Material taking flow control method and related device

Abstract

The invention discloses a material taking flow control method and a related device, and relates to the technical field of material conveying, and the material taking flow control method comprises the following steps: obtaining a target material taking flow, a scraper material taking angle and a material internal friction coefficient; based on the target material taking flow, the scraper plate material taking angle and the material internal friction coefficient, the scraper plate current increment is determined; the sum of the scraper current increment and the no-load current is calculated, and target scraper current is obtained; according to the deviation of the current scraper current relative to the target scraper current, the scraper rotation speed is adjusted until the difference between the current scraper current and the target scraper current is smaller than a current deviation threshold value; wherein the current scraper current is used for controlling the material taking flow, so that the difference between the actual material taking flow and the target material taking flow is smaller than the flow deviation threshold value. According to the invention, automatic constant-flow material taking control can be realized, and the debugging work and operation difficulty of constant-flow control are reduced.

Description

Technical Field

[0001] The present application relates to the technical field of material conveying, and in particular to a material flow control method and related devices. Background Art

[0002] During the reclaiming process, the circular stacker reclaimer needs to reclaim materials at a constant flow rate, that is, to ensure a stable flow rate. At present, the constant flow rate control method is usually that the commissioning personnel set a scraper target current and a coal feeding depth (i.e., the pitch descent angle or pitch descent time) at each reclaiming level to achieve a constant flow rate reclaiming effect. However, this constant flow rate control method can only correspond to one reclaiming flow rate, and cannot achieve the reclaiming requirements of arbitrarily set reclaiming flow rates. If other set reclaiming flow rates are to be achieved, a lot of calibration work is required. Summary of the invention

[0003] In view of the above problems, the present application provides a material taking flow control method and related devices to realize automatic constant flow material taking control and reduce the debugging work and operation difficulty of constant flow control. The specific scheme is as follows:

[0004] The first aspect of the present application provides a method for controlling a material flow rate, comprising:

[0005] Obtain the target material flow rate, scraper material angle and material internal friction coefficient;

[0006] Determining the scraper current increment based on the target material taking flow rate, the scraper taking angle and the material internal friction coefficient;

[0007] Calculating the sum of the scraper current increment and the no-load current to obtain a target scraper current;

[0008] According to the deviation of the current scraper current relative to the target scraper current, the scraper rotation speed is adjusted until the difference between the current scraper current and the target scraper current is less than the current deviation threshold; wherein the current scraper current is used for material flow control to achieve that the difference between the actual material flow and the target material flow is less than the flow deviation threshold.

[0009] In a possible implementation, determining the scraper current increment based on the target material taking flow rate, the scraper taking angle and the material internal friction coefficient includes:

[0010] Calculating friction based on the internal friction coefficient of the material, the scraper material taking angle and the target material taking flow rate;

[0011] Calculating the sliding force based on the scraper material taking angle and the target material taking flow rate;

[0012] The scraper current increment is obtained by multiplying the difference between the friction force and the sliding force by a proportionality coefficient.

[0013] In a possible implementation, adjusting the scraper rotation speed according to the deviation of the current scraper current relative to the target scraper current until the difference between the current scraper current and the target scraper current is less than a current deviation threshold includes:

[0014] Based on the difference between the target scraper current and the current scraper current, an incremental PID control method is used to obtain a rotation speed adjustment amount;

[0015] Adding the current scraper rotation speed to the rotation speed adjustment amount to obtain a target scraper rotation speed;

[0016] taking the scraper current corresponding to the target scraper rotation speed as the current scraper current;

[0017] If the difference between the current scraper current and the target scraper current is not less than the current deviation threshold, return to the step of "based on the difference between the target scraper current and the current scraper current, using an incremental PID control method to obtain a rotation speed adjustment amount" until the difference between the current scraper current and the target scraper current is less than the current deviation threshold.

