Port hopper control method and device, electronic device, and readable storage medium

Abstract

The present disclosure provides a port hopper control method and device, electronic device, and readable storage medium, which belongs to the field of equipment control. The method includes: determining a target control strategy from multiple standard control strategies based on material characteristics and target flow; in response to the deviation between the first control parameter and the target control parameter being greater than the deviation threshold, controlling the hopper system based on a fuzzy control algorithm; in response to the deviation between the first control parameter and the target control parameter being less than or equal to the deviation threshold, controlling the hopper system based on a PID algorithm; wherein the deviation threshold is determined according to the material characteristics, the first control parameter is the control parameter of the current hopper system, and the target control parameter is the parameter corresponding to the target control strategy. The present disclosure provides a port hopper control method and device, electronic device, and readable storage medium that can improve the accuracy and reliability of hopper control.

Description

Technical Field

[0001] The present disclosure belongs to the field of equipment control, and more specifically, relates to a port hopper control method and device, electronic equipment, and a readable storage medium. Background Art

[0002] In port logistics operations, hoppers are key equipment for material loading, unloading and storage, and their control effect directly affects the efficiency and cost of the entire port operation. With the continuous development of port business, higher requirements are placed on the accuracy, efficiency and stability of hopper control.

[0003] Traditional port hopper control methods are often relatively extensive, mostly using fixed control strategies, and fail to fully consider material characteristics and various dynamic factors in the actual operation process. For example, when facing different types of materials, traditional control methods usually control in a unified mode, resulting in the discharge flow rate being difficult to accurately reach the target value, and the flow rate may be too large or too small, which in turn affects the continuity and stability of subsequent production processes.

[0004] In summary, the accuracy and reliability of existing hopper control are not high. Summary of the invention

[0005] The purpose of the present disclosure is to provide a port hopper control method and device, an electronic device, and a readable storage medium to improve the accuracy and reliability of hopper control.

[0006] A first aspect of an embodiment of the present disclosure provides a port hopper control method, comprising: Determine a target control strategy from multiple standard control strategies based on material characteristics and target flow; In response to a deviation between the first control parameter and the target control parameter being greater than a deviation threshold, controlling the hopper system based on a fuzzy control algorithm; In response to a deviation between the first control parameter and the target control parameter being less than or equal to a deviation threshold, controlling the hopper system based on a PID algorithm; The deviation threshold is determined according to the material characteristics, the first control parameter is the control parameter of the current hopper system, and the target control parameter is the parameter corresponding to the target control strategy.

[0007] A second aspect of the embodiments of the present disclosure provides a port hopper control device, comprising: A strategy determination module, used for determining a target control strategy from a plurality of standard control strategies based on material characteristics and target flow; a first control module, configured to control the hopper system based on a fuzzy control algorithm in response to a deviation between the first control parameter and the target control parameter being greater than a deviation threshold; a second control module, configured to control the hopper system based on a PID algorithm in response to a deviation between the first control parameter and the target control parameter being less than or equal to a deviation threshold; Among them, the deviation threshold is determined according to the material characteristics, the first control parameter is the control parameter of the current hopper system, and the target control parameter is the parameter corresponding to the target control strategy.

[0008] According to a third aspect of an embodiment of the present disclosure, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and running on the processor, and the processor implements the steps of the above-mentioned port hopper control method when executing the computer program.

[0009] According to a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned port hopper control method are implemented.

[0010] The beneficial effects of a port hopper control method and device, electronic device, and readable storage medium provided by the embodiments of the present disclosure are: The present disclosure can select the most appropriate control strategy according to the characteristics of the material and the target flow rate, ensuring that the hopper system can maintain high efficiency and stability when processing different materials. The present disclosure can select the most appropriate control strategy according to the deviation between the first control parameter and the target control parameter through the fuzzy control algorithm and the PID algorithm. When the deviation is large, the fuzzy control algorithm can be used to quickly adjust the system, and when the deviation is small, the PID algorithm is used to achieve precise control, which improves the response speed and accuracy of the present disclosure. The deviation threshold is determined according to the material characteristics. The present disclosure can select a deviation threshold that is more suitable for the material according to the material characteristics, which improves the flexibility of the present disclosure and thereby improves the accuracy and reliability of the hopper control. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0012] Figure 1 A schematic flow chart of a port hopper control method provided in one embodiment of the present disclosure; Figure 2 A structural block diagram of a port hopper control device provided by an embodiment of the present disclosure; Figure 3 A schematic block diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0013] In the following description, specific details such as specific system structures and technologies are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present disclosure. However, it should be clear to those skilled in the art that the present disclosure may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obstructing the description of the present disclosure with unnecessary details.

[0014] In order to make the purpose, technical solutions and advantages of the present disclosure more clear, specific embodiments will be described below in conjunction with the accompanying drawings.

[0015] Please refer to Figure 1 , Figure 1 A schematic flow chart of a port hopper control method provided in one embodiment of the present disclosure, the method comprising: S101: Determine a target control strategy from a plurality of standard control strategies based on material characteristics and target flow.

