A material taking flow control method and related device

Abstract

This application discloses a material handling flow control method and related apparatus, relating to the field of material conveying technology. The method includes: acquiring a target material handling flow rate, a scraper handling angle, and the material's internal friction coefficient; determining the scraper current increment based on the target material handling flow rate, scraper handling angle, and material's internal friction coefficient; calculating the sum of the scraper current increment and the no-load current to obtain the target scraper current; 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; wherein, the current scraper current is used for material handling flow control to ensure that the difference between the actual material handling flow rate and the target material handling flow rate is less than the flow deviation threshold. This application can achieve automated constant flow rate material handling control, reducing the debugging work and operational difficulty of constant flow rate control.

Description

Technical Field

[0001] This application relates to the field of material conveying technology, and in particular to a material handling flow control method and related apparatus. Background Technology

[0002] During the material handling process, circular stacker-reclaimers require a constant flow rate for material handling, ensuring a stable flow rate. Currently, the common method for constant flow rate control is for the commissioning personnel to set a target scraper current and a specific coal intake depth (i.e., pitch angle or pitch time) at each material handling level to achieve the desired constant flow rate. However, this method only supports one material handling flow rate and cannot accommodate arbitrary settings. Achieving other set material handling flow rates requires extensive calibration work. Summary of the Invention

[0003] In view of the above problems, this application provides a material handling flow control method and related device to achieve automated constant flow material handling control, reducing the debugging work and operation difficulty of constant flow control. The specific solution is as follows:

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

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

[0006] The scraper current increment is determined based on the target material flow rate, the scraper material angle, and the internal friction coefficient of the material.

[0007] The target scraper current is obtained by summing the scraper current increment with the no-load current.

[0008] The scraper rotation speed is adjusted based on 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. The current scraper current is used for material flow control to ensure that the difference between the actual material flow and the target material flow is less than the flow deviation threshold.

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

[0010] The frictional force is calculated based on the material's internal friction coefficient, the scraper's material-taking angle, and the target material-taking flow rate.

[0011] Calculate the downward force based on the scraper's material-taking angle and the target material-taking flow rate;

[0012] The difference between the frictional force and the sliding force is multiplied by a proportionality coefficient to obtain the scraper current increment.

[0013] In one possible implementation, adjusting the scraper rotation speed based on 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 the rotation speed adjustment amount.

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

[0016] The scraper current corresponding to the target scraper rotation speed is taken 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, then 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.

[0018] One possible implementation also includes:

[0019] When the scraper pick-up angle changes, the no-load current corresponding to the changed scraper pick-up angle is determined, and the updated no-load current is obtained.

[0020] Based on the target material flow rate, the changed scraper material angle, and the internal friction coefficient of the material, the updated scraper current increment is determined;

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

[0022] The scraper rotation speed is adjusted based on the deviation of the current scraper current from 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.

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

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

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

[0026] In one possible implementation, after obtaining the scraper's material-taking angle, the method further includes:

[0027] The scraper material picking angle is subjected to low-pass filtering to obtain the scraper material picking angle after low-pass filtering.

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

[0029] A second aspect of this application provides a material handling flow control system, comprising:

[0030] The data acquisition module is used to acquire the target material handling flow rate, scraper material handling angle, and material internal friction coefficient.

[0031] The current increment calculation module is used to determine the scraper current increment based on the target material handling flow rate, the scraper material handling angle, and the internal friction coefficient of the material.

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

[0033] The material handling 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 to control the material handling flow so as to ensure that the difference between the actual material handling flow and the target material handling flow is less than the flow deviation threshold.

[0034] A third aspect of this application provides a computer program product including computer-readable instructions that, when executed on an electronic device, cause the electronic device to implement the material handling flow control method of the first aspect or any implementation thereof.

[0035] A fourth aspect of this application provides an electronic device, including 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 handling flow control method of the first aspect or any implementation thereof.

[0038] The fifth aspect of this application provides a computer storage medium carrying one or more computer programs, which, when executed by an electronic device, enable the electronic device to implement the material handling flow control method described in the first aspect or any implementation thereof.

[0039] By employing the above technical solution, the material handling flow control method and related device provided in this application can calculate the target scraper current through the target material handling flow rate. By controlling the current scraper current, the actual material handling flow rate can be controlled. When the current scraper current can stably approach the target scraper current, constant flow rate material handling control can be achieved, that is, the actual material handling flow rate can be controlled to stably approach the target material handling flow rate. This application can meet the material handling requirements of any set flow rate, realize automated constant flow rate material handling control, and reduce the debugging work and operation difficulty of constant flow rate control. Attached Figure Description

[0040] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote 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 flowchart of a material handling flow control method provided in this application;

[0042] Figure 2 This application provides a schematic diagram of the material handling flow control principle;

[0043] Figure 3 This application provides a schematic diagram of the structure of a material handling flow control system;

[0044] Figure 4 This is a schematic diagram of the structure of an electronic device provided in this application. Detailed Implementation

[0045] The embodiments of this application are described below with reference to the accompanying drawings. The terminology used in the implementation section of this application is for explaining specific embodiments only and is not intended to limit the scope of this application.