[0018] In a possible implementation, the method further includes:

[0019] In the case where the scraper material taking angle changes, determining the no-load current corresponding to the changed scraper material taking angle to obtain an updated no-load current;

[0020] Determining an updated scraper current increment based on the target material taking flow rate, the changed scraper taking angle and the internal friction coefficient of the material;

[0021] Calculating the updated scraper current increment and the updated no-load current to obtain an updated target scraper current;

[0022] According to the deviation of the current scraper current relative to the updated target scraper current, the scraper rotation speed is adjusted until the difference between the current scraper current and the updated target scraper current is less than the current deviation threshold.

[0023] In a possible implementation, determining the no-load current corresponding to the changed scraper taking angle includes:

[0024] Obtain the linear relationship between no-load current and scraper taking angle;

[0025] Based on the linear relationship, the no-load current corresponding to the changed scraper material taking angle is obtained.

[0026] In a possible implementation, after obtaining the scraper material taking angle, the method further includes:

[0027] Performing low-pass filtering on the scraper material taking angle to obtain the scraper material taking angle after low-pass filtering;

[0028] The scraper material taking angle after the low-pass filtering is subjected to median filtering to obtain the scraper material taking angle after the median filtering.

[0029] The second aspect of the present application provides a material flow control system, comprising:

[0030] Data acquisition module, used to obtain target material flow rate, scraper material angle and material internal friction coefficient;

[0031] A current increment calculation module, used for determining the scraper current increment based on the target material taking flow rate, the scraper taking angle and the material internal friction coefficient;

[0032] A target scraper current calculation module is used to calculate the sum of the scraper current increment and the no-load current to obtain a target scraper current;

[0033] The material taking flow control module is used to adjust the scraper rotation speed according to the deviation of the current scraper current relative to the target scraper current until the difference between the current scraper current and the target scraper current is less than the current deviation threshold; wherein the current scraper current is used for material taking flow control to achieve that the difference between the actual material taking flow and the target material taking flow is less than the flow deviation threshold.

[0034] The third aspect of the present application provides a computer program product, including computer-readable instructions. When the computer-readable instructions are executed on an electronic device, the electronic device implements the material flow control method of the first aspect or any implementation of the first aspect.

[0035] A fourth aspect of the present application provides an electronic device, comprising at least one processor and a memory connected to the processor, wherein:

[0036] The memory is used to store computer programs;

[0037] The processor is used to execute the computer program so that the electronic device can implement the material flow control method of the first aspect or any implementation of the first aspect.

[0038] A fifth aspect of the present application provides a computer storage medium, which carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement the material flow control method of the first aspect or any implementation of the first aspect.

[0039] By means of the above technical scheme, the material taking flow control method and related device provided by the present application can obtain the target scraper current through the target material taking flow calculation, and control the actual material taking flow by controlling the current scraper current. When the current scraper current can be stably close to the target scraper current, the fixed flow material taking control can be realized, that is, the actual material taking flow is controlled to be stably close to the target material taking flow. The present application can meet the material taking requirements of any set flow, realize the automatic fixed flow material taking control, and reduce the debugging work and operation difficulty of the fixed flow control. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and the originals and elements are not necessarily drawn to scale.

[0041] Figure 1 A flow chart of a material flow control method provided in this application;

[0042] Figure 2 A schematic diagram of a material flow control principle provided in this application;

[0043] Figure 3 A schematic diagram of the structure of a material flow control system provided in this application;

[0044] Figure 4 A schematic diagram of the structure of an electronic device provided in this application. DETAILED DESCRIPTION

[0045] The following describes the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. The terms used in the implementation method section of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application.

[0046] The embodiments of the present application are described below in conjunction with the accompanying drawings. Those skilled in the art will appreciate that, with the development of technology and the emergence of new scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0047] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and need not be used to describe a specific order or sequential order. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, which is only to describe the distinction mode adopted by the objects of the same attributes when describing in the embodiments of the present application. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, so that the process, method, system, product or equipment comprising a series of units need not be limited to those units, but may include other units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0048] The embodiment of the present application provides a material flow control method. The material flow control method of the embodiment of the present application is described in detail below in conjunction with the accompanying drawings.

