Rotating speed control method and system for material stirring and crushing

Abstract

The invention relates to the technical field of material stirring control, and discloses a rotating speed control method and system for material stirring and smashing, and the method comprises the steps: obtaining the characteristic data of a to-be-stirred material, and determining the preset rotating speed of a stirring and smashing device according to the characteristic data; acquiring the actual rotating speed and the material shearing stress of the stirring and crushing device; a rotating speed difference value between the actual rotating speed and a preset rotating speed is determined, a PID value of the stirring and crushing device is determined according to the rotating speed difference value, and a PWM value is determined according to the PID value; determining the viscosity of the to-be-stirred material according to the actual rotating speed and the material shear stress, and correcting the preset rotating speed according to the viscosity of the to-be-stirred material to obtain a corrected preset rotating speed; and determining the working frequency of the stirring and crushing device according to the corrected preset rotating speed and the PWM value, and controlling the stirring and crushing device according to the working frequency. The rotating speed can be automatically adjusted according to material characteristics, so that the crushing effect and the stirring uniformity are improved, and meanwhile, energy consumption is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of material stirring control, and in particular to a rotation speed control method and system for material stirring and crushing. Background Art

[0002] Aquaculture material mixing and crushing equipment is widely used in agriculture and aquaculture. Traditional mixing and crushing equipment usually adopts a fixed speed or manual adjustment method, which makes it difficult to ensure the crushing effect and mixing uniformity of the material. In addition, due to the differences in material properties, the fixed speed setting often cannot meet the crushing requirements of different materials, resulting in low production efficiency and energy waste. Therefore, there is an urgent need for a speed control method and system for material mixing and crushing, which can automatically adjust the speed according to the material properties for mixing and crushing. Summary of the invention

[0003] The purpose of the present invention is to provide a speed control method and system for material mixing and crushing, so as to solve the problem that traditional material mixing and crushing adopts a fixed speed, cannot meet the crushing requirements of different materials, and leads to low production efficiency and energy waste.

[0004] The present invention provides a method for controlling the rotation speed of materials during stirring and crushing, comprising:

[0005] Acquire characteristic data of the material to be mixed, and determine a preset rotation speed of the mixing and crushing device according to the characteristic data;

[0006] Obtain the actual rotation speed of the stirring and crushing device and the shear stress of the material;

[0007] Determine a speed difference between the actual speed and the preset speed, determine a PID value of a stirring and crushing device according to the speed difference, and determine a PWM value according to the PID value;

[0008] Determining the viscosity of the material to be stirred according to the actual rotation speed and the shear stress of the material, and correcting the preset rotation speed according to the viscosity of the material to be stirred to obtain a corrected preset rotation speed;

[0009] The operating frequency of the stirring and crushing device is determined according to the modified preset rotation speed and the PWM value, and the stirring and crushing device is controlled according to the operating frequency.

[0010] Preferably, determining the preset rotation speed of the stirring and crushing device according to the characteristic data includes:

[0011] The characteristic data include: humidity, hardness and particle size of the material to be mixed;

[0012] Preprocessing the characteristic data, wherein the preprocessing includes standardization processing, outlier processing and missing value processing;

[0013] Determine the required crushing energy of the material to be mixed based on the pre-processed characteristic data;

[0014] Determining a preset rotation speed of the stirring and crushing device according to the required crushing energy;

[0015] Wherein, the required crushing energy is determined according to the following formula:

[0016] E = a × M + b × H + c × G;

[0017] E represents the required crushing energy, a represents the influence coefficient of humidity, M represents the humidity of the material to be mixed, b represents the influence coefficient of hardness, H represents the hardness of the material to be mixed, c represents the influence coefficient of particle size, and G represents the particle size of the material to be mixed;

[0018] The preset speed is determined according to the following formula:

[0019] N0=k0×E;

[0020] N0 represents the preset speed, and k0 represents the proportional constant.

