Driving control method, device, system, equipment and medium

Abstract

The invention provides a driving control method, device, system and equipment and a medium. A belt conveyor comprises N driving rollers, N is larger than or equal to 2, one of N driving assemblies is a main driving assembly, and the other driving assemblies are auxiliary driving assemblies; each driving assembly comprises M driving devices, and M is greater than or equal to 1; for a driving assembly comprising more than two driving devices, one of the M driving devices is a master driving device, the other driving devices are slave driving devices, and each slave driving device is configured to be synchronous with the torque of the master driving device of the driving assembly to which the slave driving device belongs; the main driving devices of all the driving assemblies are configured to be synchronous in speed; the driving control method comprises the following steps that the current actual torque of each driving assembly is obtained; and according to the current actual torque of each slave driving assembly and the current actual torque of the master driving assembly, obtaining a current speed compensation value of each slave driving assembly and outputting the current speed compensation value to a master driving device of the corresponding slave driving assembly.

Description

Technical Field

[0001] The present application relates to the field of belt transport technology, and in particular to a drive control method, device, system, equipment and medium. Background Art

[0002] Belt conveyors are continuous conveying equipment that use conveyor belts as traction mechanisms and load-bearing mechanisms. They are widely used in industries, agriculture, transportation, and other fields. Belt conveyors drive the conveyor belts through drive devices, so that the materials move along with the conveyor belts, thereby realizing the transportation of materials. For long-distance belt conveyors, due to the long conveying distance and heavy load, multiple drive devices are required to drive. In the prior art, there is a problem of unbalanced loads on each drive device, that is, some drive devices are overloaded, while other drive devices are lightly loaded or unloaded. Load imbalance not only reduces the efficiency of the entire system, but also accelerates the wear and damage of the drive device. Summary of the invention

[0003] In view of this, the present application provides a drive control method, device, system, equipment and medium, so that the various drive devices of the belt conveyor can maintain synchronization and load balance during operation, thereby improving the operating performance and service life of the belt conveyor and ensuring its safe and stable operation.

[0004] In a first aspect, the present application provides a drive control method for a belt conveyor, wherein the belt conveyor comprises N drive rollers, N≥2, each drive roller is driven by a drive assembly, one of the N drive assemblies is a main drive assembly, and the rest are slave drive assemblies; each drive assembly comprises M drive devices, M≥1; for a drive assembly comprising more than two drive devices, one of the M drive devices is a main drive device, and the others are slave drive devices, each slave drive device is respectively configured to be torque synchronized with the main drive device of the drive assembly to which it belongs; and the main drive devices of each drive assembly are configured to be speed synchronized; the drive control method comprises the following steps:

[0005] Get the current actual torque of each drive component;

[0006] According to the current actual torque of each slave drive component and the current actual torque of the main drive component, the current speed compensation value of each slave drive component is obtained and output to the main drive device of the corresponding slave drive component.

[0007] Optionally, the step of obtaining the current speed compensation value of each slave drive assembly and outputting it to the main drive device of the corresponding slave drive assembly according to the current actual torque of each slave drive assembly and the current actual torque of the main drive assembly further includes:

[0008] Calculating the difference between the current actual torque of each slave drive component and the current actual torque of the master drive component to obtain the current torque difference of each slave drive component;

[0009] According to the current torque difference of each slave drive component, a PID adjustment value of the current torque difference of each slave drive component is obtained based on a PID algorithm;

[0010] According to the PID adjustment value of the current torque difference of each slave drive component and the preset adjustment coefficient, the current speed compensation value of each slave drive component is obtained and output to the master drive device of the corresponding slave drive component.

[0011] Optionally, the main driving assembly is a driving assembly of the head driving roller.

[0012] Optionally, the drive control method further includes:

[0013] In response to the start signal, the following steps are performed:

[0014] S201: Output a start instruction to each drive device of the main drive assembly, and output a first speed instruction to the main drive device of the main drive assembly, wherein the first speed instruction is used to instruct the main drive device of the main drive assembly to accelerate at a first acceleration or at a first acceleration time T1. A The first motion state is a uniform motion at a first operating frequency f1 or a first preset rotation speed w1;

[0015] S203: Acquire the running time of the main drive component in the first motion state, and when the running time of the main drive component in the first motion state meets the first preset duration t1, output a start instruction to each drive device of each slave drive component, output a second speed instruction to the main drive device of the main drive component, and output a third speed instruction to the main drive device of each slave drive component, wherein the second speed instruction is used to instruct the main drive device of the main drive component to accelerate at a second acceleration or at a second acceleration time T2. A The third speed instruction is used to instruct the main drive device of each slave drive component to accelerate to the second motion state at the third acceleration or at the third acceleration time T3. A The internal acceleration moves to a second motion state, wherein the second motion state is a uniform motion at a second operating frequency f2 or a second preset rotation speed w2;

[0016] S205: Obtaining the running time of each drive component in the second motion state, and when the running time of each drive component in the second motion state meets the second preset time length t2, outputting a fourth speed instruction to the main drive device of each drive component, wherein the fourth speed instruction is used to instruct each main drive device to accelerate at a fourth acceleration or at a fourth acceleration time T4. AThe third motion state is accelerated to the third motion state at the target operating frequency f target Or target speed w target Uniform motion.