[0049] Reference Figure 1 , Figure 1 A flow chart of a material flow control method provided in an embodiment of the present application is as follows: Figure 1 As shown, a material flow control method provided in an embodiment of the present application may include steps 101 to 103, and these steps are described in detail below.

[0050] Step 101: Obtain target material flow rate, scraper material angle and material internal friction coefficient.

[0051] The target material flow rate is the real-time material flow rate set during the material taking process. The target material flow rate is the instantaneous flow rate and the unit can be t / h. In order to meet different material taking requirements, the target material flow rate can be set according to actual needs.

[0052] In order to reduce the fluctuations caused by material picking, after obtaining the scraper picking angle, the scraper picking angle can be low-pass filtered to obtain the scraper picking angle after low-pass filtering, and then the scraper picking angle after low-pass filtering can be median filtered to obtain the scraper picking angle after median filtering. In this way, large fluctuations can be removed to maintain stability.

[0053] The scraper reclaiming process is the process of overcoming the internal friction between materials and pulling the materials down from the inclined surface. The material can be coal. The internal friction coefficient of the material can be the tangent value of the static repose angle, which is the angle between the side surface of the coal pile and the horizontal plane in a static stacking state. In practical applications, the internal friction coefficient of the material is 0.78, the tangent value of the static repose angle of 38°.

[0054] Step 102: Determine the scraper current increment based on the target material taking flow rate, the scraper taking angle and the material internal friction coefficient.

[0055] In a possible implementation, the scraper current increment is determined based on the target material flow rate, the scraper material angle and the material internal friction coefficient, including:

[0056] Calculate the friction force based on the internal friction coefficient of the material, the scraper reclaiming angle and the target reclaiming flow rate;

[0057] Calculate the sliding force based on the scraper reclaiming angle and the target reclaiming flow rate;

[0058] The difference between the friction force and the sliding force is multiplied by the proportional coefficient to obtain the scraper current increment.

[0059] like Figure 2 As shown, the scraper material taking angle is a, the material gravity is G, the material sliding force is F, the material friction is f, and the material pressure is F n . Considering that the energy of the material entering from the side or top of the scraper and accelerating to the scraper speed accounts for less than a few tens of percent, it can be considered that the scraper current increment is proportional to the difference fF between the friction force and the sliding force. The scraper current increment is the real-time current increment of the scraper, which is an instantaneous current increment. The scraper current increment △I=k(fF), k is the proportional coefficient. Based on the internal friction coefficient u of the material, the scraper feeding angle a and the target feeding flow rate T, the friction force f is calculated, f=uTg·cos(a). Based on the scraper feeding angle a and the target feeding flow rate T, the sliding force F is calculated, F= Tg·sin(a). Among them, g is the acceleration of gravity, and the target feeding flow rate T is set by the operator according to needs.

[0060] Therefore, the scraper current increment is △I=k(fF)=kg(u·Cos(a)-Sin(a))T.

[0061] Step 103: Calculate the sum of the scraper current increment and the no-load current to obtain the target scraper current.

[0062] The target scraper current I is the scraper current increment △I and the no-load current I 空 The sum, I=I 空 +△I.

[0063] The no-load current is linearly related to the scraper reclaiming angle, and the no-load current is determined according to the scraper reclaiming angle. The larger the scraper reclaiming angle, the greater the scraper tension, which can increase the no-load current; the smaller the scraper reclaiming angle, the smaller the scraper tension, which can reduce the no-load current. In practical applications, the no-load current corresponding to the minimum scraper reclaiming angle and the no-load current corresponding to the maximum scraper reclaiming angle can be determined, and the ratio of the difference between the two no-load currents to the difference between the two angles is obtained. When the scraper reclaiming angle is determined, the corresponding no-load current is the product of this ratio and the scraper reclaiming angle.