[0021] Preferably, determining the PID value of the stirring and crushing device according to the speed difference includes:

[0022] Calculate the proportional term P value, the integral term I value and the differential term D value according to the speed difference;

[0023] Determine the PID value of the stirring and crushing device according to the proportional term P value, the integral term I value and the differential term D value;

[0024] Wherein, the proportional term P value is calculated according to the following formula:

[0025] P = Kp × e(t);

[0026] The integral term I value is calculated according to the following formula:

[0027]

[0028] The differential term D value is calculated according to the following formula:

[0029]

[0030] The PID value is calculated according to the following formula:

[0031] PID=P+I+D;

[0032] Kp represents the proportional coefficient, e(t) represents the speed difference, Ki represents the integral coefficient, and Kd represents the differential coefficient.

[0033] Preferably, determining the PWM value according to the PID value includes:

[0034] Determine the duty cycle of the motor of the stirring and crushing device according to the PID value;

[0035] A PWM value is determined according to the duty cycle.

[0036] Preferably, determining the viscosity of the material to be stirred according to the actual rotation speed and the shear stress of the material includes:

[0037] Determine the radius of the stirring and crushing device, and determine the material shear rate according to the actual rotation speed and radius;

[0038] The ratio between the shear stress of the material and the shear rate of the material is determined, and the ratio is set as the viscosity of the material to be stirred.

[0039] Preferably, the preset speed is corrected according to the viscosity of the material to be stirred to obtain a corrected preset speed, including:

[0040] Presetting a first preset viscosity and a second preset viscosity, wherein the first preset viscosity is smaller than the second preset viscosity;

[0041] According to the relationship between the viscosity of the material to be stirred and the first preset viscosity and the second preset viscosity, a speed correction coefficient is selected to correct the preset speed to obtain a corrected preset speed;

[0042] If the viscosity of the material to be stirred is less than the first preset viscosity, the first correction speed correction coefficient x1 is selected to correct the preset speed to obtain a corrected preset speed Nx=N0*x1;

[0043] If the viscosity of the material to be stirred is greater than or equal to the first preset viscosity, and the viscosity of the material to be stirred is less than the second preset viscosity, then the second correction speed correction coefficient x2 is selected to correct the preset speed to obtain a corrected preset speed Nx=N0*x2;

[0044] If the viscosity of the material to be mixed is greater than or equal to the second preset viscosity, the third corrected speed correction coefficient x3 is selected to correct the preset speed to obtain a corrected preset speed Nx=N0*x3; wherein 1.0<x1<x2<x3<1.4.

[0045] Preferably, determining the operating frequency of the stirring and crushing device according to the modified preset speed and the PWM value includes:

[0046] Obtaining the slip rate of the stirring and crushing device;

[0047] Determine the initial operating frequency of the stirring and crushing device according to the modified preset speed and slip rate;

[0048] The initial operating frequency is adjusted according to the PWM value to obtain the operating frequency of the stirring and crushing device.

[0049] Preferably, determining the initial operating frequency of the stirring and crushing device according to the modified preset speed and slip rate includes:

[0050] The initial operating frequency is determined according to the following formula:

[0051] F0=p×Nx / (1-s);

[0052] Among them, F0 represents the initial operating frequency, p represents the number of motor poles of the stirring and crushing device, and s represents the slip rate.

[0053] Preferably, the initial operating frequency is adjusted according to the PWM value to obtain the operating frequency of the stirring and crushing device, including:

[0054] The operating frequency is calculated according to the following formula:

[0055] F = F0 / PWM;

[0056] Wherein, F represents the operating frequency of the stirring and crushing device.

[0057] The present invention also discloses a speed control system for material stirring and crushing, which is used to apply the above-mentioned speed control method for material stirring and crushing, and comprises:

[0058] An acquisition module is used to acquire characteristic data of the material to be mixed, as well as the actual rotation speed of the mixing and crushing device and the shear stress of the material;

[0059] A speed setting module, used to determine a preset speed of the stirring and crushing device according to the characteristic data;

[0060] A PWM value determination module, used to determine a speed difference between the actual speed and the preset speed, determine a PID value of the stirring and crushing device according to the speed difference, and determine a PWM value according to the PID value;

[0061] A speed correction module, used for determining the viscosity of the material to be stirred according to the actual speed and the shear stress of the material, and correcting the preset speed according to the viscosity of the material to be stirred to obtain a corrected preset speed;

[0062] The speed control module is used to determine the working frequency of the stirring and crushing device according to the modified preset speed and the PWM value, and control the stirring and crushing device according to the working frequency.