[0017] Optionally, the drive control method further includes:

[0018] In response to the shutdown signal, the following steps are performed:

[0019] S301: outputting a first deceleration instruction to the main drive device of each drive component, wherein the first deceleration instruction is used to instruct the main drive device of each drive component to decelerate to a fourth motion state at a fourth acceleration or within a first deceleration time, wherein the fourth motion state is uniform motion at a fourth operating frequency f4 or a fourth preset speed w4;

[0020] S303: Acquire the running time of each driving component in the fourth motion state, and when the running time of each driving component in the fourth motion state satisfies a fourth preset time length t4, output a stop instruction to each driving device of each driving component.

[0021] In a second aspect, the present application provides a drive control device for a belt conveyor, wherein the belt conveyor comprises N drive rollers, N≥2, each drive roller is driven by a drive assembly, one of the N drive assemblies is a main drive assembly, and the rest are slave drive assemblies; each drive assembly comprises M drive devices, M≥1; for a drive assembly comprising more than two drive devices, one of the M drive devices is a main drive device, and the others are slave drive devices, each slave drive device is respectively configured to be torque synchronized with the main drive device of the drive assembly to which it belongs; and the main drive devices of each drive assembly are configured to be speed synchronized; the drive control device comprises:

[0022] An acquisition module, which is used to acquire the current actual torque of each driving component;

[0023] The compensation module is used to obtain the current speed compensation value of each slave drive component according to the current actual torque of each slave drive component and the current actual torque of the main drive component, and output it to the main drive device of the corresponding slave drive component.

[0024] In a third aspect, the present application provides an electronic device, comprising: a processor, a communication interface, a memory, and a bus, wherein the processor, the communication interface, and the memory communicate with each other through the bus;

[0025] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform an operation corresponding to any one of the above methods.

[0026] In a fourth aspect, the present application provides a computer-readable storage medium, on which computer instructions are stored. When the computer instructions are executed by a processor, the processor executes any one of the above methods.

[0027] In a fourth aspect, the present application provides a drive control system for a belt conveyor, wherein the belt conveyor includes N drive rollers, where N≥2, and the drive control system includes:

[0028] N drive assemblies, wherein one of the N drive assemblies is a master drive assembly and the others are slave drive assemblies; each drive assembly includes M drive devices, M≥1; and when M≥2, one of the M drive devices is a master drive device and the others are slave drive devices; each drive device includes a driver and a motor;

[0029] A motion controller, each driver is respectively connected to the motion controller for communication;

[0030] The main drive device of each slave drive assembly is respectively synchronized with the main drive device of the main drive assembly in speed;

[0031] For a drive assembly including more than two drive devices, one of the M drive devices is a master drive device, and the others are slave drive devices, and each slave drive device is configured to synchronize torque with the master drive device of the drive assembly to which it belongs;

[0032] The main drive device of each slave drive component also includes a speed compensation module, which obtains the current actual torque of each drive component, obtains the current speed compensation value of each slave drive component according to the current actual torque of each slave drive component and the current actual torque of the main drive component, and outputs it to the main drive device of the corresponding slave drive component.

[0033] Optionally, for a drive assembly including more than two drive devices, the driver of the slave drive device is connected to the driver of the main drive device of the drive assembly to which it belongs, and the driver of the slave drive device obtains the torque setting value of the driver of the main drive device of the drive assembly to which it belongs and outputs it to the current loop of the driver of the slave drive device.

[0034] It can be seen from the above technical scheme that the drive control method for belt conveyor of the present application has the torque synchronization of each drive device of the same drive assembly, and the speed synchronization of the main drive device of each drive assembly, and the speed given value of the main drive device of the corresponding slave drive assembly is compensated in real time according to the difference between the current actual torque of each slave drive assembly and the current actual torque of the main drive assembly, thereby realizing the load balance of each drive device of the belt conveyor during operation. The drive control method of the belt conveyor of the present application effectively solves the synchronization and load balancing problems during the start and stop and operation of each drive device, avoids the overload of a single drive device caused by load imbalance, and also avoids the slippage and wear of the conveyor belt caused by the asynchronism of each drive device, thereby greatly reducing equipment wear and noise, and thus reducing equipment maintenance costs. Using the drive control method of the present application, the power factor of each motor of the belt conveyor can be increased to 0.95 or above, while ensuring that its operating efficiency is maintained at a high level of 98%. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of a driving control method based on an exemplary embodiment of the present application.

[0036] Figure 2 It is a schematic diagram of a driving control method according to another exemplary embodiment of the present application.

[0037] Figure 3 It is a schematic diagram of a driving control method according to another exemplary embodiment of the present application.

[0038] Figure 4 A speed / operating frequency-time curve of a main drive device of a main drive assembly in response to a start signal;

[0039] Figure 5 A speed / operating frequency-time curve of a main drive device of a main drive assembly in response to a shutdown signal;

[0040] Figure 6 is a schematic diagram of a drive control system according to an exemplary embodiment of the present application;

[0041] Figure 7 The control flow chart of a drive control system according to an exemplary embodiment of the present application is shown in FIG.