[0064] Step 104: Adjust the scraper rotation speed according to the deviation of the current scraper current relative to the target scraper current until the difference between the current scraper current and the target scraper current is less than the current deviation threshold; wherein the current scraper current is used for material flow control to achieve that the difference between the actual material flow and the target material flow is less than the flow deviation threshold.

[0065] If the current scraper current is less than the target scraper current, the scraper rotation speed needs to be increased to increase the actual material flow rate, so that the difference between the actual material flow rate and the target material flow rate is less than the flow deviation threshold. If the current scraper current is greater than the target scraper current, the scraper rotation speed needs to be reduced to reduce the actual material flow rate, so that the difference between the actual material flow rate and the target material flow rate is less than the flow deviation threshold, thereby meeting the fixed flow material requirements. The actual material flow rate is the ground belt flow rate.

[0066] In the process of adjusting the scraper rotation speed, the current scraper current is in a fluctuating state, and the actual material flow rate is also in a fluctuating state. By continuously adjusting the scraper rotation speed based on the deviation of the current scraper current relative to the target scraper current, the current scraper current tends to be stable, and the difference between the current scraper current and the target scraper current is less than the current deviation threshold. In practical applications, the current scraper current, the actual material flow rate and the scraper rotation speed can be determined by calculating the variance.

[0067] In a possible implementation, the scraper rotation speed is adjusted according to the deviation of the current scraper current relative to the target scraper current until the difference between the current scraper current and the target scraper current is less than the current deviation threshold, including:

[0068] Based on the difference between the target scraper current and the current scraper current, the incremental PID control method is used to obtain the rotation speed adjustment amount;

[0069] Add the current scraper rotation speed to the rotation speed adjustment amount to obtain the target scraper rotation speed;

[0070] The scraper current corresponding to the target scraper rotation speed is used as the current scraper current;

[0071] If the difference between the current scraper current and the target scraper current is not less than the current deviation threshold, return to the step "based on the difference between the target scraper current and the current scraper current, use the incremental PID control method to obtain the rotation speed adjustment amount" until the difference between the current scraper current and the target scraper current is less than the current deviation threshold.

[0072] Incremental PID control is a method of performing PID control by increasing the control amount. PID control is proportional-integral-differential control. Based on the difference between the target scraper current and the current scraper current, the incremental PID control method is used to obtain the rotation speed adjustment amount. The current scraper rotation speed is added to the rotation speed adjustment amount to obtain the target scraper rotation speed. The scraper current measured at the target scraper rotation speed is the current scraper current. If the difference between the current scraper current and the target scraper current is not less than the current deviation threshold, the incremental PID control is continued. If the difference between the current scraper current and the target scraper current is less than the current deviation threshold, the constant flow control is achieved.

[0073] In a possible implementation, the material flow control method provided in the present application further includes:

[0074] When the scraper material taking angle changes, determine the no-load current corresponding to the changed scraper material taking angle to obtain an updated no-load current;

[0075] Based on the target material taking flow rate, the changed scraper taking angle and the internal friction coefficient of the material, an updated scraper current increment is determined;

[0076] Calculate the updated scraper current increment and the updated no-load current to obtain the updated target scraper current;

[0077] According to the deviation of the current scraper current relative to the updated target scraper current, the scraper rotation speed is adjusted until the difference between the current scraper current and the updated target scraper current is less than the current deviation threshold.

[0078] Optionally, determining the no-load current corresponding to the changed scraper reclaiming angle includes:

[0079] Obtain the linear relationship between no-load current and scraper taking angle;

[0080] Based on the linear relationship, the no-load current corresponding to the changed scraper taking angle is obtained.

[0081] If the scraper feeding angle changes, the scraper tension also changes, and the no-load current also changes. According to the scraper current increment calculation formula, the scraper current increment is related to the scraper feeding angle. When the scraper feeding angle changes, the scraper current increment also changes. Based on the updated scraper current increment and the updated no-load current, the updated target scraper current is obtained, and then the scraper rotation speed is adjusted according to the deviation of the current scraper current relative to the updated target scraper current, thereby realizing constant flow material feeding control.

