Tilt reactor and control method thereof, electronic device and storage medium

Abstract

The present invention discloses a tilting reactor and its control method, electronic device and storage medium, wherein the tilting reactor comprises: a reactor body, a main control module, a stirring mechanism, a stirring drive mechanism, a reactor bracket, a rotary joint and a rotary drive mechanism; the rotary drive mechanism is connected to the reactor body and is used to control the reactor body to rotate to a set angle based on a rotating shaft; a torque sensor is provided in the contact area between the reactor body and the reactor bracket, and the torque sensor is used to sense the torsion on the rotating shaft when the reactor body rotates to a set angle; the main control module is connected to the stirring drive mechanism, the rotary drive mechanism and the torque sensor respectively. The tilting reactor and its control method, electronic device and storage medium proposed in the present invention can improve the material mixing effect in the axial direction of the reactor, strengthen the devolatilization of materials under stirring, and improve the wall sticking problem in the discharging process of the tilting reactor.

Description

Technical Field

[0001] The present invention belongs to the technical field of reaction equipment and relates to a reaction kettle, in particular to a tilting reaction kettle and a control method thereof, electronic equipment and storage medium. Background Art

[0002] Intermittent polymerization kettles have the advantages of flexible operation, wide application range and high controllability of the reaction process, and are especially suitable for small-batch and multi-variety production. Among them, vertical polymerization kettles have the problem of difficulty in devolatilizing low molecular weight by-products in the state of high viscosity materials due to insufficient surface renewal. In the process of devolatilization of high-viscosity materials, although horizontal polymerization kettles have a large material specific surface area and excellent material surface renewal ability, since the reactor is always in a horizontal state, it leads to the problem of dead zones and incomplete discharge of materials during intermittent reactions.

[0003] In response to the problem of material uniformity during the reaction, Chinese utility model patent CN207614844U uses a spiral ribbon stirring paddle that runs through the kettle body, combined with the interval arrangement of a circular disc group, to enhance the rapid devolatilization of the material, which has a certain improvement on the uniformity of the material in the high-viscosity reaction system, and at the same time has the ability to transport the material forward in the horizontal direction, but it does not improve the problem of incomplete discharge of the intermittent horizontal reactor. Chinese utility model patent CN206566900U uses an inclined continuous horizontal reactor, so that the reaction materials react while flowing under the stirring action of gravity and the agitator, ensuring the mixing uniformity of the materials. However, it is mainly used for continuous processes and does not improve the inherent shortcomings of intermittent process discharge.

[0004] In response to the problem of incomplete discharge of horizontal reactors, Chinese utility model patent CN206519150U improves the uniformity of materials in high-viscosity reaction systems by integrating an external double-screw agitator that penetrates the reactor body, an internal screw agitator, and an anchor agitator at the bottom. The anchor agitator at the bottom improves the problem of material accumulation to a certain extent, but it involves multiple forms of agitators, and the overall structure of the reactor is complex. In addition, the design is based on a vertical reactor and does not involve improvements to the horizontal reactor.

[0005] In view of this, there is an urgent need to design a new reactor to overcome at least some of the above-mentioned defects of the existing reactor. Summary of the invention

[0006] The present invention provides a tilting reactor and a control method thereof, an electronic device and a storage medium, which can improve the material mixing effect in the axial direction of the reactor and strengthen the devolatilization of the material under stirring; in addition, the wall sticking problem in the discharging process of the tilting reactor can be further improved.

[0007] To solve the above technical problems, according to one aspect of the present invention, the following technical scheme is adopted: a tilting reactor, the tilting reactor comprising: a reactor body, a main control module, a stirring mechanism, a stirring drive mechanism, a reactor bracket, a rotary joint and a rotary drive mechanism; the stirring drive mechanism is connected to the stirring mechanism and can drive the stirring mechanism to perform stirring action; the rotary joint and the rotary drive mechanism are connected to the reactor body, and are used to control the reactor body to rotate a set angle based on a rotating shaft, thereby adjusting the posture of the reactor body; a torque sensor is provided in the contact area between the reactor body and the reactor bracket, and the torque sensor is used to sense the torque on the rotating shaft when the reactor body rotates to a set angle; the main control module is respectively connected to the stirring drive mechanism, the rotary drive mechanism and the torque sensor; the reactor body is provided with a reactor discharge port, and the material in the reactor body can be discharged through the reactor discharge port.

[0008] As an embodiment of the present invention, the main control module controls the operation of the rotation drive mechanism according to a set control strategy; the control strategy includes controlling the operation of the rotation drive mechanism according to set characteristics of materials added to the reactor body; or / and, the control strategy includes controlling the operation of the rotation drive mechanism according to the quality of materials added to the reactor body; or / and, the control strategy includes controlling the operation of the rotation drive mechanism according to pressure data sensed by the torque sensor; or / and, the control strategy includes controlling the operation of the rotation drive mechanism according to inclination angle data of the reactor body.

[0009] As an embodiment of the present invention, the main control module determines whether the center of gravity of the material is shifted based on the data sensed by the torque sensor, the set characteristics of the material added to the kettle, the mass of the material added to the kettle and the angle of the kettle body; when it is determined that the center of gravity of the material in the kettle is shifted, the angle to which the kettle body should be adjusted is calculated, and the kettle body is driven to tilt to the set angle to maintain the balance of the entire reactor.

[0010] As an embodiment of the present invention, the tilting reactor further comprises an angle sensor, and the angle sensor is used to sense the angle formed by the central axis of the reactor body and a set calibration line and / or calibration plane.

[0011] As an implementation mode of the present invention, the control process of the main control module includes the following steps:

[0012] (1) Calculate the theoretical value of the moment when the reactor is empty: When the reactor is empty (i.e., the reactor contains heat medium), determine the center of gravity of the reactor; let m 空is the mass of the reactor when it is empty, l1 is the distance from the center of gravity Cg1 of the empty reactor to the center of the rotation axis; θ1 is the angle between the center of gravity of the empty reactor and the line connecting the rotation axis relative to the plumb line in the horizontal state, θ1 can be obtained through experiments when the reactor is empty, or it can be calculated when the reactor is designed; θ2 (0°-90°, set to -90° when discharging) is the rotation angle of the reactor at a specific moment; theoretically, the moment M1=m 空 gl1sin(θ1+θ2).

[0013] (2) Calculate the theoretical value of the material torque after the reactor is charged: For the situation after the reactor is charged, due to the fluidity of the material, the center of gravity cannot be accurately determined. The theoretical center of gravity Cg2 of the material can be calculated by estimation or modeling. Assume that the mass of the material is m2, l2 is the distance between the center of gravity of the material and the center of rotation axis; θ3 is the angle between the line connecting the center of gravity of the material and the rotation axis relative to the plumb line when the reactor is in a horizontal state; therefore, when the reactor is at a specific rotation angle θ2 and the material is in a basically uniformly flat state, theoretically, the material torque M2=m2gl2sin(θ2+θ3).

[0014] (3) Theoretical and actual values ​​of the total torque when the reactor is in equilibrium after feeding: The theoretical total torque required for the reactor to be in equilibrium after feeding is M 理论总 =M1+M2; the actual total torque is the reading of the torque sensor on the brackets on both sides of the reactor M 实际总 .

[0015] (4) Adjustment method for keeping the reactor balanced: After turning on the agitator, the double-screw agitator transports the material from one end of the reactor to the discharge port, and the weight of the material accumulation at the discharge port increases. At this time, the actual value M of the torque sensor on the reactor bracket is 实际总 >M 理论总 , indicating that the center of gravity of the material is too far outward, and the rotation drive mechanism 6 drives the rotating shaft 7 to rotate to increase θ2 so that M 实际总 =M 理论总 , so that the material is distributed in the kettle in an approximately uniform state again; when M 实际总 <M 理论总 The center of gravity of the material is too much inward, and the rotating shaft is driven by the rotary drive mechanism to reduce θ2 to maintain M 实际总 =M 理论总 .

[0016] During feeding, the reactor body 2 is in a horizontal state (θ2 is 0°). For liquid crystal polymers, the mass of the reaction materials (parahydroxybenzoic acid (HBA), 6, hydroxy-2-naphthoic acid (HNA), acetic anhydride (AA) and catalyst) is m2, and the density is ρ. The calculated moment of the material in the flat state is M2=m2gl2*sinθ3. The total moment M required for the reactor to reach equilibrium is 理论总 =M1+M2=m 空 gl1sinθ1+ m2gl2*sinθ3; Since the viscosity of the initial material is low (lower than the set threshold), the material can reach a state of approximately uniform distribution after sufficient flow, that is, M 实际总 =M 理论总 .

[0017] When the material starts to react, the double-screw agitator maintains a specific frequency during the acetylation and polymerization stages; when the torque sensor on the reactor bracket displays the actual torque M 实际总 >M 理论总 When θ2 increases, it indicates that the distribution of the material at the outlet of the reactor increases, causing the center of gravity of the material to shift outward; therefore, the rotary drive mechanism drives the rotary shaft to rotate the reactor, increasing θ2 to maintain the balance of the reactor.

[0018] When the torque sensor on the reactor support shows the actual torque M 实际总 <M 理论总 It means that the distribution of materials at the other end of the reactor increases, causing the center of gravity of the materials to shift inward; at this time, the rotary drive mechanism drives the rotating shaft to rotate the reactor, reducing θ2 to maintain the balance of the reactor.