[0016] In this embodiment, a target control strategy is determined from a plurality of standard control strategies based on material characteristics and target flow, including: Calculate the matching degree between the material characteristics and each standard material characteristic respectively to obtain multiple material matching degrees; Calculate the matching degree between the target flow and each standard flow respectively to obtain multiple flow matching degrees; The material matching degree and flow matching degree are weightedly calculated to obtain the target matching degree; determining a target control strategy from a plurality of standard control strategies based on a target matching degree; Among them, each standard control strategy corresponds to a standard material characteristic and a standard flow rate.

[0017] In this embodiment, the material characteristics refer to the characteristics of the material itself, which may include: particle size, particle size difference, material density, etc. Among them, the particle size can be obtained by laser particle size analysis or image analysis, and the particle size difference can be calculated by standard deviation method or range method after the particle size is obtained. The material density can be obtained based on the basic information of the material, or inferred based on the type of material. For example, the bulk density of wheat is about 0.73-0.80 g / cm3, the bulk density of hematite is about 5.0-5.3 g / cm3, and the bulk density of magnetite is 4.9-5.2 g / cm3, or it can be obtained through a density meter.

[0018] Standard material characteristics are material characteristics corresponding to standard control strategies, and each standard control strategy corresponds to a standard material characteristic; that is, standard material characteristics refer to a set of multiple predetermined parameters with typical characteristics.

[0019] The target flow rate refers to the material unloading flow rate that the hopper is expected to achieve based on the port production operation requirements, and is the discharge rate indicator pursued by the control.

[0020] The standard flow is the flow corresponding to the standard control strategy. Each standard control strategy corresponds to a standard flow, that is, the standard flow refers to multiple predetermined flow values.

[0021] Material matching refers to the matching degree between material characteristics and standard material characteristics. The material matching degree can be obtained by calculating the matching degree between each parameter in the material characteristics and the corresponding standard parameter in the standard material characteristics, and performing weighted calculation.

[0022] For example: respectively calculate the matching degree of the particle size in the material feature and the standard material size in multiple standard material features to obtain the particle size matching degree; Calculating the matching degree between the particle size difference degree in the material characteristics and the particle size difference degree in the characteristics of multiple standard materials to obtain the difference degree matching degree; Calculate the matching degree between the material density in the material feature and the standard material density in multiple standard material features to obtain the density matching degree; The material matching degree is obtained by weighted calculation of the particle size matching degree, difference degree matching degree and density matching degree.

[0023] Among them, the weight corresponding to the particle size matching, the weight corresponding to the difference degree matching and the weight corresponding to the density matching can be determined according to the actual situation. For example, in previous operations, the particle size of the material has the greatest impact on the flow rate, and the weight corresponding to the particle size matching can be appropriately increased.

[0024] Alternatively, each standard material feature of the material feature can be represented by a feature vector, and the Euclidean distance or cosine similarity between the material feature vector and each standard material feature vector can be calculated to obtain the material matching degree. It should be noted that the value obtained using the Euclidean distance algorithm can be taken as the inverse of the distance or normalized to obtain the material matching degree. Using the cosine similarity algorithm, the result can be directly used as the material matching degree.

[0025] Traffic matching refers to the matching degree between target traffic and standard traffic, which can be obtained through simple difference ratio method or normalized difference method.

[0026] Target matching refers to the comprehensive value obtained by integrating material matching and flow matching through weighted calculation. It is used to evaluate the applicability of each standard control strategy to the current material characteristics and target flow. The higher the value, the higher the fit. The weight corresponding to the material matching and the weight corresponding to the flow matching can be determined based on historical experience or based on material characteristics.

[0027] The standard control strategy is a set of control parameters pre-set for specific standard material characteristics and standard flow, which can include parameters such as valve opening and vibration intensity to control the operation of the hopper. For example, for ore of standard particle size and density, the valve opening is set to 50% and the vibration intensity is set to 2m / s. 2 etc. constitute the standard control strategy.

[0028] S102: In response to a deviation between the first control parameter and the target control parameter being greater than a deviation threshold, controlling the hopper system based on a fuzzy control algorithm.

[0029] In this embodiment, the first control parameter is the control parameter of the current hopper system, which refers to the control parameter actually used by the hopper system at the current moment, and reflects the current operating state of the hopper. For example, the current valve opening of the hopper, the vibration intensity of the vibration motor, etc. can be used as the first control parameter, and these parameters reflect the current working condition of the hopper system in real time.

[0030] The target control parameters are the parameters of the target control strategy and are the ideal control parameter values ​​that the hopper system is expected to achieve. For example, if the target control strategy is set to make a certain material discharge at a specific flow rate, the corresponding target valve opening, target vibration intensity, etc. are the target control parameters, which are determined based on factors such as material characteristics and target flow rate, and are intended to achieve the best operating effect of the hopper system.