[0046] The embodiments of this application will now be described with reference to the accompanying drawings. Those skilled in the art will recognize that, with technological advancements and the emergence of new scenarios, the technical solutions provided in the embodiments of this application are equally applicable to similar technical problems.

[0047] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms are interchangeable where appropriate; this is merely a way of distinguishing objects with the same attributes in the embodiments of this application. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, so that a process, method, system, product, or apparatus that comprises a series of elements is not necessarily limited to those elements, but may include other elements not explicitly listed or inherent to those processes, methods, products, or apparatuses.

[0048] This application provides a method for controlling the material flow rate. The method for controlling the material flow rate according to this application will be described in detail below with reference to the accompanying drawings.

[0049] Reference Figure 1 , Figure 1 This application provides a flowchart illustrating a material handling flow control method according to an embodiment of the present application. Figure 1 As shown in the figure, the material flow control method provided in this application embodiment may include steps 101 to 103, which are described in detail below.

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

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

[0052] To reduce fluctuations caused by material handling, after obtaining the scraper material handling angle, a low-pass filter can be applied to the scraper material handling angle to obtain a low-pass filtered scraper material handling angle. Then, a median filter can be applied to the low-pass filtered scraper material handling angle to obtain a median filtered scraper material handling angle. This can remove large fluctuations and maintain stability.

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

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

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

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

[0057] Calculate the downward force based on the scraper's material handling angle and the target material handling flow rate;

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

[0059] like Figure 2 As shown, the scraper's material-taking angle is α, the material's weight is G, the material's downward force is F, the material's frictional force is f, and the material's pressure is F. n Considering that the energy of material entering from the side or top of the scraper and accelerating to the scraper speed accounts for less than a fraction of the total energy, the scraper current increment can be considered proportional to the difference between friction and downward force, fF. This scraper current increment is the real-time current increment of the scraper, an instantaneous current increment, and the scraper current increment ΔI = k(fF), where k is a proportionality coefficient. Based on the material's internal friction coefficient u, the scraper's material-taking angle α, and the target material-taking flow rate T, the friction force f is calculated as f = uTg·cos(α). Based on the scraper's material-taking angle α and the target material-taking flow rate T, the downward force F is calculated as F = Tg·sin(α). Where g is the acceleration due to gravity, and the target material-taking flow rate T is set by the operator as needed.

[0060] Therefore, the scraper current increment is ΔI=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 sum of the scraper current increment ΔI and the no-load current I. 空 The sum, I=I 空 +△I.

[0063] The no-load current has a linear relationship with the scraper's material-taking angle, and this no-load current is determined based on the scraper's material-taking angle. A larger scraper's material-taking angle results in a greater scraper tension, which increases the no-load current; conversely, a smaller scraper's material-taking angle results in a smaller scraper tension, which decreases the no-load current. In practical applications, the no-load current corresponding to the minimum scraper's material-taking angle and the no-load current corresponding to the maximum scraper's material-taking angle can be determined. The ratio of the difference between these two no-load currents to the difference between the two angles is then obtained. Once the scraper's material-taking angle is determined, the corresponding no-load current is the product of this ratio and the scraper's material-taking 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 to control the material intake flow rate so as to ensure that the difference between the actual material intake flow rate and the target material intake flow rate 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 handling flow rate. This ensures that the difference between the actual and target material handling flow rates is less than the flow deviation threshold. Conversely, if the current scraper current is greater than the target scraper current, the scraper rotation speed needs to be decreased to decrease the actual material handling flow rate. This ensures that the difference between the actual and target material handling flow rates is less than the flow deviation threshold, thus meeting the constant flow rate material handling requirement. This actual material handling flow rate is the ground conveyor belt flow rate.

[0066] During the adjustment of the scraper rotation speed, the current scraper current and the actual material flow rate fluctuate. By continuously adjusting the scraper rotation speed based on the deviation of the current scraper current from the target scraper current, the current scraper current tends to stabilize, and the difference between the current scraper current and the target scraper current is less than the current deviation threshold. In practical applications, the stability of the current scraper current, actual material flow rate, and scraper rotation speed can be determined by calculating the variance.