[0019] (5) When the twin-screw agitator reaches the power required by the process, it means that the polymer has reached the specified viscosity; the reaction is completed and the polymer in the kettle is discharged; during the discharge process, the reactor body remains vertical (θ2 is -90°), and the twin-screw agitator still maintains a speed of 1-20 rpm (revolutions per minute); under the dual effects of gravity and the twin-screw agitator conveying force, the material conveying is further enhanced and the kettle wall is scraped clean until the material in the kettle is discharged.

[0020] As an embodiment of the present invention, the main control module divides the posture adjustment control of the reactor body into the following three stages: a rapid adjustment period, an advance detection period and a precise arrival period; the adjustment target value is set as a torque error, and the stage in which the torque error is greater than a first set threshold is a rapid adjustment period, the stage in which the torque error is less than or equal to the first set threshold and greater than a second set threshold is an advance detection period, and the stage in which the torque error is less than or equal to the second set threshold is a precise arrival period; in the precise arrival period, stop adjusting the posture of the reactor body.

[0021] The control process of the main control module further includes: step S1, setting a gradient adjustment mechanism for different adjustment stages.

[0022] Set the gradient adjustment mechanism for the rapid adjustment period: Set the target adjustment rate to R target , the current adjustment rate is R current , define the adjustment rate: Δ O fast = K fast ×( R target - R current );in, K fast represents the gradient coefficient of the rapid adjustment period, K fast The value is greater than the set value to speed up the response, Δ O fast It is the gradient adjustment rate during the rapid adjustment period.

[0023] Set the gradient adjustment mechanism during the lead detection period: During the lead detection period, the adjustment speed of the rotation drive mechanism frequency needs to be reduced to avoid overshoot; gradually approach the target value through a slower gradient while reducing fluctuations. For example, set the target adjustment rate to R target , the current adjustment rate is R current , the gradient adjustment rate is Δ O advance = K advance ×( R target - R current );in K advance represents the gradient coefficient of the advance detection period, K advance < K fast , to avoid drastic adjustments, Δ O advance It is the gradient adjustment rate in the advance detection period.

[0024] Set the gradient adjustment mechanism during the precision measurement arrival period: The precision measurement arrival period requires fine adjustment of the rotation angle to ensure the stability of the torque error ε; reduce the adjustment error and maintain a stable state as much as possible. Set the target adjustment rate to R target , the current adjustment rate is R current , the gradient adjustment rate is: Δ O precision= K precision ×( R target - R current );in K precision is the gradient coefficient of the precision quantity arrival period, K precision < K advance , for fine adjustment, Δ O precision It is the gradient adjustment rate during the precise measurement arrival period.

[0025] Step S2: adjusting the operating frequency of the rotary drive mechanism based on the PID controller.

[0026] The output formula of the PID controller is: ; In the formula, O ( t ) represents the adjusted frequency; e ( t )= R target - R current Indicates the current error (the difference between the target value and the actual value); K p , K i , K d Respectively represent the proportional gain coefficient, integral gain coefficient, and differential gain coefficient; It represents the cumulative value of the error, that is, the degree to which the system deviates from the target in the long term; Indicates the rate of change of error, used to offset fluctuations caused by rapid changes; select appropriate PID parameters according to the characteristics of each stage K p , K i , K d : During the rapid adjustment period, the goal is to quickly respond to the error, allowing a certain amount of oscillation; set the first proportional gain K p,fast >Second proportional gain K p,advance , the first integral gain K i,fast <Second integral gain K i,advance Or 0, the first differential gain K d,fast <Second differential gain K d,advance , output formula: ; During the lead detection period, the goal is to gradually approach the target value and reduce error accumulation; set the third proportional gain K p,precision <Second proportional gain K p,advance <First proportional gain K p,fast , the second integral gain K i,advance >First integral gain K i,fast , the second differential gain K d,advance >First differential gain K d,fast , output formula: ; During the precise quantity arrival period, the goal is to accurately maintain the target rate and avoid fluctuations; set the third proportional gain K p,precision <Second proportional gain K p,advance , the third integral gain K i,precision >Second integral gain K i,advance , the third differential gain K d,precision >Second differential gain K d,advance , to suppress noise, the output formula is: .

[0027] Step S3: dynamically adjust the operating frequency of the rotary drive mechanism according to the operating frequency of the rotary drive mechanism calculated in step S2.

[0028] According to another aspect of the present invention, the following technical solution is adopted: a control method for the above-mentioned tilting reactor, the control method comprising: a main control module controls the operation of the rotation drive mechanism according to a set control strategy; the control strategy comprises controlling the operation of the rotation drive mechanism according to set characteristics of materials added to the reactor body; or / and, the control strategy comprises controlling the operation of the rotation drive mechanism according to the quality of materials added to the reactor body; or / and, the control strategy comprises controlling the operation of the rotation drive mechanism according to pressure data sensed by the torque sensor; or / and, the control strategy comprises controlling the operation of the rotation drive mechanism according to the inclination angle data of the reactor body.

[0029] As an embodiment of the present invention, the main control module determines whether the center of gravity of the material is shifted based on the data sensed by the torque sensor, the set characteristics of the material added to the kettle, the mass of the material added to the kettle and the angle of the kettle body; when it is determined that the center of gravity of the material in the kettle is shifted, the angle to which the reactor body 2 should be adjusted is calculated, and the reactor body 2 is driven to tilt to the set angle to maintain the balance of the entire reactor.

[0030] As an implementation mode of the present invention, the control process of the main control module includes the following steps:

[0031] (1) Calculate the theoretical value of the moment when the reactor is empty: Determine the center of gravity of the reactor when it is empty (including heat medium).

[0032] Assume m 空 is the mass of the reactor when it is empty, l1 is the distance from the center of gravity Cg1 of the empty reactor to the center of the rotation axis; θ1 is the angle between the center of gravity of the empty reactor and the line connecting the rotation axis relative to the plumb line in the horizontal state, θ1 can be obtained through experiments when the reactor is empty, or it can be calculated when the reactor is designed; θ2 (0°-90°, set to -90° when discharging) is the rotation angle of the reactor at a specific moment; theoretically, the moment M1=m 空 gl1sin(θ1+θ2).

[0033] (2) Calculate the theoretical value of the material torque after the reactor is charged: For the situation after the reactor is charged, due to the fluidity of the material, the center of gravity cannot be accurately determined. The theoretical center of gravity Cg2 of the material can be calculated by estimation or modeling.

[0034] Assume that the mass of the material is m2, l2 is the distance between the center of gravity of the material and the center of rotation axis; θ3 is the angle between the line connecting the center of gravity of the material and the rotation axis relative to the plumb line direction when the reactor is in a horizontal state; therefore, when the reactor is at a specific rotation angle θ2 and the material is in a basically evenly laid state, theoretically, the moment of the material M2=m2gl2sin(θ2+θ3).

[0035] (3) Theoretical and actual values ​​of the total torque when the reactor is in equilibrium after feeding: The theoretical total torque required for the reactor to be in equilibrium after feeding is M 理论总 =M1+M2; the actual total torque is the reading of the torque sensor on the brackets on both sides of the reactor M 实际总 .

[0036] (4) Adjustment method for keeping the reactor balanced: After turning on the agitator, the double-screw agitator transports the material from one end of the reactor to the discharge port, and the weight of the material accumulation at the discharge port increases. At this time, the actual value M of the torque sensor on the reactor bracket is 实际总 >M 理论总, indicating that the center of gravity of the material is too far outward, and the M 实际总 =M 理论总 , so that the material is distributed in the kettle in an approximately uniform state again; when M 实际总 <M 理论总 The center of gravity of the material is too much inward, and the rotating shaft is driven by the rotary drive mechanism to reduce θ2 to maintain M 实际总 =M 理论总 .

[0037] During feeding, the reactor is in a horizontal state (θ2 is 0°). For liquid crystal polymers, the mass of the reaction materials (p-hydroxybenzoic acid (HBA), 6, hydroxy-2-naphthoic acid (HNA), acetic anhydride (AA) and catalyst) is m2, and the density is ρ. The calculated moment of the material in the flat state is M2=m2gl2*sinθ3. The total moment M required for the reactor to reach equilibrium is 理论总 =M1+M2=m 空 gl1sinθ1+ m2gl2*sinθ3; Since the viscosity of the initial material is low, the material can reach a state of nearly uniform distribution after sufficient flow, that is, M 实际总 =M 理论总 .

[0038] When the material starts to react, the double-screw agitator maintains a specific frequency during the acetylation and polymerization stages; when the torque sensor on the reactor bracket displays the actual torque M 实际总 >M 理论总 , it indicates that the distribution of the material at the outlet of the reactor increases, causing the center of gravity of the material to shift outward; therefore, the rotary drive mechanism 6 drives the rotary shaft to rotate the reactor, increasing θ2 to maintain the balance of the reactor.

[0039] When the torque sensor on the reactor support shows the actual torque M 实际总 <M 理论总 It means that the distribution of materials at the other end of the reactor increases, causing the center of gravity of the materials to shift inward; at this time, the rotary drive mechanism drives the rotating shaft to rotate the reactor, reducing θ2 to maintain the balance of the reactor.