[0031] Deviation is the difference between the first control parameter and the target control parameter. It measures the gap between the actual operating state of the current hopper system and the expected operating state. For example, if the target valve opening is set to 50%, and the current actual valve opening is 45%, then the deviation of the valve opening is 50%-45%=5%. The size of the deviation reflects the degree of deviation between the actual operation of the system and the ideal state.

[0032] The deviation threshold is a pre-set reference value used to determine whether the control algorithm needs to be switched. It is determined based on the material characteristics. Different materials have different characteristics and different requirements for control accuracy, so the deviation threshold will be different. For example, for materials with good fluidity and low requirements for discharge accuracy, the deviation threshold may be set relatively large; while for materials with poor fluidity and high requirements for discharge accuracy, the deviation threshold will be set smaller.

[0033] That is, the deviation threshold is determined according to the material characteristics, which include: particle size, particle size difference and material density; the deviation threshold can be calculated by the first formula, which can be: ,in, represents the deviation threshold, It represents the basic deviation threshold, which is a value with high applicability and can be determined based on experiments. represents the particle size influence function, represents the influence function of the degree of particle size difference, represents the material density influence function, Indicates the particle size after the particle size is standardized. Indicates the degree of particle size difference, Indicates the density of the material. Represents the particle size. The above parameters are dimensionless.

[0034] in, ; It is a parameter obtained by fitting a high-order polynomial with experimental data, which enables the function to more carefully describe the effect of particle size on the deviation threshold in different intervals. When the particle size is in the middle range, the function value is relatively stable; when the particle size is biased towards the minimum or maximum boundary, the function value will change rapidly according to the polynomial law to adapt to the special requirements of extreme particle size for control accuracy.

[0035] in, ; is the parameter obtained by fitting the experimental data, It is determined according to the actual situation. When the particle size difference is small, a quartic polynomial function is used to describe its relatively gentle impact on the deviation threshold; when the particle size difference exceeds the threshold When the deviation value is greater than 0.05, an exponential function is used to quickly increase the adjustment range of the deviation threshold to cope with the situation where the material uniformity deteriorates seriously.

[0036] in, ; It is a parameter obtained by fitting experimental data. This function can reflect the complex nonlinear effect of density on the deviation threshold. As the density changes, the function value will change accordingly, thereby adjusting the deviation threshold to meet the control requirements of materials with different densities.

[0037] If the deviation is greater than the deviation threshold determined according to the material characteristics, the fuzzy control algorithm is used to control the hopper system with a target control strategy. The fuzzy algorithm can be quickly adjusted when the deviation is large, so that the hopper system state quickly approaches the set value. The hopper system includes a hopper and a hopper vibrator.

[0038] S103: In response to a deviation between the first control parameter and the target control parameter being less than or equal to a deviation threshold, controlling the hopper system based on a PID algorithm; Among them, the deviation threshold is determined according to the material characteristics, the first control parameter is the control parameter of the current hopper system, and the target control parameter is the parameter corresponding to the target control strategy.

[0039] In this embodiment, as the control process proceeds, when the deviation between the first control parameter and the target control parameter is less than or equal to the deviation threshold, it means that the hopper system is close to the set value, and at this time, it switches to proportional-integral-differential (PID) control. Based on the current deviation, deviation accumulation, and deviation change rate, the PID controller outputs the control amount according to its own proportional, integral, and differential operation rules, and adjusts the hopper equipment more precisely and accurately, eliminating steady-state errors, stabilizing the hopper-related parameters at the set value, and avoiding overshoot, oscillation, and the like.

[0040] The deviation threshold may be calculated according to the first formula, and the hopper system may be controlled with the target control parameter based on the PID algorithm.

[0041] In this embodiment, in response to the fuzzy control algorithm being switched to the PID algorithm, the control mode is no longer switched within the first locking time.

[0042] In response to the PID algorithm being switched to the fuzzy control algorithm, the control mode is no longer switched during the second locking time.

[0043] The first locking time and the second locking time can be determined based on experience. For example, when switching from a fuzzy control algorithm to a PID algorithm, parameter fluctuations are prone to occur, while when switching from a PID algorithm to a fuzzy control algorithm, parameter fluctuations are less likely to occur. In this case, the first locking time should be longer than the second locking time to give the PID algorithm more time to control the hopper system.

[0044] Through the switching mechanism and parameter coordination, the problem of poor control effect that may occur in the entire control process due to a single algorithm is avoided (for example, the fuzzy algorithm may find it difficult to eliminate small errors in steady state, and the PID control responds slowly when the deviation is large), thereby enhancing the stability of the entire hopper control system and reducing system fluctuations and oscillations.