[0067] In one possible implementation, the scraper rotation speed is adjusted based on 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, including:

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

[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 taken 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, then 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 that uses PID control to adjust the increment of the control variable. PID control stands for Proportional-Integral-Derivative (PI) control. Based on the difference between the target scraper current and the current scraper current, incremental PID control is used to obtain the rotational speed adjustment. The current scraper rotational speed is then added to the rotational speed adjustment to obtain the target scraper rotational speed. The scraper current measured at the target scraper rotational 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, incremental PID control continues. If the difference between the current scraper current and the target scraper current is less than the current deviation threshold, constant flow control is achieved.

[0073] In one possible implementation, the material handling flow control method provided in this application further includes:

[0074] When the scraper pick-up angle changes, determine the no-load current corresponding to the changed scraper pick-up angle, and obtain the updated no-load current.

[0075] Based on the target material flow rate, the changed scraper material angle, and the internal friction coefficient of the material, the 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] The scraper rotation speed is adjusted based on the deviation of the current scraper current from 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.

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

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

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

[0081] If the scraper's material-taking angle changes, the scraper tension also changes, and the no-load current changes accordingly. According to the scraper current increment calculation formula, the scraper current increment is related to the scraper's material-taking angle; when the scraper's material-taking 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. Then, based on the deviation of the current scraper current from the updated target scraper current, the scraper rotation speed is adjusted, thereby achieving constant flow material handling control.

[0082] In one possible implementation, after the phase difference between the current scraper current and the target scraper current is less than a current deviation threshold, the following is also included:

[0083] The proportional coefficient is updated based on the current scraper current and the actual material handling flow rate.

[0084] The proportional coefficient can be automatically corrected through closed-loop learning after both the ground conveyor flow rate and the scraper current have stabilized. 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 pick-up flow rate (i.e., the difference between the actual material pick-up flow rate and the target material pick-up flow rate is less than the flow deviation threshold).

[0085] The material handling flow control method provided in this application controls the material handling flow by controlling the scraper current. This solves the problem that the belt scale, installed on the downstream belt, cannot directly participate in scraper material handling control due to a minute-level delay between the measured and actual values. For layered rotary scraper operations, where the scraper current varies significantly across different layers for the same coal flow rate, the scraper current can be calculated based on the scraper angle of each layer, thus enabling material handling flow control. Furthermore, different scraper angles result in different scraper tensions and corresponding scraper no-load currents. Different target scraper currents are obtained for different scraper no-load currents, allowing for constant flow control at each layer. This material handling flow control method eliminates the need for operators to adjust the coal handling depth at each layer based on experience, as was previously required in manual operations. It also eliminates the need for commissioning personnel to set a target scraper current and a coal handling depth at each scraper layer to correspond to a single flow rate. This method can meet any set flow rate requirement, achieving automated constant flow material handling control and reducing the commissioning and operational complexity of constant flow control. This application achieves constant flow rate material extraction from the top to the bottom of the circular material yard, stabilizing it within 5 seconds with fluctuations of less than 5% and deviations of less than 2%. It also enables the coal intake depth to adapt to the constant flow rate control effect, improving efficiency and safety.

[0086] The above describes a material handling flow control method provided by the embodiments of this application. The following will describe a system that performs the above material handling flow control method.

[0087] Please see Figure 3 , Figure 3 This is a schematic diagram of a material handling flow control system provided in an embodiment of this application. Figure 3 As shown, the material handling flow control system includes:

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

[0089] The current increment calculation module 302 is used to determine the scraper current increment based on the target material handling flow rate, scraper material handling angle and 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 handling 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 to control the material handling flow so as to ensure that the difference between the actual material handling flow and the target material handling 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 material's internal friction coefficient, the scraper's material handling angle, and the target material handling flow rate;

[0094] Calculate the downward force based on the scraper's material handling angle and the target material handling flow rate;

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

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

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

[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 taken 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, then 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 handling flow control system provided in this application also includes:

[0102] The scraper material handling angle update module is used to determine the no-load current corresponding to the changed scraper material handling angle when the scraper material handling angle changes, and obtain the updated no-load current; based on the target material handling flow rate, the changed scraper material handling angle, and the internal friction coefficient of the material, determine the updated scraper current increment; calculate the updated scraper current increment and the updated no-load current to obtain the updated target scraper current; and adjust the scraper rotation speed according to the deviation of the current scraper current from 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 material handling angle update module is also used for:

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

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

[0106] The material handling flow control system provided in this application also includes:

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

[0108] This application also provides an electronic device in its embodiments. (See reference...) Figure 4 The diagram illustrates a structural schematic suitable for implementing the electronic device in the embodiments of this application. The electronic device in the embodiments of this 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 impose any limitation on the functionality and scope of use of the embodiments of this application.

[0109] like Figure 4 As shown, the electronic device may include a processing unit (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 into a random access memory (RAM) 403. When the electronic device is powered on, the RAM 403 also stores various programs and data required for the operation of the electronic device. The processing unit 401, ROM 402, and RAM 403 are interconnected via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0110] Typically, the following devices can be connected to I / O interface 405: input devices 406 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 407 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 408 including, for example, memory cards, hard drives, etc.; and communication devices 409. Communication device 409 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 4 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown. More or fewer devices may be implemented or have instead.