[0040] (5) When the twin-screw agitator reaches the power required by the process, it means that the polymer has reached the specified viscosity; the reaction is completed and the polymer in the kettle is discharged; during the discharge process, the reactor body remains vertical (θ2 is -90°), and the twin-screw agitator continues to rotate at a speed of 1-20 rpm (revolutions per minute); under the dual effects of gravity and the twin-screw agitator conveying force, the material conveying can be further enhanced and the kettle wall can be scraped clean until the material in the kettle is discharged.

[0041] As an embodiment of the present invention, the main control module divides the posture adjustment control of the reactor body into the following three stages: a rapid adjustment period, an advance detection period and a precise arrival period; the adjustment target value is set as a torque error, and the stage in which the torque error is greater than a first set threshold is a rapid adjustment period, the stage in which the torque error is less than or equal to the first set threshold and greater than a second set threshold is an advance detection period, and the stage in which the torque error is less than or equal to the second set threshold is a precise arrival period; in the precise arrival period, stop adjusting the posture of the reactor body.

[0042] The control process of the main control module further includes: step S1, setting a gradient adjustment mechanism for different adjustment stages.

[0043] Set the gradient adjustment mechanism for the rapid adjustment period: Set the target adjustment rate to R target , the current adjustment rate is R current , define the adjustment rate: Δ O fast = K fast ×( R target - R current );in, K fast represents the gradient coefficient of the rapid adjustment period, K fast The value is greater than the set value to speed up the response, Δ O fast It is the gradient adjustment rate during the rapid adjustment period.

[0044] Set the gradient adjustment mechanism during the lead detection period: During the lead detection period, the adjustment speed of the rotation drive mechanism frequency needs to be reduced to avoid overshoot; gradually approach the target value through a slower gradient while reducing fluctuations. For example, set the target adjustment rate to R target , the current adjustment rate is R current , the gradient adjustment rate is Δ O advance = K advance ×( R target - R current );in K advance represents the gradient coefficient of the advance detection period, K advance < K fast , to avoid drastic adjustments, Δ Oadvance It is the gradient adjustment rate in the advance detection period.

[0045] Set the gradient adjustment mechanism during the precision measurement arrival period: The precision measurement arrival period requires fine adjustment of the rotation angle to ensure the stability of the torque error ε; reduce the adjustment error and maintain a stable state as much as possible. Set the target adjustment rate to R target , the current adjustment rate is R current , the gradient adjustment rate is: Δ O precision = K precision ×( R target - R current );in K precision is the gradient coefficient of the precision quantity arrival period, K precision < K advance , for fine adjustment, Δ O precision It is the gradient adjustment rate during the precise measurement arrival period.

[0046] Step S2: adjusting the operating frequency of the rotary drive mechanism based on the PID controller.

[0047] The output formula of the PID controller is: ; In the formula, O ( t ) represents the adjusted frequency; e ( t )= R target - R current Indicates the current error (the difference between the target value and the actual value); K p , K i , K d Respectively represent the proportional gain coefficient, integral gain coefficient, and differential gain coefficient; It represents the cumulative value of the error, that is, the degree to which the system deviates from the target in the long term; Indicates the rate of change of error, used to offset fluctuations caused by rapid changes; select appropriate PID parameters according to the characteristics of each stage K p , K i , K d : During the rapid adjustment period, the goal is to quickly respond to the error, allowing a certain amount of oscillation; set the first proportional gainK p,fast >Second proportional gain K p,advance , the first integral gain K i,fast <Second integral gain K i,advance Or 0, the first differential gain K d,fast <Second differential gain K d,advance , output formula: ; During the lead detection period, the goal is to gradually approach the target value and reduce error accumulation; set the third proportional gain K p,precision <Second proportional gain K p,advance <First proportional gain K p,fast , the second integral gain K i,advance >First integral gain K i,fast , the second differential gain K d,advance >First differential gain K d,fast , output formula: ; During the precise quantity arrival period, the goal is to accurately maintain the target rate and avoid fluctuations; set the third proportional gain K p,precision <Second proportional gain K p,advance , the third integral gain K i,precision >Second integral gain K i,advance , the third differential gain K d,precision >Second differential gain K d,advance , to suppress noise, the output formula is: .

[0048] Step S3: dynamically adjust the operating frequency of the rotary drive mechanism according to the operating frequency of the rotary drive mechanism calculated in step S2.

[0049] According to another aspect of the present invention, the following technical solution is adopted: an electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0050] According to another aspect of the present invention, the following technical solution is adopted: a storage medium stores computer program instructions, and the computer program instructions implement the steps of the above method when executed by a processor.

[0051] The beneficial effects of the present invention are as follows: the tilting reactor and its control method, electronic equipment and storage medium proposed in the present invention can improve the material mixing effect in the axial direction of the reactor, and at the same time enhance the devolatilization of the material under stirring; in addition, the wall sticking problem in the discharging process of the tilting reactor can be further improved by stirring assistance. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 It is a schematic structural diagram of a tilting polymerization kettle in a vertical state in one embodiment of the present invention.

[0053] Figure 2 It is a schematic structural diagram of a tilting polymerization kettle in a horizontal state in one embodiment of the present invention.

[0054] Figure 3 It is a schematic structural diagram of a tilting polymerization kettle in a tilted state in one embodiment of the present invention.

[0055] Figure 4 It is a schematic structural diagram of a horizontal state of a tilting polymerization kettle in one embodiment of the present invention.

[0056] Figure 5 Flow chart of a reactor control method in one embodiment of the present invention.

[0057] Figure 6 FIG. 4 is a schematic diagram of the composition of an electronic device in one embodiment of the present invention. DETAILED DESCRIPTION

[0058] The preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0059] In order to further understand the present invention, preferred embodiments of the present invention are described below in conjunction with examples. However, it should be understood that these descriptions are only for further illustrating the features and advantages of the present invention, rather than limiting the claims of the present invention.

[0060] The description in this section is only for several typical embodiments, and the present invention is not limited to the scope of the embodiments. The same or similar prior art means and some technical features in the embodiments are mutually replaced within the scope of the present invention.

[0061] Unless otherwise indicated, implied from the context, or customary in the prior art, all parts and percentages in this application are based on weight, and the test and characterization methods used are all current as of the filing date of this application. Where applicable, the contents of any patent, patent application or publication referred to in this application are fully incorporated herein by reference, and their equivalent patent families are also incorporated by reference, especially the definitions of synthesis techniques, product and processing designs, polymers, comonomers, initiators or catalysts disclosed in these documents in the art. If the definition of a specific term disclosed in the prior art is inconsistent with any definition provided in this application, the definition of the term provided in this application shall prevail.

[0062] The terms "comprising", "including", "having" and their derivatives do not exclude the presence of any other components, steps or processes, and are irrelevant to whether these other components, steps or processes are disclosed in this application. To eliminate any doubt, unless explicitly stated, all compositions using the terms "comprising", "including", or "having" in this application may include any additional additives, adjuvants or compounds. On the contrary, except for those necessary for operating performance, the term "essentially consisting of..." excludes any other components, steps or processes from the scope of any description of the term below. The term "consisting of..." does not include any components, steps or processes that are not specifically described or listed. Unless explicitly stated, the term "or" refers to the listed individual members or any combination thereof.

[0063] The description of the steps in each embodiment in the specification is only for the convenience of explanation, and the implementation method of the present application is not limited by the order of implementation of the steps.

[0064] The present invention discloses a tilting reactor. Figures 1 to 4 This is a schematic diagram of the structure of the tilting polymerization kettle in different postures in one embodiment of the present invention; please refer to Figures 1 to 4 The tilting reactor comprises: a reactor body 2, a main control module, a stirring mechanism 3, a stirring drive mechanism 1, a reactor bracket 5, a rotary joint and a rotary drive mechanism 6. The stirring drive mechanism 1 is connected to the stirring mechanism 3 and can drive the stirring mechanism 3 to perform stirring; the rotary joint and the rotary drive mechanism 6 are connected to the reactor body 2 and are used to control the reactor body 2 to rotate a set angle based on a rotating shaft 7, thereby adjusting the posture of the reactor body 2. In one embodiment, the reactor body 2 is provided with a rotating shaft 7, and the reactor body 2 is connected to the reactor bracket 5 via the rotating shaft 7; of course, the reactor body 2 can also be set on the reactor bracket 5 in other ways.

[0065] A torque sensor 4 is provided in the contact area between the reactor body 2 and the reactor support 5, and the torque sensor 4 is used to sense the torque on the rotating shaft when the reactor body 2 rotates to a set angle; the main control module is respectively connected to the stirring drive mechanism 1, the rotating drive mechanism 6 and the torque sensor 4. The reactor body 2 is provided with a reactor discharge port 8, through which the material in the reactor body 2 can be discharged.

[0066] In one embodiment of the present invention, the main control module controls the operation of the rotary drive mechanism 6 according to a set control strategy. The control strategy includes controlling the operation of the rotary drive mechanism 6 according to the set characteristics of the material added to the reactor body 2; or / and, the control strategy includes controlling the operation of the rotary drive mechanism 6 according to the quality of the material added to the reactor body 2; or / and, the control strategy includes controlling the operation of the rotary drive mechanism 6 according to the pressure data sensed by the torque sensor 4; or / and, the control strategy includes controlling the operation of the rotary drive mechanism 6 according to the tilt angle data of the reactor body 2. The tilt angle data can be the angle between the axis of the reactor body and a set plane (such as a horizontal plane).