[0042] List of reference numerals:

[0043] 51: Motion controller;

[0044] 52: switch;

[0045] BP1: main driver of the first drive assembly;

[0046] M1: main motor of the first drive assembly;

[0047] 611: main motor encoder of the first drive assembly;

[0048] BP2: slave driver of the first drive assembly;

[0049] M2: slave motor of the first drive assembly;

[0050] 612: a slave motor encoder of a first drive assembly;

[0051] BP3: slave driver of the second drive assembly;

[0052] M3: slave motor of the second drive assembly;

[0053] 613: main motor encoder of the second drive assembly;

[0054] 62: reducer;

[0055] 81: Speed ​​setting value channel;

[0056] 82: Speed ​​limit value channel;

[0057] 83: RFG function generator;

[0058] 84: speed ring;

[0059] 85: current loop;

[0060] 86: PMW output;

[0061] 901: speed control;

[0062] 902: Torque control;

[0063] 903: Torque output value of BP3;

[0064] 904: Torque output value of BP1;

[0065] 905: Torque setting value of BP1;

[0066] 906: PID adjustment value of the current torque difference of the second drive component;

[0067] 907: preset adjustment coefficient;

[0068] 908: Current speed compensation value of the second driving component. DETAILED DESCRIPTION

[0069] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the embodiments of the present application should fall within the scope of protection of the embodiments of the present application.

[0070] In this document, “exemplary” means “serving as an example, instance or illustration”, and any diagram or implementation described in this document as “exemplary” should not be interpreted as a more preferred or more advantageous technical solution.

[0071] Some embodiments of the present application are described in detail below in conjunction with the accompanying drawings. In the case where there is no conflict between the embodiments, the following embodiments and the features in the embodiments can be combined with each other. The steps in the following method embodiments are only used for exemplary description and are not intended to limit the present application.

[0072] In order to have a clearer understanding of the technical features, purposes and effects of the invention, the specific implementation methods of the present application are now described with reference to the accompanying drawings. The same reference numerals in the drawings represent components with the same structure or similar structures but the same functions.

[0073] To simplify the drawings, each figure schematically shows only the parts related to the present application, and they do not represent the actual structure of the product.

[0074] Belt conveyors are continuous conveying equipment that use conveyor belts as traction mechanisms and load-bearing mechanisms. They are widely used in industries, agriculture, transportation, and other fields. Belt conveyors drive the conveyor belts through drive devices, so that the materials move along with the conveyor belts, thereby realizing the transportation of materials. For long-distance belt conveyors, due to the long conveying distance and heavy load, multiple drive devices are required to drive. In the prior art, there is a problem of unbalanced loads on each drive device, that is, some drive devices are overloaded, while other drive devices are lightly loaded or unloaded. Load imbalance not only reduces the efficiency of the entire system, but also accelerates the wear and damage of the drive device.

[0075] Based on the various problems in the prior art described above, each embodiment of the present application provides a drive control solution for a belt conveyor.

[0076] The drive control scheme for a belt conveyor provided in each embodiment of the present application is described in detail below in conjunction with the accompanying drawings.

[0077] Example 1

[0078] Embodiment 1 provides a drive control method for a belt conveyor, wherein the belt conveyor includes N drive rollers, N≥2, each drive roller is driven by a drive assembly, one of the N drive assemblies is a main drive assembly, and the rest are slave drive assemblies; each drive assembly includes M drive devices, M≥1; for a drive assembly including more than two drive devices, one of the M drive devices is a main drive device, and the others are slave drive devices, and each slave drive device is configured to be torque synchronized with the main drive device of the drive assembly to which it belongs, that is, the slave drive device will change with the torque change of the main drive device to maintain coordination and consistency between the two. It can be understood that for a drive assembly including one drive device, the drive device is the main drive device of the drive assembly. The main drive devices of each drive assembly are configured to be speed synchronized.

[0079] The speed synchronization of each main driving device may be achieved through a master-slave control mode, each main driving device receiving the same control signal at the same time, etc., but is not limited thereto.

[0080] For example, in an exemplary embodiment, the belt conveyor includes two drive rollers, namely a head drive roller and a tail drive roller, the head drive roller is driven by a first drive assembly, and the tail drive roller is driven by a second drive assembly, wherein the first drive assembly is a main drive assembly. Figure 6 As shown, the first drive assembly includes two drive devices, namely, a main drive device of the first drive assembly and a slave drive device of the first drive assembly. The second drive assembly includes a drive device, and the drive device is the main drive device of the second drive assembly. Each drive device includes a driver and a motor. Among them, the main drive device of the first drive assembly includes a main driver BP1 of the first drive assembly and a main motor M1 of the first drive assembly, the slave drive device of the first drive assembly includes a slave driver BP2 of the first drive assembly and a slave motor M2 of the first drive assembly, and the main drive device of the second drive assembly includes a main driver BP3 of the second drive assembly and a main motor M3 of the second drive assembly. Each motor is equipped with an encoder. The main drive device of the first drive assembly and the slave drive device of the first drive assembly are configured for torque synchronization, and the main drive device of the first drive assembly and the main drive device of the second drive assembly are configured for speed synchronization.

[0081] like Figure 1 As shown, the driving control method of this embodiment includes the following steps:

[0082] S101: Acquire the current actual torque of each drive assembly, where the current actual torque of the drive assembly is the current actual torque of any drive device of the drive assembly.

[0083] In some implementations, the current actual torque of the drive assembly is the current actual output torque of a main drive device of the drive assembly.

[0084] In one implementation, the current actual output torque of the main drive device is a current torque output value of a current loop of a driver of the main drive device.

[0085] S103: According to the current actual torque of each slave drive component and the current actual torque of the main drive component, the current speed compensation value of each slave drive component is obtained and output to the main drive device of the corresponding slave drive component.

[0086] For example, in Figure 6 In the "two heads and one tail" belt conveyor shown, the current speed compensation value of the second drive component is obtained according to the current actual torque of the first drive component and the current actual torque of the second drive component, and it is output to the speed setting value compensation channel of the driver of the main drive device of the second drive component. The speed compensation value can make real-time corrections to the speed given value of the driver of the main drive device to balance the load of each drive device.