[0063] Compared with the prior art, the beneficial effect of the present invention is that the present invention provides a speed control method and system for material mixing and crushing, which can automatically adjust the speed according to the material characteristics to improve the crushing effect and mixing uniformity, while reducing energy consumption. The present invention determines the preset speed by acquiring characteristic data, and determines the PID value and PWM value according to the actual speed difference, so as to achieve precise control of the speed of the mixing and crushing device, improve the effect and quality of the mixing and crushing; the preset speed is corrected according to the actual viscosity of the material, so that the speed can be adjusted in real time according to the material characteristics, further improving the adaptability and efficiency of the mixing and crushing; the combination of PID control and PWM control can ensure the stable operation of the mixing and crushing device, and reduce the occurrence of speed fluctuations and instability. The method of the present application comprehensively considers various factors, can optimize the performance of the mixing and crushing device, improve production efficiency and product quality; at the same time, it embodies the intelligent control concept, can automatically adapt to the changes in materials, and realize a more efficient mixing and crushing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0065] Figure 1 It is a schematic flow chart of a method for controlling the rotation speed of materials for stirring and crushing according to the present invention;

[0066] Figure 2 It is a functional block diagram of a speed control system for material mixing and crushing according to the present invention. DETAILED DESCRIPTION

[0067] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions 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. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0068] like Figure 1 As shown, the present invention provides a method for controlling the rotation speed of materials for stirring and crushing, comprising:

[0069] S1, obtaining characteristic data of the material to be mixed, and determining a preset rotation speed of the mixing and crushing device according to the characteristic data.

[0070] S2, obtain the actual rotation speed of the stirring and crushing device and the shear stress of the material.

[0071] S3, determining a speed difference between the actual speed and the preset speed, determining a PID value of the stirring and crushing device according to the speed difference, and determining a PWM value according to the PID value.

[0072] S4, determining the viscosity of the material to be stirred according to the actual rotation speed and the shear stress of the material, and correcting the preset rotation speed according to the viscosity of the material to be stirred to obtain a corrected preset rotation speed.

[0073] S5, determining the operating frequency of the stirring and crushing device according to the modified preset rotation speed and the PWM value, and controlling the stirring and crushing device according to the operating frequency.

[0074] The present invention can ensure that the stirring and crushing process is more efficient and accurate by obtaining the characteristic data of the material to be stirred and determining the preset speed of the stirring and crushing device accordingly, because the setting of the speed is based on the material characteristics, thereby improving the adaptability and effect of material processing. Real-time monitoring of the actual speed and material shear stress of the stirring and crushing device helps to timely understand the working state of the equipment and the processing of the material, and provides accurate data support for subsequent parameter adjustment. And by determining the difference between the actual speed and the preset speed, and determining the PID value and PWM value accordingly, accurate control of the stirring and crushing device can be achieved. The PID control algorithm can effectively reduce system errors and improve control accuracy, while the determination of the PWM value helps to adjust the power output of the motor and ensure the stability and efficiency of the equipment operation. The viscosity of the material to be stirred is determined according to the actual speed and the material shear stress, and the preset speed is corrected accordingly to obtain a corrected preset speed, which enables the system to dynamically adjust the working parameters to adapt to changes in the viscosity of the material, thereby ensuring the consistency of the stirring and crushing effect and the stability of the material quality.