[0045] From the above, it can be concluded that the present disclosure can select the most appropriate control strategy according to the characteristics of the material and the target flow rate, ensuring that the hopper system can maintain high efficiency and stability when processing different materials. The present disclosure can select the most appropriate control strategy according to the deviation between the first control parameter and the target control parameter through the fuzzy control algorithm and the PID algorithm. When the deviation is large, the fuzzy control algorithm can be used to quickly adjust the system, and when the deviation is small, the PID algorithm is used to achieve precise control, which improves the response speed and accuracy of the present disclosure. The deviation threshold is determined according to the material characteristics. The present disclosure can select a deviation threshold that is more suitable for the material according to the material characteristics, which improves the flexibility of the present disclosure and thereby improves the accuracy and reliability of the hopper control.

[0046] In one embodiment of the present disclosure, a port hopper control method further includes: Determine the initial material weight and initial flow weight; wherein the initial material weight is the weight corresponding to the material matching degree, and the initial flow weight is the weight corresponding to the flow matching degree; In response to the material characteristic not satisfying the first stability condition, increasing the initial material weight according to the first stability step length to obtain a target material weight; and decreasing the initial flow weight according to the first stability step length to obtain a target flow weight; The target matching degree is obtained based on the material matching degree, the target material weight, the flow matching degree and the target flow weight.

[0047] In one embodiment of the present disclosure, the material characteristics include: the degree of particle size difference; A port hopper control method further comprising: In response to the granularity difference being greater than a first difference threshold, it is determined that the first stability condition is not satisfied, and a first stability step is determined based on the granularity difference.

[0048] In this embodiment, the initial material weight refers to a coefficient that is preset when calculating the target matching degree and is used to measure the influence of the material matching degree on the final result. It indicates the proportion of the matching between the material characteristics and the standard material characteristics in the overall matching degree calculation in the initial state.

[0049] The initial traffic weight is also a pre-set coefficient used to measure the impact of traffic matching on the final result when calculating the target matching. It reflects the importance of the matching between the target traffic and the standard traffic in the overall matching calculation.

[0050] The initial material weight and initial flow weight can be determined based on experience or based on historical data statistical analysis, for example, the initial weight can be set based on the long-term work experience of port operators. In the daily process of handling various materials and flow requirements, operators have an intuitive feeling about which factor, material characteristics or flow, has a greater impact on the selection of control strategies.

[0051] Alternatively, collect control data from past port hoppers handling different materials, including information such as material characteristics, target flow, actual control strategy, and final unloading effect. By statistically analyzing these data, calculate the contribution of material characteristics and flow to the final result in successful control cases, and determine the initial weights. For example, regression analysis and other methods can be used to take unloading efficiency or control accuracy as dependent variables, material characteristics and flow-related factors as independent variables, analyze the coefficients of each variable, and the size of the coefficients can be used as a reference for weight determination.

[0052] The first stability condition is a criterion for judging whether the material characteristics are in a stable state. When the material characteristics meet this condition, it means that the material characteristics are relatively stable, and the initial weight can be used when calculating the target matching degree; if not, the weight needs to be adjusted. In this embodiment, the comparison result between the particle size difference degree and the first difference threshold can be used as the basis for judgment.

[0053] The degree of adjustment is the first stability step. When the particle size difference of the material exceeds the first difference threshold, it indicates that the uniformity of the material is poor. In this case, the physical properties of the material (such as fluidity, stacking angle, etc.) will be greatly affected, which will play an important role in the unloading process. Compared with the flow factor, the influence of material characteristics on the unloading effect is more critical at this time. In order to better adapt to the changes in material characteristics, it is necessary to increase the weight of material matching in the target matching calculation. By increasing the initial material weight according to the first stability step, the system will focus more on considering factors related to material characteristics when selecting the control strategy, so that the control strategy can more accurately respond to changes in material characteristics to ensure the smoothness and stability of unloading.

[0054] The first stability step lengths corresponding to different degrees of particle size differences should also be different. The greater the particle size difference, the larger the corresponding first stability step length should be. The first stability step length can be calculated according to the second formula, which can be: ,in represents the first stability step, It is a basic step parameter, which is the basic adjustment step value within a certain range of granularity difference. It can be set according to actual control experience or preliminary debugging results. It is an adjustment coefficient used to control the sensitivity of the particle size difference to the step length increase. It can be obtained through multiple experiments on specific materials and fitting analysis of actual operation data. Indicates the degree of particle size difference.

[0055] As the degree of particle size difference increases, the first stability step will increase exponentially, in line with the larger the degree of particle size difference, in order to optimize the control effect of the hopper system on different materials.

[0056] The degree of particle size difference can be calculated by using a standard deviation method or a range method after the particle size is obtained, and the first difference threshold can be obtained based on experience.

[0057] The first difference threshold is used as a critical value to determine whether the particle size difference is too large. When the particle size difference of the material is greater than this threshold, it is determined that the material characteristics do not meet the first stability condition and the weight needs to be adjusted.