[0087] The drive control method for belt conveyor of the present application is that the torque of each drive device of the same drive assembly is synchronized, and the speed of the main drive device of each drive assembly is synchronized, and the speed given value of the main drive device of the corresponding slave drive assembly is compensated in real time according to the difference between the current actual torque of each slave drive assembly and the current actual torque of the main drive assembly, thereby realizing the load balance of each drive device of the belt conveyor during operation. The drive control method of the belt conveyor of the present application effectively solves the synchronization and load balancing problems during the start and stop and operation of each drive device, avoids the overload of a single drive device caused by load imbalance, and also avoids the slippage and wear of the conveyor belt caused by the asynchronism of each drive device, thereby greatly reducing equipment wear and noise, and further reducing equipment maintenance costs. Using the drive control method of the present application, the power factor of each motor of the belt conveyor can be increased to 0.95 or above, while ensuring that its operating efficiency is maintained at a high level of 98%.

[0088] In some implementations, step S103 further includes:

[0089] S1031: Calculate the difference between the current actual torque of each slave drive component and the current actual torque of the master drive component to obtain the current torque difference of each slave drive component.

[0090] S1033: According to the current torque difference of each slave drive component, a PID adjustment value of the current torque difference of each slave drive component is obtained based on a PID algorithm.

[0091] S1035: According to the PID adjustment value of the current torque difference of each slave drive component and the preset adjustment coefficient, the current speed compensation value of each slave drive component is obtained and output to the main drive device of the corresponding slave drive component. The current speed compensation value is the product of the PID adjustment value of the current torque difference and the preset adjustment coefficient.

[0092] In this embodiment, the PID adjustment value of the difference between the current actual torque of each slave drive component and the current actual torque of the main drive component is multiplied by the corresponding preset adjustment coefficient to obtain the current speed compensation value of each slave drive component. The current speed compensation value is used to fine-tune the speed set value of the driver of the main drive device of each slave drive component, thereby achieving load balance of each drive device.

[0093] For example, Figure 6 Taking the "two-head and one-tail" belt conveyor shown as an example, the main driver BP1 of the first drive component and the main driver BP3 of the second drive component adopt a speed control method, the slave driver BP2 of the first drive component is coaxially rigidly connected with the main driver BP1 of the first drive component, and the slave driver BP2 of the first drive component adopts a torque control method. The torque setting value of the driver of the main driver BP1 of the first drive component is output to the slave driver BP2 of the first drive component in real time, so as to achieve the torque synchronization of the slave driver BP2 of the first drive component and the main driver BP1 of the first drive component; at the same time, according to the difference of the current output torque of the main driver BP1 of the first drive component and the main driver BP3 of the second drive component, the PID adjustment value of the current torque difference of the second drive component is obtained, and the current speed compensation value of the second drive component is obtained after the PID adjustment value is multiplied by the preset adjustment coefficient β, and the current speed compensation value is output to the speed setting value compensation channel of the main driver BP3 of the second drive component, and the speed compensation value is used to fine-tune the speed setting value of the main driver BP3 of the second drive component in real time, thereby achieving the load balance of the main driver BP3 of the second drive component, the main driver BP1 of the first drive component and the slave driver BP2 of the first drive component.

[0094] In some embodiments, the main driving assembly is a driving assembly of the head driving roller.

[0095] Belt conveyors have a large inertia due to the heavy load they carry, and the conveyor belt, as a traction mechanism and a load-bearing mechanism, has a certain degree of flexibility. During the start and stop process, the tension of the conveyor belt will change. Therefore, when the motion state of the belt conveyor needs to be changed (such as starting or stopping), instability is prone to occur. The prior art uses a winding motor, which reduces the starting current of the motor by connecting a resistor in series in the motor rotor circuit, thereby starting the motor. However, this method has low efficiency, large starting impact, poor load balance, and cannot adjust the speed, and cannot meet the current needs of green and efficient production.

[0096] To solve this problem, the drive control method of the present application also includes:

[0097] In response to the start signal, the following steps are performed, such as Figure 2 As shown:

[0098] S201: Output a start instruction to each drive device of the main drive assembly, and output a first speed instruction to the main drive device of the main drive assembly, wherein the first speed instruction is used to instruct the main drive device of the main drive assembly to accelerate at a first acceleration or at a first acceleration time T1. A The first motion state is a uniform motion at a first operating frequency f1 or a first preset speed w1. Figure 4 shown.

[0099] S203: Acquire the running time of the main drive component in the first motion state, and when the running time of the main drive component in the first motion state meets the first preset duration t1, output a start instruction to each drive device of each slave drive component, output a second speed instruction to the main drive device of the main drive component, and output a third speed instruction to the main drive device of each slave drive component, wherein the second speed instruction is used to instruct the main drive device of the main drive component to accelerate at a second acceleration or at a second acceleration time T2. A The third speed instruction is used to instruct the main drive device of each slave drive component to accelerate to the second motion state at the third acceleration or at the third acceleration time T3. A The internal acceleration moves to the second motion state, wherein the second motion state is a uniform motion at a second operating frequency f2 or a second preset speed w2, such as Figure 4 shown.

[0100] S205: Obtaining the running time of each drive component in the second motion state, and when the running time of each drive component in the second motion state meets the second preset time length t2, outputting a fourth speed instruction to the main drive device of each drive component, wherein the fourth speed instruction is used to instruct each main drive device to accelerate at a fourth acceleration or at a fourth acceleration time T4. AThe third motion state is accelerated to the third motion state at the target operating frequency f target Or target speed w target Based on the fourth speed instruction, each drive device moves synchronously until it reaches the third motion state, such as Figure 4 shown.