[0067] In one embodiment of the present invention, the main control module determines whether the center of gravity of the material is shifted based on the data sensed by the torque sensor, the set characteristics of the material added to the kettle, the mass of the material added to the kettle and the angle of the kettle body; when it is determined that the center of gravity of the material in the kettle is shifted, the angle to which the reactor body 2 should be adjusted is calculated, and the reactor body 2 is driven to tilt to the set angle to maintain the balance of the entire reactor.

[0068] In one embodiment, the main control module can calculate the relationship between the data sensed by the torque sensor, the set characteristics of the material added to the kettle, the mass of the material added to the kettle and the kettle body angle by means of a logical relationship. If the difference between the kettle body angle calculated based on the data sensed by the torque sensor, the set characteristics of the material added to the kettle, and the mass of the material added to the kettle and the actual kettle body angle exceeds the set threshold, corresponding adjustments are made to reduce the difference. In addition, different settings can be made for the kettle body angles in different time periods. In another embodiment, the main control module searches for the kettle body angle data corresponding to the data sensed by the torque sensor, the set characteristics of the material added to the kettle, and the mass of the material added to the kettle in a table; at the same time, the angles of the kettle body in different time periods can also be set in the table.

[0069] In another embodiment, the main control module determines the rotation angle of the kettle body by constructing a kettle body angle driving mathematical model; the mathematical model can also update relevant parameters through autonomous learning.

[0070] Figure 5This is a flow chart of a method for controlling a reactor in one embodiment of the present invention; please refer to Figure 5 In one embodiment of the present invention, the control process of the main control module includes the following steps:

[0071] (1) Calculate the theoretical value of the moment when the reactor is empty: Determine the center of gravity of the reactor when it is empty (including heat medium).

[0072] Assume m 空 is the mass of the reactor when it is empty, and l1 is the distance from the center of gravity of the empty reactor Cg1 to the center of the rotation axis.

[0073] θ1 is the angle between the center of gravity of the empty reactor and the line connecting the rotation axis relative to the plumb weight direction in the horizontal state. θ1 can be obtained through experiments when the reactor is empty, or it can be calculated when the reactor is designed; θ2 (0°-90°, set to -90° when discharging) is the rotation angle of the reactor at a specific moment; theoretically, the moment M1=m 空 gl1sin(θ1+θ2).

[0074] (2) Calculate the theoretical value of the material torque after the reactor is charged: For the situation after the reactor is charged, due to the fluidity of the material, the center of gravity cannot be accurately determined. The theoretical center of gravity Cg2 of the material can be calculated by estimation or modeling.

[0075] Assume that the mass of the material is m2, l2 is the distance between the center of gravity of the material and the center of rotation axis; θ3 is the angle between the line connecting the center of gravity of the material and the rotation axis relative to the plumb line direction when the reactor is in a horizontal state; therefore, when the reactor is at a specific rotation angle θ2 and the material is in a basically evenly laid state, theoretically, the moment of the material M2=m2gl2sin(θ2+θ3).

[0076] (3) Theoretical and actual values ​​of the total torque when the reactor is in equilibrium after feeding: The theoretical total torque required for the reactor to be in equilibrium after feeding is M 理论总 =M1+M2; the actual total torque is the reading of the torque sensor on the brackets on both sides of the reactor M 实际总 .

[0077] (4) Adjustment method for keeping the reactor balanced: After turning on the agitator, the double-screw agitator transports the material from one end of the reactor to the discharge port, and the weight of the material accumulation at the discharge port increases. At this time, the actual value M of the torque sensor on the reactor bracket is 实际总 >M 理论总 , indicating that the center of gravity of the material is too far outward, and the rotation drive mechanism 6 drives the rotating shaft 7 to rotate to increase θ2 so that M 实际总 =M 理论总 , so that the material is distributed in the kettle in an approximately uniform state again; when M实际总 <M 理论总 The center of gravity of the material is too much inward, and the rotating drive mechanism 6 drives the rotating shaft 7 to rotate to reduce θ2 to maintain M 实际总 =M 理论总 .

[0078] During feeding, the reactor body 2 is in a horizontal state (θ2 is 0°). For liquid crystal polymers, the mass of the reaction materials (parahydroxybenzoic acid (HBA), 6, hydroxy-2-naphthoic acid (HNA), acetic anhydride (AA) and catalyst) is m2, and the density is ρ. The calculated moment of the material in the flat state is M2=m2gl2*sinθ3. The total moment M required for the reactor to reach equilibrium is 理论总 =M1+M2=m 空 gl1sinθ1+ m2gl2*sinθ3; Since the viscosity of the initial material is low, the material can reach a state of nearly uniform distribution after sufficient flow, that is, M 实际总 =M 理论总 .

[0079] When the material starts to react, the double-screw agitator is kept at 45 Hz during the acetylation and polymerization stages; when the torque sensor 4 on the reactor bracket shows the actual torque M 实际总 >M 理论总 , it indicates that the distribution of the material at the outlet of the reactor increases, causing the center of gravity of the material to shift outward; therefore, the rotary drive mechanism 6 drives the rotary shaft 7 to rotate the reactor, increasing θ2 to maintain the balance of the reactor.

[0080] When the torque sensor 4 on the reactor support shows the actual torque M 实际总 <M 理论总 , it indicates that the distribution of the material at the other end of the reactor increases, causing the center of gravity of the material to shift inward; at this time, the rotary drive mechanism 6 drives the rotary shaft 7 to rotate the reactor, reducing θ2 to maintain the balance of the reactor.

[0081] (5) When the double-screw agitator reaches the power required by the process, it means that the polymer has reached the specified viscosity; the reaction is completed and the polymer in the kettle is discharged; during the discharge process, the reactor body 2 remains vertical with the discharge port facing downward (θ2 is -90°), and the double-screw agitator continues to rotate at a speed of 1-20 rpm; under the dual effects of gravity and the double-screw agitator conveying force, the material conveying is further enhanced and the kettle wall is scraped clean until the material in the kettle is discharged.

[0082] In one embodiment of the present invention, the tilting reactor further comprises an angle sensor, and the angle sensor is used to sense the angle formed by the central axis of the reactor body and a set calibration line and / or calibration plane.

[0083] In one embodiment of the present invention, the torque sensor 4 on the reactor bracket is installed on the reactor bracket 5 on both sides, and the material accumulation state is judged by the real-time displayed readings according to the torque applied to the rotating shaft 7, the material level in the reactor and the angle of the reactor body.

[0084] like Figure 2 As shown, due to the axial force of the double-screw agitator, the center of gravity of the material in the kettle is offset. At this time, the reactor body 2 needs to be rotated and tilted to a specific angle to maintain the balance of the entire reactor. The reactor bracket 5 is connected to the tilting reactor body 2 and is used to support the tilting reactor body 2. The torque sensor 4 on the reactor bracket is installed on the reactor bracket 5 to monitor the torsion on the rotating shaft when the reactor is tilted to a specific angle. The reactor discharge port 8 is connected to the bottom of the tilting reactor body 2 and is used to discharge the material in the kettle through the reactor discharge port 8 when the reaction is completed. The positions, relative positions, direct and indirect connection relationships of the various components of the reactor body 2, the reactor bracket 5, the rotary drive mechanism 6 and the rotary shaft 7 are the same as those of the invention patent (polymerization kettle and its control method). The rotary joint and the rotary drive mechanism 6 are connected to the rotary shaft 7, which can drive the tilting reactor body 2 to rotate a specific angle. For setting the working mode of the reactor, the specific control method is the same as the invention patent polymerization kettle and its control method. The stirring drive mechanism 1 is connected to the stirring mechanism 3 and can drive the stirring mechanism 3 to perform stirring. The stirring mechanism 3 is arranged in the tilting reactor body 2, and the stirring mechanism 3 penetrates the tilting reactor body 2. When in a horizontal state, there is basically no gap between the reactor walls at both ends of the reactor. The stirring mechanism 3 is a spiral ribbon agitator, preferably a double spiral ribbon agitator, and the spiral ribbon blades continuously transport the material to the discharge port when rotating.

[0085] The parameters of the double-ribbon stirrer, such as the diameter of the ribbon, the pitch, the ratio of the pitch to the diameter of the ribbon, and the boundary gap, are determined according to the inner diameter of the reactor body and the viscosity of the material. The inclined surface of the ribbon blade can be 45°. The torque sensor 4 on the reactor bracket is installed on the reactor bracket 5 on both sides. The material accumulation state is judged by the real-time displayed readings based on the torque on the rotating shaft 7, the material level in the reactor and the angle of the reactor body. Figure 2 As shown, due to the axial force of the double-screw agitator, the center of gravity of the material in the reactor shifts. At this time, the reactor body 2 needs to be rotated and tilted to a specific angle to maintain the balance of the entire reactor.

[0086] like Figure 3 As shown, when the reactor is fed, the reactor body 2 is in a horizontal state (the rotation angle is 0°); when the stirring mechanism 3 reacts when the reactor body 2 is in a horizontal state, the direction in which the double-screw agitator conveys the material is from one end of the reactor to the discharge port.