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

[0112] This application also provides a computer program product including computer-readable instructions, which, when executed on an electronic device, cause the electronic device to implement any of the material handling flow control methods provided in this application.

[0113] This application also provides a computer-readable storage medium carrying one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement any of the material handling flow control methods provided in this application.

[0114] It should also be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. In addition, in the device embodiment drawings provided in this application, the connection relationship between modules indicates that they have a communication connection, which can be implemented as one or more communication buses or signal lines.

[0115] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware, or it can be implemented by special-purpose hardware including application-specific integrated circuits, special-purpose CPUs, special-purpose memory, special-purpose components, etc. Generally, any function performed by a computer program can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be diverse, such as analog circuits, digital circuits, or special-purpose circuits. However, for this application, software program implementation is more often the preferred implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, such as a computer floppy disk, USB flash drive, mobile hard disk, ROM, RAM, magnetic disk, or optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, training equipment, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0116] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as 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, all or part of the processes or functions described in the embodiments of this application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, training device, or data center to another website, computer, training device, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. 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 or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state drives (SSDs)).

Claims

1. A method for controlling material flow rate, characterized in that, include: Obtain the target material flow rate, scraper material angle, and material internal friction coefficient; The frictional force is calculated based on the material's internal friction coefficient, the scraper's material-taking angle, and the target material-taking flow rate; the downward sliding force is calculated based on the scraper's material-taking angle and the target material-taking flow rate. The difference between the frictional force and the downward force is multiplied by a proportionality coefficient to obtain the scraper current increment; The target scraper current is obtained by summing the scraper current increment with the no-load current. The scraper rotation speed is adjusted based on 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. The current scraper current is used for material flow control to ensure that the difference between the actual material flow and the target material flow is less than the flow deviation threshold.

2. The material flow rate control method according to claim 1, characterized in that, The step of adjusting the scraper rotation speed based on 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: Based on the difference between the target scraper current and the current scraper current, an incremental PID control method is used to obtain the rotation speed adjustment amount. Add the current scraper rotation speed to the rotation speed adjustment amount to obtain the target scraper rotation speed; The scraper current corresponding to the target scraper rotation speed is taken 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, then 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.

3. The material flow rate control method according to any one of claims 1 to 2, characterized in that, Also includes: When the scraper pick-up angle changes, the no-load current corresponding to the changed scraper pick-up angle is determined, and the updated no-load current is obtained. Based on the target material flow rate, the changed scraper material angle, and the internal friction coefficient of the material, the updated scraper current increment is determined; Calculate the updated scraper current increment and the updated no-load current to obtain the updated target scraper current; The scraper rotation speed is adjusted based on the deviation of the current scraper current from 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.

4. The material flow rate control method according to claim 3, characterized in that, The determination of the no-load current corresponding to the changed scraper material-taking angle includes: Obtain the linear relationship between the no-load current and the scraper material-taking angle; Based on the linear relationship, the no-load current corresponding to the changed scraper material-taking angle is obtained.

5. The material flow rate control method according to any one of claims 1 to 2, characterized in that, After obtaining the scraper's material-picking angle, the process also includes: The scraper material picking angle is subjected to low-pass filtering to obtain the scraper material picking angle after low-pass filtering. The scraper material picking angle after low-pass filtering is subjected to median filtering to obtain the scraper material picking angle after median filtering.

6. A material handling flow control system, characterized in that, include: The data acquisition module is used to acquire the target material handling flow rate, scraper material handling angle, and material internal friction coefficient. The current increment calculation module is used to calculate the frictional force based on the internal friction coefficient of the material, the scraper picking angle, and the target picking flow rate; and to calculate the downward force based on the scraper picking angle and the target picking flow rate. The difference between the frictional force and the downward force is multiplied by a proportionality coefficient to obtain the scraper current increment; The target scraper current calculation module is used to calculate the sum of the scraper current increment and the no-load current to obtain the target scraper current; The material handling 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 to control the material handling flow so as to ensure that the difference between the actual material handling flow and the target material handling flow is less than the flow deviation threshold.

7. A computer program product, characterized in that, It includes computer-readable instructions that, when executed on an electronic device, cause the electronic device to implement the material handling flow control method as described in any one of claims 1 to 5.

8. An electronic device, characterized in that, It includes 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 to enable the electronic device to implement the material handling flow control method as described in any one of claims 1 to 5.

9. A computer storage medium, characterized in that, The storage medium carries one or more computer programs that, when executed by an electronic device, enable the electronic device to implement the material handling flow control method as described in any one of claims 1 to 5.

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