[0101] by Figure 6 Taking the "two ends and one tail" belt conveyor shown as an example, after receiving the start signal from the host computer, a start instruction is output to the main drive device and the slave drive device of the first drive component, and a first speed instruction is output to the main drive device of the first drive component. When the running time of the first drive component in the first motion state meets the first preset duration t1, a start instruction is output to the main drive device of the second drive component, a second speed instruction is output to the main drive device of the first drive component, and a third speed instruction is output to the main drive device of the second drive component. When the running time of the first drive component and the second drive component in the second motion state both meet the second preset duration t2, a fourth speed instruction is output to the main drive device of the first drive component and the main drive device of the second drive component.

[0102] When the drive device receives the start command, it will connect the power supply or control circuit of the motor, so that the motor starts to run.

[0103] Specifically, the running time of any driving device of the driving assembly in a motion state may be obtained as the running time of the driving assembly in the motion state, such as the main driving device.

[0104] A speed command is output to the main drive device of the drive assembly. Since the slave drive device is configured to be torque synchronized with the main drive device of the drive assembly to which it belongs, the speed command can be used to synchronously control the various drive devices of the drive assembly.

[0105] The drive control method of this embodiment first starts the drive assembly of the head drive roller to make it reach the first motion state with low speed. When the running time of the main drive assembly in the first motion state meets the first preset duration t1, the conveyor belt tension has been transmitted to the tail drive roller. At this time, each slave drive assembly is started again, and the main drive assembly and each slave drive assembly are accelerated to the second running state. In the second motion state, each drive device achieves running-in under no-load state. When the running time of each drive device in the second motion state meets the second preset duration t2, each drive device is synchronously accelerated to the third motion state, that is, the target operating frequency or target speed is reached.

[0106] In some embodiments, the first preset time length t1 and the second preset time length t2 may be determined according to a first corresponding relationship, wherein the first corresponding relationship is a corresponding relationship between the conveyor length and the above time lengths. Table 1 exemplarily shows a first corresponding relationship.

[0107]

[0108] Table 1

[0109] In some embodiments, the drive control method of the present application further includes:

[0110] like Figure 3 As shown, in response to the shutdown signal, the following steps are performed:

[0111] S301: Outputting a first deceleration instruction to the main drive device of each drive assembly, wherein the first deceleration instruction is used to instruct the main drive device of each drive assembly to accelerate at a fourth acceleration or at a first deceleration time T1 D The fourth motion state is a uniform motion at a fourth operating frequency f4 or a fourth preset speed w4. Figure 5 Based on the first deceleration instruction, each driving device decelerates synchronously until reaching the fourth motion state.

[0112] S303: Obtain the running time of each drive component in the fourth motion state, and when the running time of each drive component in the fourth motion state meets the fourth preset time length t4, output a stop instruction to each drive device of each drive component, such as Figure 5 As shown. Based on the stop command, each drive unit decelerates synchronously until it stops.

[0113] In this embodiment, each drive component is first synchronously decelerated to the fourth motion state, and then synchronously stopped after the running time in the fourth motion state meets the fourth preset time length t4, thereby avoiding the huge fluctuation caused by the sudden change of the conveyor belt tension during the shutdown process, and allowing the conveyor to stop smoothly, safely and reliably.

[0114] In some implementations, the target operating frequency is a rated operating frequency.

[0115] In some embodiments, the first operating frequency f1 is between 0.15f target With 0.25f target The first preset speed w1 is between 0.15w target Up to 0.25w target between.

[0116] In some embodiments, the second operating frequency f2 is between 0.35f target With 0.45f targetThe second preset speed w2 is between 0.35w target Up to 0.45w target between.

[0117] In some embodiments, the fourth operating frequency f4 is between 0.15f target With 0.25f target The fourth preset speed w4 is between 0.15w target Up to 0.25w target between.

[0118] In some implementations, the first deceleration time T1 may be determined according to the second corresponding relationship: D and a fourth preset time length t4, wherein the second corresponding relationship is the corresponding relationship between the conveyor length and the above time length. Table 2 exemplarily shows a second corresponding relationship.

[0119]

[0120] Table 2

[0121] Drive control device

[0122] Embodiment 2 provides a drive control device for a belt conveyor. The belt conveyor includes N drive rollers, N≥2, each drive roller is driven by a drive assembly, one of the N drive assemblies is a main drive assembly, and the rest are slave drive assemblies; each drive assembly includes M drive devices, M≥1; for a drive assembly including more than two drive devices, one of the M drive devices is a main drive device, and the others are slave drive devices, each slave drive device is configured to be torque synchronized with the main drive device of the drive assembly to which it belongs; and the main drive devices of each drive assembly are configured to be speed synchronized; the drive control device includes:

[0123] An acquisition module, which is used to acquire the current actual torque of each driving component;

[0124] The compensation module is used to obtain the current speed compensation value of each slave drive component according to the current actual torque of each slave drive component and the current actual torque of the main drive component, and output it to the main drive device of the corresponding slave drive component.

[0125] In some embodiments, the main drive assembly is a drive assembly of the head drive roller.

[0126] In some embodiments, the drive control device further includes a starting module, which includes:

[0127] The first starting unit is used to output a starting instruction to each driving device of the main driving assembly and output a first speed instruction to the main driving device of the main driving assembly, wherein the first speed instruction is used to instruct the main driving device of the main driving assembly to accelerate at a first acceleration or at a first acceleration time T1. A The internal acceleration moves to a first motion state, wherein the first motion state is a uniform motion at a first operating frequency f1 or a first preset rotation speed w1.