[0075] In some embodiments of the present application, determining a preset rotation speed of a stirring and pulverizing device according to the characteristic data includes: the characteristic data includes: humidity, hardness and particle size of the material to be stirred; preprocessing the characteristic data, the preprocessing includes standardization processing, outlier processing and missing value processing; determining the required pulverizing energy of the material to be stirred according to the preprocessed characteristic data; determining the preset rotation speed of the stirring and pulverizing device according to the required pulverizing energy;

[0076] Wherein, the required crushing energy is determined according to the following formula:

[0077] E = a × M + b × H + c × G;

[0078] E represents the required crushing energy, a represents the influence coefficient of humidity, M represents the humidity of the material to be mixed, b represents the influence coefficient of hardness, H represents the hardness of the material to be mixed, c represents the influence coefficient of particle size, and G represents the particle size of the material to be mixed;

[0079] The preset speed is determined according to the following formula:

[0080] N0=k0×E;

[0081] N0 represents the preset speed, and k0 represents the proportional constant.

[0082] In this embodiment, in order to ensure that the mixing and crushing device can operate efficiently and stably, its preset speed needs to be set according to the characteristic data. These characteristic data mainly include the humidity, hardness and particle size of the material to be mixed. First, these characteristic data are preprocessed to ensure the accuracy and reliability of the data. The preprocessing process includes standardization, that is, converting the data into a unified format or range for comparison and analysis; outlier processing, that is, identifying and excluding outliers in the data to avoid their negative impact on the results; and missing value processing, that is, filling or processing missing values ​​in the data to ensure the integrity of the data. After the preprocessing is completed, the required crushing energy of the material to be mixed will be determined according to the processed characteristic data. This process needs to comprehensively consider the effects of the humidity, hardness and particle size of the material on the crushing energy. For example, materials with higher humidity may require more energy to overcome their viscosity, while materials with greater hardness require stronger crushing force. The size of the particle size will also affect the demand for crushing energy, and coarser materials usually require more energy to achieve the required fineness. Finally, according to the determined required crushing energy, the preset speed of the mixing and crushing device is set. This speed should be able to provide sufficient energy to meet the needs of material crushing, while also considering the safe operation of the equipment and the economy of energy consumption. By accurately setting the preset speed, we can ensure that the mixing and crushing device operates at the best condition, thus improving production efficiency and product quality.

[0083] In some embodiments of the present application, determining the PID value of the stirring and crushing device according to the speed difference includes: calculating the proportional term P value, the integral term I value and the differential term D value according to the speed difference; determining the PID value of the stirring and crushing device according to the proportional term P value, the integral term I value and the differential term D value;

[0084] Wherein, the proportional term P value is calculated according to the following formula:

[0085] P = Kp × e(t);

[0086] The integral term I value is calculated according to the following formula:

[0087]

[0088] The differential term D value is calculated according to the following formula:

[0089]

[0090] The PID value is calculated according to the following formula:

[0091] PID=P+I+D;

[0092] Kp represents the proportional coefficient, e(t) represents the speed difference, Ki represents the integral coefficient, and Kd represents the differential coefficient.

[0093] In this embodiment, when determining the PID value of the stirring and crushing device, it is necessary to calculate according to the speed difference. The speed difference refers to the difference between the actual speed and the preset speed. Through this difference, three key parameters in the PID controller can be further calculated: the proportional term P value, the integral term I value and the differential term D value.

[0094] The proportional term P value represents the direct effect of the current speed difference on the control action. If the speed difference is large, the proportional term P value will also increase accordingly, thereby enhancing the control action and making the speed approach the target value faster. On the contrary, if the speed difference is small, the proportional term P value will also decrease to avoid over-adjustment and oscillation.

[0095] The integral term I value is the result of the cumulative calculation of the speed difference. It reflects the sum of the speed differences over a period of time. The role of the integral term I value is to eliminate the steady-state error and ensure that the system can eventually reach the target speed. If the speed difference exists for a long time, the integral term I value will gradually increase, thereby increasing the control effect until the speed difference is eliminated.

[0096] The differential term D value is a prediction of the speed difference change trend. It reflects the rate of change of the speed difference. The role of the differential term D value is to adjust the control action in advance to prevent the system from over-responding and oscillating. When the speed difference changes rapidly, the differential term D value will increase, thereby reducing the control action and making the system more stable.