[0082] In a possible implementation, after the difference between the current scraper current and the target scraper current is less than the current deviation threshold, the method further includes:

[0083] Based on the current scraper current and the actual material flow rate, the proportional coefficient is updated.

[0084] The proportional coefficient can be automatically corrected through closed-loop learning after the ground belt flow and the scraper current are both stable. In practical applications, the updated proportional coefficient can be calculated based on the scraper current increment formula after obtaining a stable current scraper current (i.e., the difference between the current scraper current and the target scraper current is less than the current deviation threshold) and a stable actual material flow (i.e., the difference between the actual material flow and the target material flow is less than the flow deviation threshold).

[0085] The material taking flow control method provided by the present application can solve the problem that the scraper cannot be directly involved in the material taking control because the belt scale is installed on the downstream belt and there is a delay of minutes between the measured value and the actual value. For the operation mode of the scraper adopting the layered rotary material taking operation, the scraper current corresponding to the same coal flow in different layers is quite different. The scraper current can also be calculated based on the scraper material taking angle of each layer to control the material taking flow. In addition, the scraper tension is different for different scraper material taking angles, and the corresponding scraper no-load current is different. Different target scraper currents are obtained for different scraper no-load currents, so that each layer can achieve constant flow control. The material taking flow control method provided by the present application eliminates the need for operators to adjust the coal taking depth of each layer based on experience during previous manual operations, and there is no need for the debugging personnel to set a scraper target current and a coal feeding depth at each material taking level, thereby corresponding to a single flow, which can meet the material taking requirements of any set flow, realize automatic constant flow material taking control, and reduce the debugging work and operation difficulty of constant flow control. This application realizes the whole process of constant flow material extraction from the top to the bottom of the circular material field, making it stable in 5 seconds, with fluctuation less than 5% and deviation less than 2%. It realizes the self-adaptation of coal feeding depth according to the control effect of constant flow, improving efficiency and safety.

[0086] A material taking flow control method provided in an embodiment of the present application is introduced above, and a system for executing the above-mentioned material taking flow control method will be introduced below.

[0087] See also Figure 3 , Figure 3 This is a schematic diagram of the structure of a material flow control system provided in an embodiment of the present application. Figure 3 As shown, the material taking flow control system comprises:

[0088] The data acquisition module 301 is used to acquire the target material taking flow rate, the scraper taking angle and the material internal friction coefficient.

[0089] The current increment calculation module 302 is used to determine the scraper current increment based on the target material taking flow rate, the scraper taking angle and the material internal friction coefficient.

[0090] The target scraper current calculation module 303 is used to calculate the sum of the scraper current increment and the no-load current to obtain the target scraper current.

[0091] The material taking flow control module 304 is used to adjust the scraper rotation speed according to the deviation of the current scraper current relative to the target scraper current until the difference between the current scraper current and the target scraper current is less than the current deviation threshold; wherein the current scraper current is used for material taking flow control to achieve that the difference between the actual material taking flow and the target material taking flow is less than the flow deviation threshold.

[0092] The current increment calculation module 302 is specifically used for:

[0093] Calculate the friction force based on the internal friction coefficient of the material, the scraper reclaiming angle and the target reclaiming flow rate;

[0094] Calculate the sliding force based on the scraper reclaiming angle and the target reclaiming flow rate;

[0095] The difference between the friction force and the sliding force is multiplied by the proportional coefficient to obtain the scraper current increment.

[0096] The material flow control module 304 is specifically used for:

[0097] Based on the difference between the target scraper current and the current scraper current, the incremental PID control method is used to obtain the rotation speed adjustment amount;

[0098] Add the current scraper rotation speed to the rotation speed adjustment amount to obtain the target scraper rotation speed;

[0099] The scraper current corresponding to the target scraper rotation speed is used as the current scraper current;

[0100] If the difference between the current scraper current and the target scraper current is not less than the current deviation threshold, return to the step "based on the difference between the target scraper current and the current scraper current, use the incremental PID control method to obtain the rotation speed adjustment amount" until the difference between the current scraper current and the target scraper current is less than the current deviation threshold.