[0058] From the above, it can be concluded that the present disclosure realizes dynamic adjustment of the influence of material matching and flow matching in the target matching calculation through initial material weight and initial flow weight, and makes adjustments according to the first stability step when the material characteristics do not meet the stability conditions, which helps the system to more flexibly respond to different material characteristics and flow requirements, and improve the stability and adaptability of control. The present disclosure realizes the control of material particle size changes by using the degree of particle size difference as an indicator for judging the stability of material characteristics, and adjusting the weight based on the degree of particle size difference, which helps the present disclosure to focus more on considering factors related to material characteristics when facing materials with large particle size differences, so as to select a more appropriate control strategy, ensure the smoothness and stability of unloading, and improve the accuracy and reliability of hopper control.

[0059] In one embodiment of the present disclosure, the target control strategy includes: a target valve opening and a target vibration intensity; Material characteristics, including: material density; A port hopper control method further comprising: In response to the material level characteristic satisfying the first material level condition, determining a first opening step length based on the material density and the material level characteristic; In response to the material level characteristic satisfying a second material level condition, determining a first vibration step length based on the material density and the material level characteristic; Increase the target valve opening according to the first opening step to obtain a second valve opening; Increasing the target vibration intensity according to the first vibration step length to obtain a second vibration intensity; obtaining a second control strategy based on a second valve opening and a second vibration intensity; The second control strategy is used as the target control strategy.

[0060] In this embodiment, the target control strategy refers to a control method pre-planned to enable the hopper system to unload specific materials according to requirements such as target flow rate, which includes key parameters such as target valve opening and target vibration intensity. These parameters are designed to enable the hopper to achieve an ideal unloading effect.

[0061] The target valve opening refers to the desired degree of opening of the hopper discharge valve, which directly affects the material discharge rate. The larger the opening, the more material will flow out per unit time under the same other conditions.

[0062] Target vibration intensity: indicates the degree of vibration expected to be applied to the hopper. The appropriate vibration intensity helps to overcome the friction between materials and between materials and the hopper wall, and promotes material flow. The vibration intensity can be measured by the parameters of the vibration equipment, such as acceleration.

[0063] The material level characteristic refers to the height of the material in the hopper, that is, the material position. It should be noted that according to the pressure formula , it can be seen that the pressure at the discharge port depends on the height of the material directly above the discharge port. When there is more material in the hopper, the pressure exerted by the material on the discharge port is greater. According to the principles of fluid mechanics, for fluid materials similar to liquids, the flow rate is related to the pressure difference. The greater the pressure difference, the greater the flow rate under the same discharge port resistance (determined by factors such as the discharge port opening). For example, in a hopper filled with liquid chemical raw materials, the bottom material is subjected to a greater pressure due to the gravity of the upper material, and the pressure difference at the discharge port is relatively large. When the liquid in the hopper gradually decreases, the pressure on the bottom material decreases, and the pressure difference also decreases. When the discharge port opening remains unchanged, the flow rate will gradually decrease.

[0064] The first material level condition may be that the discharge material level is lower than or equal to the first material level. The second material level condition may be that the discharge material level is higher than the second material level. The discharge material level indicates the height of the material directly above the discharge port. The first material level and the second material level may be determined based on the density of the material. When the discharge material level is lower than or equal to the first material level, it means that the height of the material is low, and the pressure at the corresponding discharge port will drop. Therefore, the opening of the valve can be appropriately increased to stabilize the flow. When the material level is higher than the second material level, it means that the pressure on the bottom material is high, the materials are squeezed more tightly, and a larger vibration intensity is required to promote the flow of the material.

[0065] Therefore, the first opening step can be determined based on the material density and material level characteristics according to the following process: First, according to the principles of fluid mechanics, the speed at which the material flows out of the hopper And material level height is proportional to the square root of ,in It is a coefficient related to the material properties and hopper structure and can be obtained through experiments.

[0066] At the same time, the mass flow rate of the material (i.e. the mass of material flowing out per unit time) and material density and outflow speed And the flow area corresponding to the valve opening (i.e. valve opening Hopper discharge opening area The relationship is ), which can be expressed as .

[0067] When the material level changes In order to keep the mass flow constant, the valve opening needs to be adjusted. , by deriving and rearranging the above formula, we can get , all the above parameters are dimensionless for easy calculation.

[0068] Considering that the vibration intensity should be different for materials with different density and material level characteristics, the interaction force and stacking characteristics between particles are different for materials with different densities. The contact between particles of high-density materials is closer and the internal friction is greater. For example, for high-density materials such as metal ores, the degree of mutual compression between particles is high, and the internal structure is relatively stable in a static state. However, for low-density materials, such as some light grains, the particles are relatively loose and the fluidity is relatively good.

[0069] When vibration is applied, low-density materials can loosen the connections between particles at a lower vibration intensity and start to flow. However, for high-density materials, stronger vibration is required to overcome the greater internal friction to achieve a flow state similar to that of low-density materials.

[0070] The gravitational potential energy of the material varies with the material level. When the material level is high, the pressure on the bottom material is high and the materials are squeezed more tightly. In this case, even if the material density is the same, the material at a higher level requires a greater external force to break the tightly stacked state and promote the flow of the material when unloading.