[0087] During the discharge process when the reactor body 2 is in a vertical position (rotation angle is -90°), the double-screw agitator still maintains a certain frequency of rotation, so that the material can be discharged through the reactor discharge port 8 under the dual effects of gravity and stirring, solving the problem of material sticking to the wall during discharge.

[0088] In one use scenario of the present invention, in the feeding working mode / polymerization reaction working mode, the reactor is in a horizontal posture, which is conducive to the reaction. In the discharging working mode, the reactor is in a vertical posture. In the discharging working mode, the reactor is rotated to a vertical posture, so that the problem of difficult discharging of the intermittent horizontal reactor is solved to a certain extent.

[0089] The present invention further discloses a control method for the above-mentioned tilting reactor, the control method comprising: the main control module controls the operation of the rotating drive mechanism 6 according to a set control strategy. The control strategy comprises controlling the operation of the rotating drive mechanism 6 according to the set characteristics of the material added to the reactor body 2; or / and, the control strategy comprises controlling the operation of the rotating drive mechanism 6 according to the quality of the material added to the reactor body 2; or / and, the control strategy comprises controlling the operation of the rotating drive mechanism 6 according to the pressure data sensed by the torque sensor 4; or / and, the control strategy comprises controlling the operation of the rotating drive mechanism 6 according to the tilt angle data of the reactor body 2.

[0090] In one embodiment of the present invention, the main control module determines whether the center of gravity of the material is shifted based on the data sensed by the torque sensor, the set characteristics of the material added to the kettle, the mass of the material added to the kettle and the angle of the kettle body; when it is determined that the center of gravity of the material in the kettle is shifted, the angle to which the reactor body 2 should be adjusted is calculated, and the reactor body 2 is driven to tilt to the set angle to maintain the balance of the entire reactor.

[0091] Figure 5 This is a flow chart of a method for controlling a reactor in one embodiment of the present invention; please refer to Figure 5 In one embodiment of the present invention, the control process of the main control module includes the following steps:

[0092] (1) Calculate the theoretical value of the moment when the reactor is empty: Determine the center of gravity of the reactor when it is empty (including heat medium).

[0093] Assume m 空 is the mass of the reactor when it is empty, and l1 is the distance from the center of gravity of the empty reactor Cg1 to the center of the rotation axis.

[0094] θ1 is the angle between the center of gravity of the empty reactor and the line connecting the rotation axis relative to the plumb weight direction in the horizontal state. θ1 can be obtained through experiments when the reactor is empty, or it can be calculated when the reactor is designed; θ2 (0°-90°, set to -90° when discharging) is the rotation angle of the reactor at a specific moment; theoretically, the moment M1=m 空 gl1sin(θ1+θ2).

[0095] (2) Calculate the theoretical value of the material torque after the reactor is charged: For the situation after the reactor is charged, due to the fluidity of the material, the center of gravity cannot be accurately determined. The theoretical center of gravity Cg2 of the material can be calculated by estimation or modeling.

[0096] Assume that the mass of the material is m2, l2 is the distance between the center of gravity of the material and the center of rotation axis; θ3 is the angle between the line connecting the center of gravity of the material and the rotation axis relative to the plumb line direction when the reactor is in a horizontal state; therefore, when the reactor is at a specific rotation angle θ2 and the material is in a basically evenly laid state, theoretically, the moment of the material M2=m2gl2sin(θ2+θ3).

[0097] (3) Theoretical and actual values ​​of the total torque when the reactor is in equilibrium after feeding: The theoretical total torque required for the reactor to be in equilibrium after feeding is M 理论总 =M1+M2; the actual total torque is the reading of the torque sensor on the brackets on both sides of the reactor M 实际总 .

[0098] (4) Adjustment method for keeping the reactor balanced: After turning on the agitator, the double-screw agitator transports the material from one end of the reactor to the discharge port, and the weight of the material accumulation at the discharge port increases. At this time, the actual value M of the torque sensor on the reactor bracket is 实际总 >M 理论总 , indicating that the center of gravity of the material is too far outward, and the rotation drive mechanism 6 drives the rotating shaft 7 to rotate to increase θ2 so that M 实际总 =M 理论总 , so that the material is distributed in the kettle in an approximately uniform state again; when M 实际总 <M 理论总 The center of gravity of the material is too much inward, and the rotating drive mechanism 6 drives the rotating shaft 7 to rotate to reduce θ2 to maintain M 实际总 =M 理论总 .

[0099] During feeding, the reactor body 2 is in a horizontal state (θ2 is 0°). For liquid crystal polymers, the mass of the reaction materials (parahydroxybenzoic acid (HBA), 6, hydroxy-2-naphthoic acid (HNA), acetic anhydride (AA) and catalyst) is m2, and the density is ρ. The calculated moment of the material in the flat state is M2=m2gl2*sinθ3. The total moment M required for the reactor to reach equilibrium is 理论总 =M1+M2=m 空 gl1sinθ1+ m2gl2*sinθ3; Since the viscosity of the initial material is low, the material can reach a state of nearly uniform distribution after sufficient flow, that is, M 实际总 =M 理论总 .

[0100] When the material starts to react, the double-screw agitator is kept at 45 Hz during the acetylation and polymerization stages; when the torque sensor 4 on the reactor bracket shows the actual torque M 实际总 >M 理论总 , it indicates that the distribution of the material at the outlet of the reactor increases, causing the center of gravity of the material to shift outward; therefore, the rotary drive mechanism 6 drives the rotary shaft 7 to rotate the reactor, increasing θ2 to maintain the balance of the reactor.

[0101] When the torque sensor 4 on the reactor support shows the actual torque M 实际总 <M 理论总 , it indicates that the distribution of the material at the other end of the reactor increases, causing the center of gravity of the material to shift inward; at this time, the rotary drive mechanism 6 drives the rotary shaft 7 to rotate the reactor, reducing θ2 to maintain the balance of the reactor.

[0102] (5) When the twin-screw agitator reaches the power required by the process, it means that the polymer has reached the specified viscosity; the reaction is completed and the polymer in the kettle is discharged; during the discharge process, the reactor body 2 remains vertical (θ2 is -90°), and the twin-screw agitator continues to rotate at a speed of 1-20 rpm; under the dual effects of gravity and the twin-screw agitator conveying force, the material conveying can be further enhanced and the kettle wall can be scraped clean until the material in the kettle is discharged.

[0103] In one use scenario of the present invention, a gradient adjustment mechanism corresponding to the rapid adjustment period, the advance detection period and the precise amount arrival period is established in the actual process, and the PID controller is used to adjust the working frequency of the rotary drive mechanism in the rapid adjustment period, the advance detection period and the precise amount arrival period that conform to the gradient adjustment mechanism. A high-precision torque sensor is installed to collect the torque change data of the reactor in real time, set the sampling frequency, and adjust the sampling interval according to the adjustment rate (for example, once every 50-100ms; collect and record the torque of the reactor in real time, and store the data in the form of time series.

[0104] According to the characteristics of the reactor and the processing requirements, the target value is adjusted to the torque error: ε = (M 实际总 -M 理论总 ) / M 理论总 *100%, the posture adjustment control of the reactor body is divided into the following three stages: rapid adjustment period, advance detection period and precise arrival period; the adjustment target value is set as the torque error, the stage when the torque error is greater than the first set threshold is the rapid adjustment period, the stage when the torque error is less than or equal to the first set threshold and greater than the second set threshold is the advance detection period, and the stage when the torque error is less than or equal to the second set threshold is the precise arrival period; in the precise arrival period, stop adjusting the posture of the reactor body.

[0105] In one embodiment, the adjustment cycle can be divided into the following three stages: (1) Rapid adjustment period; this stage is the rapid adjustment stage at the beginning of the adjustment, the goal is to quickly adjust the angle, and the target ε is close to ±5-10%. Implementation: Analyze the ε data, and when ε is close to ±10-15%, automatically enter the next stage. (2) Advance detection period; this stage slows down the adjustment speed and accurately controls the adjustment amount to avoid overshoot (exceeding the target value). Implementation: When ε is lower than a certain threshold (such as ±5%-10%), switch to the precise amount arrival period. (3) Precise amount arrival period; this stage is the final stage approaching the target weight, and an extremely slow adjustment rate is used to achieve precise adjustment. Implementation: Real-time calculation of the micro-change of each adjustment (change value per unit time); stop adjustment when the target value reaches the allowable error range (such as ±0.1%).

[0106] The control process of the main control module further includes:

[0107] Step S1, setting the gradient adjustment mechanism at different adjustment stages.

[0108] Set the gradient adjustment mechanism for the rapid adjustment period: Set the target adjustment rate to R target , the current adjustment rate is R current , define the adjustment rate: Δ O fast = K fast ×( R target - R current );in, K fast represents the gradient coefficient of the rapid adjustment period, K fast The value is greater than the set value to speed up the response, Δ O fast It is the gradient adjustment rate during the rapid adjustment period.

[0109] Set the gradient adjustment mechanism during the lead detection period: During the lead detection period, the adjustment speed of the rotation drive mechanism frequency needs to be reduced to avoid overshoot (i.e., ε exceeds the target value); gradually approach the target value through a slower gradient while reducing fluctuations. For example, set the target adjustment rate to R target , the current adjustment rate is R current , the gradient adjustment rate is Δ O advance = K advance ×( R target - R current );in K advance represents the gradient coefficient of the advance detection period, K advance < K fast , to avoid drastic adjustments, Δ O advance It is the gradient adjustment rate in the advance detection period.