[0101] The material taking flow control system provided in the present application also includes:

[0102] The scraper feeding angle update module is used to determine the no-load current corresponding to the changed scraper feeding angle when the scraper feeding angle changes, and obtain the updated no-load current; determine the updated scraper current increment based on the target feeding flow, the changed scraper feeding angle and the internal friction coefficient of the material; calculate the updated scraper current increment and the updated no-load current to obtain the updated target scraper current; adjust the scraper rotation speed according to the deviation of the current scraper current relative to the updated target scraper current until the difference between the current scraper current and the updated target scraper current is less than the current deviation threshold.

[0103] The scraper reclaiming angle update module is also used for:

[0104] Obtain the linear relationship between no-load current and scraper taking angle;

[0105] Based on the linear relationship, the no-load current corresponding to the changed scraper taking angle is obtained.

[0106] The material taking flow control system provided in the present application also includes:

[0107] The filtering module is used to perform low-pass filtering on the scraper picking angle after obtaining the scraper picking angle to obtain the scraper picking angle after low-pass filtering; perform median filtering on the scraper picking angle after low-pass filtering to obtain the scraper picking angle after median filtering.

[0108] The present application also provides an electronic device in an embodiment. Figure 4 As shown, it shows a schematic diagram of the structure of an electronic device suitable for implementing the embodiment of the present application. The electronic device in the embodiment of the present application may include but is not limited to fixed terminals such as mobile phones, laptops, PDAs (personal digital assistants), PADs (tablet computers), desktop computers, etc. Figure 4 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0109] like Figure 4 As shown, the electronic device may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 401, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage device 408 to a random access memory (RAM) 403. When the electronic device is powered on, various programs and data required for the operation of the electronic device are also stored in the RAM 403. The processing device 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0110] Typically, the following devices may be connected to the I / O interface 405: an input device 406 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 407 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 408 including, for example, a memory card, a hard disk, etc.; and a communication device 409. The communication device 409 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Although Figure 4 An electronic device having various devices is shown, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0111] The electronic device can implement the above-mentioned material taking flow control method.

[0112] An embodiment of the present application also provides a computer program product including computer-readable instructions. When the computer-readable instructions are executed on an electronic device, the electronic device implements any one of the material flow control methods provided in the embodiments of the present application.

[0113] A computer-readable storage medium is also provided in an embodiment of the present application. The storage medium carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement any material flow control method provided in the embodiment of the present application.

[0114] It should also be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the drawings of the device embodiments provided by the present application, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines.

[0115] Through the description of the above implementation mode, the technicians in the field can clearly understand that the present application can be implemented by means of software plus necessary general hardware, and of course, it can also be implemented by special hardware including special integrated circuits, special CPUs, special memories, special components, etc. In general, all functions completed by computer programs can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be various, such as analog circuits, digital circuits or special circuits. However, for the present application, software program implementation is a better implementation mode in more cases. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a readable storage medium, such as a computer floppy disk, a U disk, a mobile hard disk, a ROM, a RAM, a disk or an optical disk, etc., including a number of instructions to enable a computer device (which can be a personal computer, a training device, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0116] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product.

[0117] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, a computer, a training device, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, training device, or data center. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a training device, a data center, etc. that includes one or more available media integrations. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)), etc.

Claims

1. A method for controlling material flow, characterized in that: include: Obtain the target material flow rate, scraper material angle and material internal friction coefficient; Determining the scraper current increment based on the target material taking flow rate, the scraper taking angle and the material internal friction coefficient; Calculating the sum of the scraper current increment and the no-load current to obtain a target scraper current; According to the deviation of the current scraper current relative to the target scraper current, the scraper rotation speed is adjusted until the difference between the current scraper current and the target scraper current is less than the current deviation threshold; wherein the current scraper current is used for material flow control to achieve that the difference between the actual material flow and the target material flow is less than the flow deviation threshold.