[0071] Therefore, the first vibration step length can be calculated by the following process: First, a large number of experiments were conducted to record the vibration intensity data that enables the material to be discharged smoothly under different material densities and material level characteristics. For example, for different types of ore, the material level in the hopper was changed (from low material level to high material level, such as material level height from 0.5m to 3m), and different densities were considered at the same time (such as density from 2g / cm³ to 8g / cm³). The vibration intensity that enables the material to be discharged stably in each experiment was recorded. For example, the table collected in the experiment is shown in Table 1.

[0072] Table 1 Effective vibration intensity corresponding to material density and material level height

[0073] You can choose a polynomial fitting model, such as a quadratic polynomial ,in is the first vibration step, the material density is , the material level height is , are coefficients to be determined. A fitting algorithm such as the least squares method can be used to substitute the collected data into the fitting model to calculate the above-mentioned coefficients to be determined.

[0074] Through the above calculation process, the first opening step and the first vibration step can be calculated, and the target valve opening can be increased according to the first opening step to obtain the second valve opening; the target vibration intensity can be increased according to the first vibration step to obtain the second vibration intensity; The second valve opening and the second vibration intensity are used as the second control strategy, and the hopper system is controlled based on a fuzzy control algorithm or a PID algorithm.

[0075] It can be concluded from the above that this embodiment can accurately formulate a target control strategy, including a target valve opening and a target vibration intensity, by comprehensively considering key factors such as material density and material level characteristics, thereby ensuring that the hopper system can always maintain an efficient and stable operating state when facing different materials and unloading requirements. The present disclosure can dynamically adjust the valve opening and vibration intensity according to the material level characteristics. When the material level characteristics meet specific conditions, the adjustment step size can be automatically calculated, and the control strategy can be adjusted accordingly to adapt to the change in unloading pressure caused by the change in material height, thereby improving the adaptability and flexibility of the present disclosure, thereby improving the accuracy and reliability of the hopper control.

[0076] In one embodiment of the present disclosure, the material level characteristics include: the discharge material level; A port hopper control method further comprising: Determining a first material level and a second material level based on the material density; In response to the discharge material level being lower than or equal to the first material level, the first material level condition is met; In response to the discharge material level being higher than the second material level, the second material level condition is met.

[0077] In one embodiment of the present disclosure, the material characteristics also include: the degree of particle size difference; A port hopper control method further comprising: In response to the particle size difference being greater than a second difference threshold, determining a first compensation level based on the particle size difference; The first material level is compensated based on the first compensation material level.

[0078] In this embodiment, a mathematical model fitting method can be established to determine the first material level and the second material level. For example, actual data of the first material level and the second material level that can ensure stable material unloading and meet flow requirements under different material densities are collected, and then the relationship between the material density and the first material level and the second material level is established through a mathematical model (such as polynomial fitting, linear regression, etc.). For materials of various densities, during the actual unloading process of the port hopper, the material level height values ​​that meet the first material level condition (the material level that requires increasing the valve opening) and the second material level condition (the material level that requires increasing the vibration intensity) are recorded each time the material is unloaded.

[0079] The specific implementation method is the same as the above-mentioned process of calculating the first vibration step length. The collected data is substituted into the fitting model using a fitting algorithm such as the least squares method to calculate the fitting coefficient. The fitting model can be determined. The fitting model can be a linear fitting model, such as the first material level height. With material density The relationship is , first material level height With material density The relationship is ,in is the fitting coefficient.

[0080] In this embodiment, the greater the particle size difference, the greater the corresponding compensation level, because a large particle size difference means that the material particle size is uneven. The mixture of large particles and small particles will affect the stacking structure of the material. When the particle size difference is large, that is, greater than the second difference threshold, the corresponding material level height It is not an effective value, but there are a lot of gaps. At this time, even if it does not reach the corresponding first material level, due to the appearance of the gaps, the pressure at the discharge port does not reach the target flow rate, so the first material level should be compensated. The second difference threshold can be determined based on experience.

[0081] The first compensation material level can be calculated according to the linear formula, which can be: ,in Indicates the first compensation level, represents the slope, which can be determined experimentally, Indicates the degree of particle size difference.

[0082] The accurate first material level can be obtained by adding the first material level and the first compensation material level. It can be determined whether the first material level condition is met based on the first material level after compensation, and then it can be determined whether to change the opening of the valve.

[0083] It can be concluded from the above that the present disclosure can accurately determine whether the material in the hopper meets a specific level condition by determining the first level and the second level according to the material density through the level characteristics, taking into account the influence of the material density on the level height, and ensuring the accuracy and reliability of the level determination. The present disclosure can determine the first compensation level according to the degree of particle size difference, compensate for the first level, fully consider the influence of the uneven size of the material particles on the unloading process, ensure that the hopper system can maintain a stable unloading effect under different degrees of particle size difference, and improve the accuracy and reliability of the hopper control.

[0084] A port hopper control method corresponding to the above embodiment, Figure 2 This is a structural block diagram of a port hopper control device provided by an embodiment of the present disclosure. For ease of explanation, only the parts related to the embodiment of the present disclosure are shown. Figure 2 The port hopper control device 20 includes: a strategy determination module 21, a first control module 22 and a second control module 23.

