and energy consumption parameters under sliding mode control, wherein the sliding mode control response parameters include the initial concentration of the filling slurry and the time to reach the target slurry concentration under sliding mode control; The slurry concentration stability parameters under sliding mode control include slurry concentration, duration of slurry concentration fluctuation within the set range, and the number of times the sliding mode controller adjusts the filling slurry concentration; the slurry fluidity parameters under sliding mode control include slurry viscosity, slurry density, slurry flow rate, and the inner diameter of the pipeline for conveying slurry; the energy consumption parameters under sliding mode control include slurry flow rate, average slurry concentration, pump power for conveying slurry, and running time of the sliding mode control system; Step 2: Analyze the monitoring parameters of step 1 through big data analysis technology to obtain various control indicators of the sliding mode control performance of mine filling slurry concentration, including sliding mode control response indicator, slurry concentration stability control indicator, slurry fluidity control indicator and energy efficiency control indicator; The sliding mode control response index is obtained in step 2: under the sliding mode control, firstly, the initial concentration C_ini of the filling slurry before starting the sliding mode control is obtained by sensor technology; then, the time T_rea to reach the target slurry concentration C_tar under the sliding mode control is obtained by timestamp technology; finally, the sliding mode control response index CRI is obtained by big data analysis technology, CRI=(C_tar-C_ini) / T_rea; The slurry concentration stability control index is obtained in step 2: under sliding mode control, the slurry concentration C of n measuring points is monitored in real time by sensor technology, and the slurry concentration fluctuation index CFI within the monitoring time t is obtained, CFI=б(C) / μ(C), where б(C) represents the standard deviation of the slurry concentration at n measuring points, and μ(C) represents the average value of the slurry concentration at n measuring points, and the slurry concentration fluctuation range ΔC is obtained, ΔC=(C_max-C_min) / 2; then, the time duration t_sta that ΔC meets the set range of slurry concentration fluctuation within the monitoring time t is recorded by timestamp technology; finally, the slurry concentration stability control index CSI is obtained by big data analysis technology. , where Af represents the number of times the sliding mode controller adjusts the filling slurry concentration within the monitoring time t, γ represents the interference factor, a1 and a2 represent the weights of the slurry concentration stable time ratio and the slurry concentration fluctuation index respectively; The slurry fluidity control index is obtained in step 2: under sliding mode control, the slurry viscosity η, slurry density ρ and slurry flow rate v are first monitored in real time by sensor technology; then the slurry fluidity control index SLI is obtained by big data analysis technology, SLI=(v×d) / (η×ρ), where d represents the inner diameter of the pipeline for conveying the slurry; The energy efficiency control index is obtained in step 2: under sliding mode control, the slurry flow rate Q and the average value μ(C) of the slurry concentration at n measurement points are first monitored in real time by sensor technology, and the pump power P_pum for conveying the slurry is obtained; then, the energy efficiency control index EEI is obtained by big data analysis technology. , where t_run represents the running time of the sliding mode control system; Step 3: Compare each control index obtained in step 2 with the threshold value, and trigger the mine filling slurry concentration control mechanism according to the comparison results; The triggering of the mine filling slurry concentration control mechanism in step 3 includes the following steps: Step 3.1: Compare the sliding mode control response index CRI with the threshold CRI0 to obtain the adjustment factor f(CRI) of the sliding mode control response index, f(CRI)=(CRI0-CRI) / CRI0. If f(CRI)<0, it means that the mine filling concentration sliding mode control is good; otherwise, compare f(CRI) with the set range. If it is within the set range, the first control mechanism is triggered to transmit the control signal to the mine filling slurry concentration sliding mode control human-computer interaction module. If it is not within the set range, the second control mechanism is triggered to generate a control strategy. Step 3.2: Compare the slurry concentration stability control index CSI with the threshold CSI0 to obtain the adjustment factor f(CSI) of the slurry concentration stability control index, f(CSI)=(CSI0-CSI) / CSI0. If f(CSI)<0, it means that the mine filling concentration sliding mode control is good; otherwise, compare f(CSI) with the set range. If it is within the set range, the first control mechanism is triggered, and the control signal is transmitted to the mine filling slurry concentration sliding mode control human-computer interaction module. If it is not within the set range, the second control mechanism is triggered to generate a control strategy. Step 3.3: Compare the slurry fluidity control index SLI with the threshold SLI0 to obtain the adjustment factor f(SLI) of the slurry fluidity control index, f(SLI)=(SLI0-SLI) / SLI0. If f(SLI)<0, it means that the mine filling concentration sliding mode control is good; otherwise, compare f(SLI) with the set range. If it is within the set range, the first control mechanism is triggered, and the control signal is transmitted to the mine filling slurry concentration sliding mode control human-computer interaction module. If it is not within the set range, the second control mechanism is triggered to generate a control strategy. Step 3.4: Compare the energy efficiency control index EEI with the threshold EEI0 to obtain the adjustment factor f(EEI) of the energy efficiency control index, f(EEI)=(EEI0-EEI) / EEI0. If f(EEI)<0, it means that the mine filling concentration sliding mode control is good; otherwise, compare f(EEI) with the set range. If it is within the set range, the first control mechanism is triggered, and the control signal is transmitted to the mine filling slurry concentration sliding mode control human-computer interaction module. If it is not within the set range, the second control mechanism is triggered to generate a control strategy. Step 4: Using big data analysis technology, evaluate the results of the sliding form control obtained in step 3 to obtain the evaluation index of the sliding form control of the mine filling slurry; The mine filling slurry slip control evaluation index CPI in step 4 is: , where t_m represents the sliding surface maintenance time, t_a represents the sliding surface arrival time, o represents the number of oscillations near the sliding surface, 1 is added to avoid the denominator being 0, C_tar represents the slurry target concentration, and μ(C) represents the average slurry concentration of n measurement points; Step 5: Perform human-computer interaction on the evaluation index of mine filling slurry sliding control obtained from the evaluation result of step 4.

2. A mine filling slurry concentration sliding mode control system, used to use the mine filling slurry concentration sliding mode control method according to claim 1, comprising: Mine filling slurry data acquisition module: used to collect data during the mine filling slurry process, obtain and analyze various monitoring parameters for the mine filling slurry concentration sliding mode control performance, and transmit them to the mine filling slurry data analysis module; Mine filling slurry data analysis module: used to analyze various monitoring parameters of the data acquisition module, obtain various control indicators of the mine filling slurry concentration sliding mode control performance, and transmit them to the mine filling slurry concentration sliding mode control module; Mine filling slurry concentration sliding mode control module: used to compare the various control indicators obtained by the data analysis module with the threshold value, trigger the mine filling slurry concentration control mechanism according to the comparison results, and transmit the controlled results to the mine filling slurry concentration sliding mode control evaluation module and the mine filling slurry concentration sliding mode control human-computer interaction module; Mine filling slurry concentration sliding mode control evaluation module: used to evaluate the control results obtained by the sliding mode control module, and transmit the evaluation results to the mine filling slurry concentration sliding mode control human-computer interaction module; Mine filling slurry concentration sliding mode control human-computer interaction module: used to transmit the evaluation results obtained by the evaluation module to the management personnel information terminal for human-computer interaction.

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