[0128] a second starting unit, which is used to obtain the running time of the main driving component in the first motion state, and when the running time of the main driving component in the first motion state meets the first preset time length t1, output a starting instruction to each driving device of each slave driving component, output a second speed instruction to the main driving device of the main driving component, and output a third speed instruction to the main driving device of each slave driving component, wherein the second speed instruction is used to instruct the main driving device of the main driving component to accelerate at a second acceleration or at a second acceleration time T2. A The third speed instruction is used to instruct the main drive device of each slave drive component to accelerate to the second motion state at the third acceleration or at the third acceleration time T3. A The internal acceleration moves to a second motion state, wherein the second motion state is a uniform motion at a second operating frequency f2 or a second preset rotation speed w2.

[0129] a third starting unit, which is used to obtain the running time of each driving component in the second motion state, and when the running time of each driving component in the second motion state meets the second preset time length t2, output a fourth speed instruction to the main driving device of each driving component, and the fourth speed instruction is used to instruct each main driving device to accelerate at a fourth acceleration or at a fourth acceleration time T4. A The third motion state is accelerated to the third motion state at the target operating frequency f target Or target speed w target Based on the fourth speed instruction, each driving device moves synchronously until reaching the third motion state.

[0130] In some embodiments, the drive control device further includes a shutdown module, which includes:

[0131] The first shutdown unit is used to output a first deceleration instruction to the main drive device of each drive component, wherein the first deceleration instruction is used to instruct the main drive device of each drive component to decelerate to a fourth motion state at a fourth acceleration or within a first deceleration time, wherein the fourth motion state is uniform motion at a fourth operating frequency f4 or a fourth preset speed w4.

[0132] The second shutdown unit is used to obtain the running time of each driving component in the fourth motion state, and when the running time of each driving component in the fourth motion state meets the fourth preset time length t4, a shutdown command is output to each driving device of each driving component.

[0133] It should be noted that, since the information interaction, execution process, etc. between the modules in the above-mentioned drive control device are based on the same concept as the above-mentioned drive control method embodiments, the specific contents can be found in the description of the above-mentioned drive control method embodiments and will not be repeated here.

[0134] Electronic devices

[0135] The specific embodiments of the present application do not limit the specific implementation of the electronic device. The electronic device provided in the embodiments of the present application includes: a processor, a communications interface, a memory, and a bus. Among them:

[0136] The processor, the communication interface, and the memory communicate with each other via the bus.

[0137] Communication interface, used to communicate with other electronic devices or servers.

[0138] The processor is used to execute the program, and specifically can execute the relevant steps in the above-mentioned drive control method embodiment.

[0139] Specifically, the program may include program codes including computer operation instructions.

[0140] The processor may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0141] The memory is used to store programs. The memory may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory.

[0142] The program can be specifically used to enable the processor to execute the drive control method in any of the aforementioned embodiments.

[0143] The specific implementation of each step in the program can refer to the corresponding description of the corresponding steps and units in the above-mentioned drive control method embodiment, which will not be repeated here. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described devices and modules can refer to the corresponding process description in the above-mentioned method embodiment, which will not be repeated here.

[0144] Computer readable storage medium

[0145] The present application also provides a computer-readable storage medium storing instructions for causing a machine to execute the drive control method as described herein. Specifically, a system or device equipped with a storage medium may be provided, on which a software program code implementing the functions of any of the above embodiments is stored, and a computer (or CPU or MPU) of the system or device reads and executes the program code stored in the storage medium.

[0146] In this case, the program code read from the storage medium itself can implement the function of any one of the above embodiments, so the program code and the storage medium storing the program code constitute part of the present application.

[0147] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer by a communication network.

[0148] Drive control system

[0149] This embodiment provides, for example, a drive control system for a belt conveyor, wherein the belt conveyor includes N drive rollers, where N≥2, and the drive control system includes:

[0150] N drive components, wherein one of the N drive components is a main drive component and the others are slave drive components; each drive component includes M drive devices, M≥1; and when M≥2, one of the M drive devices is a main drive device and the others are slave drive devices; each drive device includes a driver and a motor; the main drive device of each drive component is configured in a speed control mode, and the slave drive device of each drive component is configured in a torque control mode.

[0151] A motion controller, each driver is respectively connected to the motion controller for communication.

[0152] The main drive device of each slave drive assembly is respectively synchronized with the main drive device of the main drive assembly in speed;

[0153] For a drive assembly including more than two drive devices, one of the M drive devices is a master drive device, and the others are slave drive devices, and each slave drive device is configured to synchronize torque with the master drive device of the drive assembly to which it belongs;

[0154] The main drive device of each slave drive component also includes a speed compensation module, which obtains the current actual torque of each drive component, obtains the current speed compensation value of each slave drive component according to the current actual torque of each slave drive component and the current actual torque of the main drive component, and outputs it to the main drive device of the corresponding slave drive component.

[0155] The speed compensation module can be configured in the motion controller, and can also be configured in the driver of the main drive device of each slave drive component.