2. The material flow control method according to claim 1, characterized in that: The step of determining the scraper current increment based on the target material taking flow rate, the scraper taking angle and the material internal friction coefficient includes: Calculating friction based on the internal friction coefficient of the material, the scraper material taking angle and the target material taking flow rate; Calculating the sliding force based on the scraper material taking angle and the target material taking flow rate; The scraper current increment is obtained by multiplying the difference between the friction force and the sliding force by a proportionality coefficient.

3. The material flow control method according to claim 1, characterized in that: The step of adjusting the scraper rotation speed according to the deviation of the current scraper current relative to the target scraper current until the difference between the current scraper current and the target scraper current is less than a current deviation threshold comprises: Based on the difference between the target scraper current and the current scraper current, an incremental PID control method is used to obtain a rotation speed adjustment amount; Adding the current scraper rotation speed to the rotation speed adjustment amount to obtain a target scraper rotation speed; taking the scraper current corresponding to the target scraper rotation speed as the current scraper current; If the difference between the current scraper current and the target scraper current is not less than the current deviation threshold, return to the step "based on the difference between the target scraper current and the current scraper current, using an incremental PID control method to obtain a rotation speed adjustment amount" until the difference between the current scraper current and the target scraper current is less than the current deviation threshold.

4. The material taking flow control method according to any one of claims 1 to 3, characterized in that: Also includes: In the case where the scraper material taking angle changes, determining the no-load current corresponding to the changed scraper material taking angle to obtain an updated no-load current; Determining an updated scraper current increment based on the target material taking flow rate, the changed scraper taking angle and the internal friction coefficient of the material; Calculating the updated scraper current increment and the updated no-load current to obtain an updated target scraper current; According to the deviation of the current scraper current relative to the updated target scraper current, the scraper rotation speed is adjusted until the difference between the current scraper current and the updated target scraper current is less than the current deviation threshold.

5. The material taking flow control method according to claim 4, characterized in that: The step of determining the no-load current corresponding to the changed scraper material taking angle comprises: Obtain the linear relationship between no-load current and scraper taking angle; Based on the linear relationship, the no-load current corresponding to the changed scraper material taking angle is obtained.

6. The material taking flow control method according to any one of claims 1 to 3, characterized in that: After obtaining the scraper material taking angle, the method further includes: Performing low-pass filtering on the scraper material taking angle to obtain the scraper material taking angle after low-pass filtering; The scraper material taking angle after the low-pass filtering is subjected to median filtering to obtain the scraper material taking angle after the median filtering.

7. A material flow control system, characterized in that: include: Data acquisition module, used to obtain target material flow rate, scraper material angle and material internal friction coefficient; A current increment calculation module, used for determining the scraper current increment based on the target material taking flow rate, the scraper taking angle and the material internal friction coefficient; A target scraper current calculation module is used to calculate the sum of the scraper current increment and the no-load current to obtain a target scraper current; The material taking flow control module is used to adjust the scraper rotation speed according to the deviation of the current scraper current relative to the target scraper current until the difference between the current scraper current and the target scraper current is less than the current deviation threshold; wherein the current scraper current is used for material taking flow control to achieve that the difference between the actual material taking flow and the target material taking flow is less than the flow deviation threshold.

8. A computer program product, characterized in that It comprises computer-readable instructions, and when the computer-readable instructions are executed on an electronic device, the electronic device implements the material flow control method as claimed in any one of claims 1 to 6.

9. An electronic device, characterized in that: The method comprises at least one processor and a memory connected to the processor, wherein: The memory is used to store computer programs; The processor is used to execute the computer program so that the electronic device can implement the material extraction flow control method as described in any one of claims 1 to 6.

10. A computer storage medium, characterized in that: The storage medium carries one or more computer programs, and when the one or more computer programs are executed by an electronic device, the electronic device can implement the material flow control method as described in any one of claims 1 to 6.

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