[0110] Set the gradient adjustment mechanism during the precision measurement arrival period: The precision measurement arrival period requires fine adjustment of the rotation angle to ensure the stability of the torque error ε; reduce the adjustment error and maintain a stable state as much as possible. Set the target adjustment rate to R target , the current adjustment rate is R current , the gradient adjustment rate is: Δ O precision = K precision ×( R target - R current );in K precision is the gradient coefficient of the precision quantity arrival period, K precision < K advance , for fine adjustment, Δ O precision It is the gradient adjustment rate during the precise measurement arrival period.

[0111] Step S2: adjusting the operating frequency of the rotary drive mechanism based on the PID controller.

[0112] The output formula of the PID controller is: ; In the formula, O ( t ) represents the adjusted frequency; e (t )= R target - R current Indicates the current error (the difference between the target value and the actual value); K p , K i , K d Respectively represent the proportional gain coefficient, integral gain coefficient, and differential gain coefficient; It represents the cumulative value of the error, that is, the degree to which the system deviates from the target in the long term; Indicates the rate of change of error, used to offset fluctuations caused by rapid changes; select appropriate PID parameters according to the characteristics of each stage K p , K i , K d : During the rapid adjustment period, the goal is to respond to errors quickly, allowing for a certain amount of oscillation.

[0113] Set the first proportional gain K p,fast >Second proportional gain K p,advance , the first integral gain K i,fast <Second integral gain K i,advance Or 0, the first differential gain K d,fast <Second differential gain K d,advance , output formula: ; During the lead detection period, the goal is to gradually approach the target value and reduce error accumulation.

[0114] Set the third proportional gain K p,precision <Second proportional gain K p,advance <First proportional gain K p,fast , the second integral gain K i,advance >First integral gain K i,fast , the second differential gain K d,advance >First differential gain K d,fast , output formula: .

[0115] During the precise quantity arrival period, the goal is to accurately maintain the target rate and avoid fluctuations.

[0116] Set the third proportional gain K p,precision <Second proportional gain K p,advance , the third integral gain K i,precision >Second integral gain K i,advance , the third differential gain K d,precision >Second differential gain K d,advance , to suppress noise, the output formula is: .

[0117] Step S3: dynamically adjust the operating frequency of the rotary drive mechanism according to the operating frequency of the rotary drive mechanism calculated in step S2.

[0118] In one embodiment, the dynamic adjustment implementation method based on the PID controller includes: initializing the PID parameters for each stage respectively K p , K i , K d , and set the stage switching threshold.

[0119] The end condition of the rapid adjustment period is: the current rate reaches 80% of the target rate; the end condition of the advance detection period is: the current rate reaches 95% of the target rate; the end condition of the precise arrival period is: entering the tolerance range of the target rate (such as ±0.5%).

[0120] Real-time error calculation and adjustment: at each time step t , calculate the current error e ( t ); According to the current stage, call the corresponding PID controller formula to calculate the opening adjustment value O ( t ). When the end condition of a certain stage is reached, it automatically switches to the next stage and reinitializes the PID parameters of the corresponding stage.

[0121] The present invention also discloses an electronic device, Figure 6 FIG. 1 is a schematic diagram of the composition of an electronic device in an embodiment of the present invention; please refer to FIG. Figure 6At the hardware level, the electronic device includes a memory, a processor and at least one network interface; the processor may be a microprocessor, and the memory may include a memory, such as a random access memory (RAM), and of course, a non-volatile memory, etc. The electronic device may also be provided with other hardware as required.

[0122] The processor, network interface and memory may be interconnected via an internal bus, which may be an ISA (Industrial Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industrial Standard Architecture) bus, etc. The bus may include an address bus, a data bus, a control bus, etc. The memory is used to store programs (which may include operating system programs and application programs); the program may include program code, which may include computer operation instructions. The memory may include internal memory and non-volatile memory, and provides instructions and data to the processor.

[0123] In one embodiment, the processor can read the corresponding program from the non-volatile memory into the memory and then run it; the processor can execute the program stored in the memory and is specifically used to perform the following operations (such as Figure 5 shown):

[0124] (1) Calculate the theoretical value of the moment when the reactor is empty: Determine the center of gravity of the reactor when it is empty (including heat medium).

[0125] Assume m 空 is the mass of the reactor when it is empty, l1 is the distance from the center of gravity Cg1 of the empty reactor to the center of the rotation axis; θ1 is the angle between the center of gravity of the empty reactor and the line connecting the rotation axis relative to the plumb line in the horizontal state, θ1 can be obtained through experiments when the reactor is empty, or it can be calculated when the reactor is designed; θ2 (0°-90°, set to -90° when discharging) is the rotation angle of the reactor at a specific moment; theoretically, the moment M1=m 空 gl1sin(θ1+θ2).

[0126] (2) Calculate the theoretical value of the material torque after the reactor is charged: For the situation after the reactor is charged, due to the fluidity of the material, the center of gravity cannot be accurately determined. The theoretical center of gravity Cg2 of the material can be calculated by estimation or modeling.

[0127] Assume that the mass of the material is m2, l2 is the distance between the center of gravity of the material and the center of rotation axis; θ3 is the angle between the line connecting the center of gravity of the material and the rotation axis relative to the plumb line direction when the reactor is in a horizontal state; therefore, when the reactor is at a specific rotation angle θ2 and the material is in a basically evenly laid state, theoretically, the moment of the material M2=m2gl2sin(θ2+θ3).

[0128] (3) Theoretical and actual values ​​of the total torque when the reactor is in equilibrium after feeding: The theoretical total torque required for the reactor to be in equilibrium after feeding is M 理论总 =M1+M2; the actual total torque is the reading of the torque sensor on the brackets on both sides of the reactor M 实际总 .

[0129] (4) Adjustment method for keeping the reactor balanced: After turning on the agitator, the double-screw agitator transports the material from one end of the reactor to the discharge port, and the weight of the material accumulation at the discharge port increases. At this time, the actual value M of the torque sensor on the reactor bracket is 实际总 >M 理论总 , indicating that the center of gravity of the material is too far outward, and the rotation drive mechanism 6 drives the rotating shaft 7 to rotate to increase θ2 so that M 实际总 =M 理论总 , so that the material is distributed in the kettle in an approximately uniform state again; when M 实际总 <M 理论总 The center of gravity of the material is too much inward, and the rotating shaft 7 is driven by the rotating driving machine double-screw agitator 6 to reduce θ2 to maintain M 实际总 =M 理论总 .

[0130] During feeding, the reactor body 2 is in a horizontal state (θ2 is 0°). For liquid crystal polymers, the mass of the reaction materials (parahydroxybenzoic acid (HBA), 6, hydroxy-2-naphthoic acid (HNA), acetic anhydride (AA) and catalyst) is m2, and the density is ρ. The calculated moment of the material in the flat state is M2=m2gl2*sinθ3. The total moment M required for the reactor to reach equilibrium is 理论总 =M1+M2=m 空 gl1sinθ1+ m2gl2*sinθ3; Since the viscosity of the initial material is low, the material can reach a state of nearly uniform distribution after sufficient flow, that is, M 实际总 =M 理论总 .

[0131] When the material starts to react, the double-screw agitator is kept at 45 Hz during the acetylation and polymerization stages; when the torque sensor 4 on the reactor bracket shows the actual torque M 实际总 >M 理论总, it indicates that the distribution of the material at the outlet of the reactor increases, causing the center of gravity of the material to shift outward; therefore, the rotary drive mechanism 6 drives the rotary shaft 7 to rotate the reactor, increasing θ2 to maintain the balance of the reactor.

[0132] When the torque sensor 4 on the reactor support shows the actual torque M 实际总 <M 理论总 , it indicates that the distribution of the material at the other end of the reactor increases, causing the center of gravity of the material to shift inward; at this time, the rotary drive mechanism 6 drives the rotary shaft 7 to rotate the reactor, reducing θ2 to maintain the balance of the reactor.

[0133] (5) When the twin-screw agitator reaches the power required by the process, it means that the polymer has reached the specified viscosity; the reaction is completed and the polymer in the kettle is discharged; during the discharge process, the reactor body 2 remains vertical (θ2 is -90°), and the twin-screw agitator continues to rotate at a speed of 1-20 rpm; under the dual effects of gravity and the twin-screw agitator conveying force, the material conveying can be further enhanced and the kettle wall can be scraped clean until the material in the kettle is discharged.

[0134] The present invention further discloses a storage medium having computer program instructions stored thereon, which, when executed by a processor, implements the following steps of the method of the present invention (eg Figure 5 shown):

[0135] (1) Calculate the theoretical value of the moment when the reactor is empty: Determine the center of gravity of the reactor when it is empty (including heat medium).

[0136] Assume m 空 is the mass of the reactor when it is empty, and l1 is the distance from the center of gravity of the empty reactor Cg1 to the center of the rotation axis.

[0137] θ1 is the angle between the center of gravity of the empty reactor and the line connecting the rotation axis relative to the plumb weight direction in the horizontal state. θ1 can be obtained through experiments when the reactor is empty, or it can be calculated when the reactor is designed; θ2 (0°-90°, set to -90° when discharging) is the rotation angle of the reactor at a specific moment; theoretically, the moment M1=m 空 gl1sin(θ1+θ2).