[0156] For example, Figure 6 Taking the "two-head and one-tail" belt conveyor shown in the figure as an example, the main driver BP1 of the first drive component and the main driver BP3 of the second drive component adopt a speed control method, the slave driver BP2 of the first drive component is rigidly connected to the main driver BP1 of the first drive component, and the slave driver BP2 of the first drive component adopts a torque control method. The torque given value of the driver of the main driver BP1 of the first drive component is output to the slave driver BP2 of the first drive component in real time, realizing the torque synchronization of the slave driver BP2 of the first drive component and the main driver BP1 of the first drive component, as shown in FIG. Figure 7 As shown. At the same time, the speed compensation module of the main drive device of the second drive component obtains the current actual output torque of the main driver BP1 of the first drive component and the main driver BP3 of the second drive component in real time, and obtains the PID adjustment value of the current torque difference of the second drive component according to the difference between the two. The PID adjustment value is multiplied by the preset adjustment coefficient β to obtain the current speed compensation value of the second drive component, and the current speed compensation value is output to the compensation channel of the speed setting value of the main driver BP3 of the second drive component, as shown Figure 7 As shown, the speed compensation value is used to fine-tune the speed setting value of the main driver BP3 of the second drive component in real time, thereby achieving load balance among the main driver BP3 of the second drive component, the main driver BP1 of the first drive component and the slave driver BP2 of the first drive component.

[0157] In one embodiment, for a drive assembly including more than two drive devices, the driver of the slave drive device is connected to the driver of the main drive device of the drive assembly to which it belongs, and the driver of the slave drive device obtains the torque setting value of the driver of the main drive device of the drive assembly to which it belongs and outputs it to the current loop of the driver of the slave drive device, such as Figure 7 shown.

[0158] In some embodiments, the motion controller further includes a startup module.

[0159] In some embodiments, the motion controller further includes a shutdown module.

[0160] In some embodiments, the motion controller further includes a start module and a stop module.

[0161] When the start signal is received, the start module performs the following operations:

[0162] S201: Output a start instruction to each drive device of the main drive assembly, and output a first speed instruction to the main drive device of the main drive assembly, wherein the first speed instruction is used to instruct the main drive device of the main drive assembly to accelerate at a first acceleration or at a first acceleration time T1. A The first motion state is a uniform motion at a first operating frequency f1 or a first preset rotation speed w1;

[0163] S203: Acquire the running time of the main drive component in the first motion state, and when the running time of the main drive component in the first motion state meets the first preset duration t1, output a start instruction to each drive device of each slave drive component, output a second speed instruction to the main drive device of the main drive component, and output a third speed instruction to the main drive device of each slave drive component, wherein the second speed instruction is used to instruct the main drive device of the main drive component to accelerate at a second acceleration or at a second acceleration time T2. A The third speed instruction is used to instruct the main drive device of each slave drive component to accelerate to the second motion state at the third acceleration or at the third acceleration time T3. A The internal acceleration moves to a second motion state, wherein the second motion state is a uniform motion at a second operating frequency f2 or a second preset rotation speed w2;

[0164] S205: Obtaining the running time of each drive component in the second motion state, and when the running time of each drive component in the second motion state meets the second preset time length t2, outputting a fourth speed instruction to the main drive device of each drive component, wherein the fourth speed instruction is used to instruct each main drive device to accelerate at a fourth acceleration or at a fourth acceleration time T4. A The third motion state is accelerated to the third motion state at the target operating frequency f target Or target speed w target Uniform motion. Based on the fourth speed instruction, each drive device moves synchronously until reaching the third motion state.

[0165] When receiving the shutdown signal, the shutdown module performs the following operations:

[0166] S301: outputting a first deceleration instruction to the main drive device of each drive component, wherein the first deceleration instruction is used to instruct the main drive device of each drive component to decelerate to a fourth motion state at a fourth acceleration or within a first deceleration time, wherein the fourth motion state is uniform motion at a fourth operating frequency f4 or a fourth preset speed w4;

[0167] S303: Acquire the running time of each driving component in the fourth motion state, and when the running time of each driving component in the fourth motion state satisfies a fourth preset time length t4, output a stop instruction to each driving device of each driving component.

[0168] Nouns and pronouns relating to persons in this patent application are not limited to a specific gender.

[0169] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0170] The series of detailed descriptions listed above are merely specific descriptions of feasible embodiments of the present application. They are not intended to limit the scope of protection of the present application. Any equivalent implementation scheme or changes that do not deviate from the technical spirit of the present application, such as combination, division or repetition of features, should be included in the scope of protection of the present application.

[0171] The present application is presented and described in detail above through the accompanying drawings and preferred embodiments; however, the present application is not limited to these disclosed embodiments. Based on the above multiple embodiments, those skilled in the art can know that the code review methods in the above different embodiments can be combined to obtain more embodiments of the present application, and these embodiments are also within the scope of protection of the present application.

Claims

1. A drive control method for a belt conveyor, characterized in that: The belt conveyor comprises N driving rollers, N≥2, each driving roller is driven by a driving assembly, one of the N driving assemblies is a main driving assembly, and the rest are slave driving assemblies; each driving assembly comprises M driving devices, M≥1; for a driving assembly comprising more than two driving devices, one of the M driving devices is a main driving device, and the others are slave driving devices, and each slave driving device is respectively configured to be torque synchronized with the main driving device of the driving assembly to which it belongs; and the main driving devices of each driving assembly are configured to be speed synchronized; the driving control method comprises the following steps: Get the current actual torque of each drive component; According to the current actual torque of each slave drive component and the current actual torque of the main drive component, the current speed compensation value of each slave drive component is obtained and output to the main drive device of the corresponding slave drive component.