[0085] Wherein, the strategy determination module 21 is used to determine the target control strategy from multiple standard control strategies based on material characteristics and target flow; A first control module 22, for controlling the hopper system based on a fuzzy control algorithm in response to a deviation between the first control parameter and the target control parameter being greater than a deviation threshold; A second control module 23, configured to control the hopper system based on a PID algorithm in response to a deviation between the first control parameter and the target control parameter being less than or equal to a deviation threshold; The deviation threshold is determined according to the material characteristics, the first control parameter is the control parameter of the current hopper system, and the target control parameter is the parameter corresponding to the target control strategy.

[0086] In one embodiment of the present disclosure, the strategy determination module 21 is specifically used to calculate the matching degree between the material feature and each standard material feature respectively to obtain multiple material matching degrees; Calculate the matching degree between the target flow and each standard flow respectively to obtain multiple flow matching degrees; The material matching degree and flow matching degree are weightedly calculated to obtain the target matching degree; determining a target control strategy from a plurality of standard control strategies based on a target matching degree; Among them, each standard control strategy corresponds to a standard material characteristic and a standard flow rate.

[0087] In one embodiment of the present disclosure, a port hopper control device 20 further includes: a first weight adjustment module; The first weight adjustment module is used to determine the initial material weight and the initial flow weight; wherein the initial material weight is the weight corresponding to the material matching degree, and the initial flow weight is the weight corresponding to the flow matching degree; In response to the material characteristic not satisfying the first stability condition, increasing the initial material weight according to the first stability step length to obtain a target material weight; and decreasing the initial flow weight according to the first stability step length to obtain a target flow weight; The target matching degree is obtained based on the material matching degree, the target material weight, the flow matching degree and the target flow weight.

[0088] In one embodiment of the present disclosure, the material characteristics include: the degree of particle size difference; A port hopper control device 20 further includes: a first step length determination module; The first step length determination module is used to determine that the first stability condition is not met in response to the granularity difference degree being greater than the first difference degree threshold, and determine the first stability step length based on the granularity difference degree.

[0089] In one embodiment of the present disclosure, the target control strategy includes: a target valve opening and a target vibration intensity; Material characteristics, including: material density; A port hopper control device 20 further includes: a strategy adjustment module; A strategy adjustment module, configured to determine a first opening step length based on material density and material level characteristics in response to the material level characteristics satisfying a first material level condition; In response to the material level characteristic satisfying a second material level condition, determining a first vibration step length based on the material density and the material level characteristic; Increase the target valve opening according to the first opening step to obtain a second valve opening; Increasing the target vibration intensity according to the first vibration step length to obtain a second vibration intensity; obtaining a second control strategy based on a second valve opening and a second vibration intensity; The second control strategy is used as the target control strategy.

[0090] In one embodiment of the present disclosure, the material level characteristics include: the discharge material level; A port hopper control device 20 further includes: a material level determination module; A material level determination module, used to determine a first material level and a second material level respectively based on material density; In response to the discharge material level being lower than or equal to the first material level, the first material level condition is met; In response to the discharge material level being higher than the second material level, the second material level condition is met.

[0091] In one embodiment of the present disclosure, a port hopper control device 20 further includes: a material level compensation module; A material level compensation module, configured to determine a first compensation material level based on the particle size difference degree in response to the particle size difference degree being greater than a second difference degree threshold; The first material level is compensated based on the first compensation material level.

[0092] See also Figure 3 , Figure 3 A schematic block diagram of an electronic device provided by an embodiment of the present disclosure. Figure 3 The electronic device 300 in the embodiment shown may include: one or more processors 301, one or more input devices 302, one or more output devices 303 and one or more memories 304. The processors 301, input devices 302, output devices 303 and memories 304 communicate with each other via a communication bus 305. The memory 304 is used to store computer programs, which include program instructions. The processor 301 is used to execute the program instructions stored in the memory 304. The processor 301 is configured to call the program instructions to execute the functions of each module / unit in the above-mentioned device embodiments, such as Figure 2 The functions of modules 21 to 23 are shown.

[0093] It should be understood that in the embodiment of the present disclosure, the processor 301 may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0094] The input device 302 may include a touch panel, a fingerprint collection sensor (for collecting the user's fingerprint information and fingerprint direction information), a microphone, etc., and the output device 303 may include a display (LCD, etc.), a speaker, etc.

[0095] The memory 304 may include a read-only memory and a random access memory, and provide instructions and data to the processor 301. A portion of the memory 304 may also include a non-volatile random access memory. For example, the memory 304 may also store information about the device type.

[0096] In a specific implementation, the processor 301, input device 302, and output device 303 described in the embodiments of the present disclosure can execute the implementation methods described in the first and second embodiments of a port hopper control method provided in the embodiments of the present disclosure, and can also execute the implementation methods of the electronic device described in the embodiments of the present disclosure, which will not be repeated here.