[0138] (2) Calculate the theoretical value of the material torque after the reactor is charged: For the situation after the reactor is charged, due to the fluidity of the material, the center of gravity cannot be accurately determined. The theoretical center of gravity Cg2 of the material can be calculated by estimation or modeling.

[0139] Assume that the mass of the material is m2, l2 is the distance between the center of gravity of the material and the center of rotation axis; θ3 is the angle between the line connecting the center of gravity of the material and the rotation axis relative to the plumb line direction when the reactor is in a horizontal state; therefore, when the reactor is at a specific rotation angle θ2 and the material is in a basically evenly laid state, theoretically, the moment of the material M2=m2gl2sin(θ2+θ3).

[0140] (3) Theoretical and actual values ​​of the total torque when the reactor is in equilibrium after feeding: The theoretical total torque required for the reactor to be in equilibrium after feeding is M 理论总 =M1+M2; the actual total torque is the reading of the torque sensor on the brackets on both sides of the reactor M 实际总 .

[0141] (4) Adjustment method for keeping the reactor balanced: After turning on the agitator, the double-screw agitator transports the material from one end of the reactor to the discharge port, and the weight of the material accumulation at the discharge port increases. At this time, the actual value M of the torque sensor on the reactor bracket is 实际总 >M 理论总 , indicating that the center of gravity of the material is too far outward, and the rotation drive mechanism 6 drives the rotating shaft 7 to rotate to increase θ2 so that M 实际总 =M 理论总 , so that the material is distributed in the kettle in an approximately uniform state again; when M 实际总 <M 理论总 The center of gravity of the material is too much inward, and the rotating drive mechanism 6 drives the rotating shaft 7 to rotate to reduce θ2 to maintain M 实际总 =M 理论总 .

[0142] During feeding, the reactor body 2 is in a horizontal state (θ2 is 0°). For liquid crystal polymers, the mass of the reaction materials (parahydroxybenzoic acid (HBA), 6, hydroxy-2-naphthoic acid (HNA), acetic anhydride (AA) and catalyst) is m2, and the density is ρ. The calculated moment of the material in the flat state is M2=m2gl2*sinθ3. The total moment M required for the reactor to reach equilibrium is 理论总 =M1+M2=m 空 gl1sinθ1+ m2gl2*sinθ3; Since the viscosity of the initial material is low, the material can reach a state of nearly uniform distribution after sufficient flow, that is, M 实际总 =M 理论总 .

[0143] When the material starts to react, the double-screw agitator is kept at 45 Hz during the acetylation and polymerization stages; when the torque sensor 4 on the reactor bracket shows the actual torque M 实际总 >M 理论总, it indicates that the distribution of the material at the outlet of the reactor increases, causing the center of gravity of the material to shift outward; therefore, the rotary drive mechanism 6 drives the rotary shaft 7 to rotate the reactor, increasing θ2 to maintain the balance of the reactor.

[0144] When the torque sensor 4 on the reactor support shows the actual torque M 实际总 <M 理论总 , it indicates that the distribution of the material at the other end of the reactor increases, causing the center of gravity of the material to shift inward; at this time, the rotary drive mechanism 6 drives the rotary shaft 7 to rotate the reactor, reducing θ2 to maintain the balance of the reactor.

[0145] (5) When the twin-screw agitator reaches the power required by the process, it means that the polymer has reached the specified viscosity; the reaction is completed and the polymer in the kettle is discharged; during the discharge process, the reactor body 2 remains vertical (θ2 is -90°), and the twin-screw agitator continues to rotate at a speed of 1-20 rpm; under the dual effects of gravity and the twin-screw agitator conveying force, the material conveying can be further enhanced and the kettle wall can be scraped clean until the material in the kettle is discharged.

[0146] In summary, the tilting reactor and its control method proposed in the present invention can adjust the tilting posture of the reactor according to the material properties, the data sensed by the torque sensor, the posture of the reactor and the progress of the reaction, thereby improving the material mixing effect in the axial direction of the reactor and enhancing the devolatilization of the material under stirring; in addition, the wall sticking problem in the discharging process of the tilting reactor can be further improved by stirring assistance.

[0147] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0148] The description and application of the present invention here are illustrative, and it is not intended to limit the scope of the present invention to the above-mentioned embodiments. The effects or advantages involved in the embodiments may not be embodied in the embodiments due to interference from various factors, and the description of the effects or advantages is not used to limit the embodiments. The deformation and change of the embodiments disclosed here are possible, and the replacement of the embodiments and the various equivalent parts are well known to those of ordinary skill in the art. It should be clear to those skilled in the art that the present invention can be implemented in other forms, structures, arrangements, proportions, and with other components, materials and parts without departing from the spirit or essential features of the present invention. Other deformations and changes can be made to the embodiments disclosed here without departing from the scope and spirit of the present invention.

Claims

1. A tilting reactor, characterized in that: The tilting reactor comprises: a reactor body, a main control module, a stirring mechanism, a stirring drive mechanism, a reactor support, a rotary joint and a rotary drive mechanism; The stirring drive mechanism is connected to the stirring mechanism and can drive the stirring mechanism to perform stirring action; the rotary joint and the rotary drive mechanism are connected to the reactor body and are used to control the reactor body to rotate a set angle based on the rotation axis, thereby adjusting the posture of the reactor body; A torque sensor is provided in the contact area between the reactor body and the reactor support, and the torque sensor is used to sense the torque on the rotating shaft when the reactor body rotates to a set angle; the main control module is respectively connected to the stirring drive mechanism, the rotating drive mechanism and the torque sensor; The reactor body is provided with a reactor discharge port, through which the material in the reactor body can be discharged; The main control module determines whether the center of gravity of the material is offset according to the data sensed by the torque sensor, the set characteristics of the material added to the kettle, the mass of the material added to the kettle and the angle of the kettle body; When it is determined that the center of gravity of the material in the reactor is offset, the angle that the reactor body should be adjusted is calculated, and the reactor body is driven to tilt to the set angle to maintain the balance of the entire reactor; The control process of the main control module includes the following steps: (1) Calculate the theoretical value of the moment when the reactor is empty: Determine the center of gravity of the reactor when the reactor is empty. Assume m 空 is the mass of the reactor when it is empty, l1 is the distance from the center of gravity of the empty reactor Cg1 to the center of the rotation axis; θ1 is the angle between the center of gravity of the empty reactor and the line connecting the rotation axis relative to the plumb weight direction in the horizontal state. θ1 is obtained through experiments when the reactor is empty, or calculated when the reactor is designed; θ2 is the rotation angle of the reactor; calculate the moment M1=m when the empty reactor is at θ2 空 gl1sin(θ1+θ2); (2) Calculate the theoretical value of the material torque after the reactor is charged: According to the situation after the reactor is charged, the theoretical center of gravity Cg2 of the material is calculated by estimation or modeling; Assume that the mass of the material is m2, l2 is the distance between the center of gravity of the material and the center of rotation axis; θ3 is the angle between the line connecting the center of gravity of the material and the rotation axis relative to the plumb line when the reactor is in a horizontal state; when the reactor is at a rotation angle of θ2 and the material is in a basically evenly spread state, the moment of the material M2=m2gl2sin(θ2+θ3); (3) Theoretical and actual values ​​of the total torque when the reactor is in equilibrium after feeding: The theoretical total torque required for the reactor to be in equilibrium after feeding is M 理论总 =M1+M2; the actual total torque is the reading of the torque sensor on the brackets on both sides of the reactor M 实际总 ; (4) Adjustment method for keeping the reactor balanced: After turning on the agitator, the double-screw agitator transports the material from one end of the reactor body to the discharge port. The weight of the material accumulated at the discharge port increases. At this time, the actual value M of the torque sensor on the reactor bracket is 实际总 >M 理论总 , indicating that the center of gravity of the material is too far outward, and the M 实际总 =M 理论总 , so that the material is distributed in the kettle in an approximately uniform state again; when M 实际总 <M 理论总 The center of gravity of the material is too much inward, and the rotating shaft is driven by the rotary drive mechanism to reduce θ2 to maintain M 实际总 =M 理论总 ; When feeding, the reactor is in a horizontal state. For liquid crystal polymer, the mass of the reaction material is m2, the density is ρ, and the torque of the material in the flat state is calculated to be M2=m2gl2*sinθ3. The total torque M required for the reactor to reach equilibrium is 理论总 =M1+M2= m 空 gl1sinθ1+ m2gl2*sinθ3; Since the viscosity of the initial material is lower than the set threshold, the material reaches a state of approximately uniform distribution after sufficient flow, that is, M 实际总 =M 理论总 ; When the torque sensor on the reactor support shows the actual torque M 实际总 >M 理论总 When θ2 increases, it means that the distribution of materials at the outlet of the reactor increases, causing the center of gravity of the materials to shift outward; the rotary drive mechanism drives the rotary shaft to rotate the reactor, increasing θ2 to maintain the balance of the reactor; When the torque sensor on the reactor support shows the actual torque M 实际总 <M 理论总 When θ2 is θ2, it indicates that the distribution of materials at the other end of the reactor increases, causing the center of gravity of the materials to shift inward; the rotary drive mechanism drives the rotary shaft to rotate the reactor, reducing θ2 to maintain the balance of the reactor; (5) When the twin-screw agitator reaches the power required by the process, it means that the polymer has reached the specified viscosity; the reaction is completed and the polymer in the kettle is discharged; during the discharge process, the reactor body remains vertical and the twin-screw agitator continues to rotate; under the dual effects of gravity and the twin-screw agitator conveying force, the material conveying is further enhanced and the kettle wall is scraped clean until the material in the kettle is discharged.