2. The driving control method according to claim 1, characterized in that: The step of obtaining the current speed compensation value of each slave drive component according to the current actual torque of each slave drive component and the current actual torque of the main drive component and outputting it to the main drive device of the corresponding slave drive component further includes: Calculating the difference between the current actual torque of each slave drive component and the current actual torque of the master drive component to obtain the current torque difference of each slave drive component; According to the current torque difference of each slave drive component, a PID adjustment value of the current torque difference of each slave drive component is obtained based on a PID algorithm; According to the PID adjustment value of the current torque difference of each slave drive component and the preset adjustment coefficient, the current speed compensation value of each slave drive component is obtained and output to the master drive device of the corresponding slave drive component.

3. The drive control method according to claim 1 or 2, characterized in that: The main driving assembly is a driving assembly of the head driving roller.

4. The driving control method according to claim 3, characterized in that: The drive control method further includes: In response to the start signal, the following steps are performed: S201: Output a start instruction to each drive device of the main drive assembly, and output a first speed instruction to the main drive device of the main drive assembly, wherein the first speed instruction is used to instruct the main drive device of the main drive assembly to accelerate at a first acceleration or at a first acceleration time T1. A The first motion state is a uniform motion at a first operating frequency f1 or a first preset rotation speed w1; S203: Acquire the running time of the main drive component in the first motion state, and when the running time of the main drive component in the first motion state meets the first preset duration t1, output a start instruction to each drive device of each slave drive component, output a second speed instruction to the main drive device of the main drive component, and output a third speed instruction to the main drive device of each slave drive component, wherein the second speed instruction is used to instruct the main drive device of the main drive component to accelerate at a second acceleration or at a second acceleration time T2. A The third speed instruction is used to instruct the main drive device of each slave drive component to accelerate to the second motion state at the third acceleration or at the third acceleration time T3. A The internal acceleration moves to a second motion state, wherein the second motion state is a uniform motion at a second operating frequency f2 or a second preset rotation speed w2; S205: Obtaining the running time of each drive component in the second motion state, and when the running time of each drive component in the second motion state meets the second preset time length t2, outputting a fourth speed instruction to the main drive device of each drive component, wherein the fourth speed instruction is used to instruct each main drive device to accelerate at a fourth acceleration or at a fourth acceleration time T4. A The third motion state is accelerated to the third motion state at the target operating frequency f target Or target speed w target Uniform motion.

5. The driving control method according to claim 4, characterized in that: The drive control method further includes: In response to the shutdown signal, the following steps are performed: S301: outputting a first deceleration instruction to the main drive device of each drive component, wherein the first deceleration instruction is used to instruct the main drive device of each drive component to decelerate to a fourth motion state at a fourth acceleration or within a first deceleration time, wherein the fourth motion state is uniform motion at a fourth operating frequency f4 or a fourth preset speed w4; S303: Acquire the running time of each driving component in the fourth motion state, and when the running time of each driving component in the fourth motion state satisfies a fourth preset time length t4, output a stop instruction to each driving device of each driving component.

6. A drive control device for a belt conveyor, characterized in that: The belt conveyor comprises N driving rollers, N≥2, each driving roller is driven by a driving assembly, one of the N driving assemblies is a main driving assembly, and the rest are slave driving assemblies; each driving assembly comprises M driving devices, M≥1; for a driving assembly comprising more than two driving devices, one of the M driving devices is a main driving device, and the others are slave driving devices, and each slave driving device is respectively configured to synchronize the torque of the main driving device of the driving assembly to which it belongs; and, the main drives of the various drive assemblies are configured to be speed synchronized; The drive control device comprises: An acquisition module, which is used to acquire the current actual torque of each driving component; The compensation module is used to obtain the current speed compensation value of each slave drive component according to the current actual torque of each slave drive component and the current actual torque of the main drive component, and output it to the main drive device of the corresponding slave drive component.

7. An electronic device comprising: A processor, a communication interface, a memory and a bus, wherein the processor, the communication interface and the memory communicate with each other via the bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform an operation corresponding to the method as claimed in any one of claims 1 to 5.

8. A computer-readable storage medium having computer instructions stored thereon, wherein when the computer instructions are executed by a processor, the processor is caused to execute the method according to any one of claims 1 to 5.

9. A drive control system for a belt conveyor, characterized in that: The belt conveyor includes N driving rollers, N≥2, and the driving control system includes: N drive assemblies, wherein one of the N drive assemblies is a master drive assembly and the others are slave drive assemblies; each drive assembly includes M drive devices, M≥1; and when M≥2, one of the M drive devices is a master drive device and the others are slave drive devices; each drive device includes a driver and a motor; A motion controller, each driver is respectively connected to the motion controller for communication; The main drive device of each slave drive assembly is respectively synchronized with the main drive device of the main drive assembly in speed; For a drive assembly including more than two drive devices, one of the M drive devices is a master drive device, and the others are slave drive devices, and each slave drive device is configured to synchronize torque with the master drive device of the drive assembly to which it belongs; The main drive device of each slave drive component also includes a speed compensation module, which obtains the current actual torque of each drive component, obtains the current speed compensation value of each slave drive component according to the current actual torque of each slave drive component and the current actual torque of the main drive component, and outputs it to the main drive device of the corresponding slave drive component.

10. The driving control system according to claim 9, characterized in that: For a drive assembly including more than two drive devices, the driver of the slave drive device is connected to the driver of the main drive device of the drive assembly to which it belongs, and the driver of the slave drive device obtains the torque setting value of the driver of the main drive device of the drive assembly to which it belongs and outputs it to the current loop of the driver of the slave drive device.

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