[0097] In another embodiment of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by the processor, all or part of the processes in the above-mentioned embodiment method are implemented, and the computer program can also be completed by instructing the relevant hardware through the computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor, the steps of each of the above-mentioned method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0098] The computer-readable storage medium may be an internal storage unit of the electronic device of any of the aforementioned embodiments, such as a hard disk or memory of the electronic device. The computer-readable storage medium may also be an external storage device of the electronic device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device. Furthermore, the computer-readable storage medium may also include both an internal storage unit of the electronic device and an external storage device. The computer-readable storage medium is used to store computer programs and other programs and data required by the electronic device. The computer-readable storage medium may also be used to temporarily store data that has been output or is to be output.

[0099] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this disclosure.

[0100] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the electronic devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0101] In the several embodiments provided in the present application, it should be understood that the disclosed electronic devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces or units, or it can be an electrical, mechanical or other form of connection.

[0102] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present disclosure.

[0103] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0104] The above are only specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present disclosure, and these modifications or replacements should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A port hopper control method, characterized in that: include: Determine a target control strategy from multiple standard control strategies based on material characteristics and target flow; In response to a deviation between the first control parameter and the target control parameter being greater than a deviation threshold, controlling the hopper system based on a fuzzy control algorithm; In response to a deviation between the first control parameter and the target control parameter being less than or equal to the deviation threshold, controlling the hopper system based on a PID algorithm; Among them, the deviation threshold is determined according to the material characteristics, the first control parameter is the control parameter of the current hopper system, and the target control parameter is the parameter corresponding to the target control strategy.

2. A port hopper control method as claimed in claim 1, characterized in that: The target control strategy is determined from a plurality of standard control strategies based on material characteristics and target flow, including: Calculate the matching degree between the material characteristics and each standard material characteristic respectively to obtain multiple material matching degrees; Calculate the matching degree between the target flow and each standard flow respectively to obtain multiple flow matching degrees; Performing weighted calculation on the material matching degree and the flow matching degree to obtain a target matching degree; determining a target control strategy from a plurality of standard control strategies based on a target matching degree; Each of the standard control strategies corresponds to a standard material characteristic and a standard flow rate.

3. A port hopper control method as claimed in claim 2, characterized in that: Also includes: Determine an initial material weight and an initial flow weight; wherein the initial material weight is the weight corresponding to the material matching degree, and the initial flow weight is the weight corresponding to the flow matching degree; In response to the material characteristic not satisfying the first stability condition, increasing the initial material weight according to the first stability step length to obtain a target material weight; and decreasing the initial flow weight according to the first stability step length to obtain a target flow weight; The target matching degree is obtained based on the material matching degree, the target material weight, the flow matching degree and the target flow weight.

4. A port hopper control method as claimed in claim 3, characterized in that: The material characteristics include: the degree of particle size difference; A port hopper control method further comprising: In response to the granularity difference being greater than a first difference threshold, it is determined that the first stability condition is not satisfied, and the first stability step is determined based on the granularity difference.

5. A port hopper control method as claimed in claim 1, characterized in that: The target control strategy includes: target valve opening and target vibration intensity; The material characteristics include: material density; A port hopper control method further comprising: In response to the material level characteristic satisfying a first material level condition, determining a first opening step length based on the material density and the material level characteristic; In response to the material level characteristic satisfying a second material level condition, determining a first vibration step length based on the material density and the material level characteristic; increasing the target valve opening according to the first opening step to obtain a second valve opening; increasing the target vibration intensity according to the first vibration step length to obtain a second vibration intensity; obtaining a second control strategy based on the second valve opening and the second vibration intensity; The second control strategy is used as the target control strategy.

6. A port hopper control method as claimed in claim 5, characterized in that: The material level characteristics include: discharge material level; A port hopper control method further comprising: Determining a first material level and a second material level respectively based on the material density; In response to the discharge material level being lower than or equal to the first material level, the first material level condition is satisfied; In response to the discharge material level being higher than the second material level, the second material level condition is met.

7. A port hopper control method as claimed in claim 6, characterized in that: The material characteristics also include: the degree of particle size difference; A port hopper control method further comprising: In response to the particle size difference being greater than a second difference threshold, determining a first compensation material level based on the particle size difference; The first material level is compensated based on a first compensation material level.

8. A port hopper control device, characterized in that: include: A strategy determination module, used for determining a target control strategy from a plurality of standard control strategies based on material characteristics and target flow; a first control module, configured to control the hopper system based on a fuzzy control algorithm in response to a deviation between the first control parameter and the target control parameter being greater than a deviation threshold; a second control module, configured to control the hopper system based on a PID algorithm in response to a deviation between the first control parameter and the target control parameter being less than or equal to the deviation threshold; Among them, the deviation threshold is determined according to the material characteristics, the first control parameter is the control parameter of the current hopper system, and the target control parameter is the parameter corresponding to the target control strategy.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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