2. The tilting reactor according to claim 1, characterized in that: The main control module controls the operation of the rotation drive mechanism according to a set control strategy; The control strategy includes controlling the operation of the rotary drive mechanism according to the set characteristics of the material added to the reactor body; or / and, The control strategy includes controlling the operation of the rotary drive mechanism according to the quality of the material added to the reactor body; or / and, The control strategy includes controlling the operation of the rotary drive mechanism according to the pressure data sensed by the torque sensor; or / and, The control strategy includes controlling the operation of the rotary drive mechanism according to the tilt angle data of the reactor body.

3. The tilting reactor according to claim 1, characterized in that: The tilting reactor further comprises an angle sensor, which is used to sense the angle formed by the rotation axis of the reactor body and a set calibration line and / or a calibration plane.

4. The tilting reactor according to claim 1, characterized in that: The main control module divides the posture adjustment control of the reactor body into the following three stages: a rapid adjustment period, an advance detection period, and an accurate amount arrival period; the adjustment target value is set as the torque error, and the stage when the torque error is greater than the first set threshold is the rapid adjustment period, the stage when the torque error is less than or equal to the first set threshold and greater than the second set threshold is the advance detection period, and the stage when the torque error is less than or equal to the second set threshold is the accurate amount arrival period; in the accurate amount arrival period, stop adjusting the posture of the reactor body; The control process of the main control module further includes: Step S1, setting the gradient adjustment mechanism at different adjustment stages; Set the gradient adjustment mechanism for the rapid adjustment period: Set the target adjustment rate to R target , the current adjustment rate is R current , define the adjustment rate: Δ O fast = K fast ×( R target - R current );in, K fast represents the gradient coefficient of the rapid adjustment period, K fast The value is greater than the set value to speed up the response, Δ O fast It is the gradient adjustment rate during the rapid adjustment period; Set the gradient adjustment mechanism during the advance detection period: During the advance detection period, the adjustment speed of the rotation drive mechanism frequency needs to be reduced to avoid overshoot; gradually approach the target value through a slower gradient while reducing fluctuations. Set the target adjustment rate to R target , the current adjustment rate is R current , the gradient adjustment rate is Δ O advance = K advance ×( R target - R current );in K advance represents the gradient coefficient of the advance detection period, K advance < K fast , to avoid drastic adjustments, Δ O advance is the gradient adjustment rate during the advance detection period; Set the gradient adjustment mechanism during the precision measurement arrival period: The precision measurement arrival period requires fine adjustment of the rotation angle to ensure the stability of the torque error ε; reduce the adjustment error and maintain a stable state as much as possible. Set the target adjustment rate to R target , the current adjustment rate is R current , the gradient adjustment rate is: Δ O precision = K precisiont ×( R target - R current );in K precision is the gradient coefficient of the precision quantity arrival period, K precision < K advance , for fine adjustment, Δ O precision It is the gradient adjustment rate of the precise quantity arrival period; Step S2, adjusting the frequency of the rotation drive mechanism based on the PID controller; The output formula of the PID controller is: ; In the formula, O ( t ) represents the adjusted frequency; e ( t )= R target - R current Indicates the current error; K p , K i , K d Respectively represent the proportional gain coefficient, integral gain coefficient, and differential gain coefficient; It represents the cumulative value of the error, that is, the degree to which the system deviates from the target in the long term; Indicates the rate of change of error, used to offset fluctuations caused by rapid changes; Select appropriate PID parameters according to the characteristics of each stage K p , K i , K d : During the rapid adjustment period, the goal is to respond quickly to errors, allowing for some oscillation; Set the first proportional gain K p,fast >Second proportional gain K p,advance , the first integral gain K i,fast <Second integral gain K i,advance Or 0, the first differential gain K d,fast <Second differential gain K d,advance , output formula: ; During the lead detection period, the goal is to gradually approach the target value and reduce error accumulation; Set the third proportional gain K p,precision <Second proportional gain K p,advance <First proportional gain K p,fast , the second integral gain K i,advance >First integral gain K i,fast , the second differential gain K d,advance >First differential gain K d,fast , output formula: ; During the precision volume arrival period, the goal is to accurately maintain the target rate and avoid fluctuations; Set the third proportional gain K p,precision <Second proportional gain K p,advance , the third integral gain K i,precision >Second integral gain K i,advance , the third differential gain K d,precision >Second differential gain K d,advance , to suppress noise, the output formula is: ; Step S3: dynamically adjust the operating frequency of the rotary drive mechanism according to the operating frequency of the rotary drive mechanism calculated in step S2.

5. A method for controlling a tilting reactor according to any one of claims 1 to 4, characterized in that: The main control module controls the operation of the rotary drive mechanism according to the set control strategy; The control strategy includes controlling the operation of the rotary drive mechanism according to the set characteristics of the material added to the reactor body; or / and, The control strategy includes controlling the operation of the rotary drive mechanism according to the quality of the material added to the reactor body; or / and, The control strategy includes controlling the operation of the rotary drive mechanism according to the pressure data sensed by the torque sensor; or / and, The control strategy includes controlling the operation of the rotary drive mechanism according to the tilt angle data of the reactor body.

6. The control method according to claim 5, characterized in that: The main control module divides the posture adjustment control of the reactor body into the following three stages: a rapid adjustment period, an advance detection period, and an accurate amount arrival period; the adjustment target value is set as the torque error, and the stage when the torque error is greater than the first set threshold is the rapid adjustment period, the stage when the torque error is less than or equal to the first set threshold and greater than the second set threshold is the advance detection period, and the stage when the torque error is less than or equal to the second set threshold is the accurate amount arrival period; in the accurate amount arrival period, stop adjusting the posture of the reactor body; The control process of the main control module further includes: Step S1, setting the gradient adjustment mechanism at different adjustment stages; Set the gradient adjustment mechanism for the rapid adjustment period: Set the target adjustment rate to R target , the current adjustment rate is R current , define the adjustment rate: Δ O fast = K fastt ×( R target - R current );in, K fast represents the gradient coefficient of the rapid adjustment period, K fast The value is greater than the set value to speed up the response, Δ O fast It is the gradient adjustment rate during the rapid adjustment period; Set the gradient adjustment mechanism during the advance detection period: During the advance detection period, the adjustment speed of the rotation drive mechanism frequency needs to be reduced to avoid overshoot; gradually approach the target value through a slower gradient while reducing fluctuations. Set the target adjustment rate to R target , the current adjustment rate is R current , the gradient adjustment rate is Δ O advance = K advancet ×( R target - R current );in K advance represents the gradient coefficient of the advance detection period, K advance < K fast , to avoid drastic adjustments, Δ O advance is the gradient adjustment rate during the advance detection period; Set the gradient adjustment mechanism during the precision measurement arrival period: The precision measurement arrival period requires fine adjustment of the rotation angle to ensure the stability of the torque error ε; reduce the adjustment error and maintain a stable state as much as possible. Set the target adjustment rate to R target , the current adjustment rate is R current , the gradient adjustment rate is: Δ O precision = K precisiont ×( R target - R current );in K precision is the gradient coefficient of the precision quantity arrival period, K precision < K advance , for fine adjustment, Δ O precision It is the gradient adjustment rate of the precise quantity arrival period; Step S2: adjusting the operating frequency of the rotary drive mechanism based on the PID controller; The output formula of the PID controller is: ; In the formula, O ( t ) represents the adjusted frequency; e ( t )= R target - R current Indicates the current error; K p , K i , K d Respectively represent the proportional gain coefficient, integral gain coefficient, and differential gain coefficient; It represents the cumulative value of the error, that is, the degree to which the system deviates from the target in the long term; Indicates the rate of change of error, used to offset fluctuations caused by rapid changes; Select appropriate PID parameters according to the characteristics of each stage K p , K i , K d : During the rapid adjustment period, the goal is to respond quickly to errors, allowing for some oscillation; Set the first proportional gain K p,fast >Second proportional gain K p,advance , the first integral gain K i,fast <Second integral gain K i,advance Or 0, the first differential gain K d,fast <Second differential gain K d,advance , output formula: ; During the lead detection period, the goal is to gradually approach the target value and reduce error accumulation; Set the third proportional gain K p,precision <Second proportional gain K p,advance <First proportional gain K p,fast , the second integral gain K i,advance >First integral gain K i,fast , the second differential gain K d,advance >First differential gain K d,fast , output formula: ; During the precision volume arrival period, the goal is to accurately maintain the target rate and avoid fluctuations; Set the third proportional gain K p,precision <Second proportional gain K p,advance , the third integral gain K i,precision >Second integral gain K i,advance , the third differential gain K d,precision >Second differential gain K d,advance , to suppress noise, the output formula is: ; Step S3: dynamically adjust the operating frequency of the rotary drive mechanism according to the operating frequency of the rotary drive mechanism calculated in step S2.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 5 to 6 are implemented.

8. A storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the steps of the method according to any one of claims 5 to 6 are implemented.

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