[0097] Taking into account the proportional term P value, the integral term I value and the differential term D value, we can determine the PID value of the mixing and crushing device. The PID value is a comprehensive reflection of these three parameters. It determines the output of the controller, thereby adjusting the speed of the mixing and crushing device to reach or maintain the target speed. By setting the PID value reasonably, it can ensure that the mixing and crushing device can operate stably under different working conditions, thereby improving production efficiency and product quality.

[0098] In some embodiments of the present application, determining the PWM value according to the PID value includes: determining the duty cycle of the motor of the stirring and crushing device according to the PID value; and determining the PWM value according to the duty cycle.

[0099] In this embodiment, the PWM value is determined according to a given PID value, and the specific steps are as follows: First, the duty cycle of the motor of the stirring and crushing device is calculated according to this PID value. The duty cycle refers to the ratio of the motor conduction time to the total cycle time in one cycle. By adjusting the duty cycle, the speed and power output of the motor can be controlled. Next, according to the calculated duty cycle, the corresponding PWM value can be determined. PWM (Pulse Width Modulation) is a common technology used to control the power output of a motor or other device by adjusting the pulse width. By changing the width of the pulse, the working state of the motor can be accurately adjusted, thereby achieving effective control of the stirring and crushing device.

[0100] In some embodiments of the present application, the viscosity of the material to be mixed is determined according to the actual rotational speed and the material shear stress, including: determining the radius of the mixing and crushing device, and determining the material shear rate according to the actual rotational speed and the radius; determining the ratio between the material shear stress and the material shear rate, and setting the ratio as the viscosity of the material to be mixed.

[0101] In this embodiment, when performing the stirring and crushing operation, the viscosity of the material to be stirred is first determined according to the actual rotation speed and the shear stress of the material. The specific steps are as follows: First, measure and determine the radius of the stirring and crushing device. Then, using this radius and the actual rotation speed, the shear rate of the material during the stirring process can be calculated. The shear rate refers to the amount of shear deformation of the material per unit time, which is one of the important parameters for measuring the stirring effect. Shear rate = 2π × actual rotation speed × radius. Next, determine the shear stress of the material. Shear stress refers to the resistance generated by the material when it is subjected to shear force, which is an indicator of the material's ability to resist shear deformation. Finally, the ratio between shear stress and shear rate is set as the viscosity of the material to be stirred. Viscosity is a physical quantity that describes the flow characteristics of a fluid, which reflects the magnitude of the internal friction of the fluid. Through this ratio, the viscosity of the material to be stirred can be accurately evaluated, thereby providing important parameter support for the stirring and crushing operation. In this way, the rotation speed of the stirring and crushing device can be adjusted according to the viscosity of the material to achieve the best stirring effect.

[0102] In some embodiments of the present application, the preset speed is corrected according to the viscosity of the material to be mixed to obtain a corrected preset speed, including: presetting a first preset viscosity and a second preset viscosity, the first preset viscosity being less than the second preset viscosity; selecting a speed correction coefficient according to the relationship between the viscosity of the material to be mixed and the first preset viscosity and the second preset viscosity, and correcting the preset speed to obtain a corrected preset speed; if the viscosity of the material to be mixed is less than the first preset viscosity, then selecting the first corrected speed correction coefficient x1 to correct the preset speed to obtain a corrected preset speed Nx=N0*x1; if the viscosity of the material to be mixed is greater than or equal to the first preset viscosity, and the viscosity of the material to be mixed is less than the second preset viscosity, then selecting the second corrected speed correction coefficient x2 to correct the preset speed to obtain a corrected preset speed Nx=N0*x2; if the viscosity of the material to be mixed is greater than or equal to the second preset viscosity, then selecting the third corrected speed correction coefficient x3 to correct the preset speed to obtain a corrected preset speed Nx=N0*x3; wherein, 1.0<x1<x2<x3<1.4.

[0103] In this embodiment, the greater the viscosity of the material, the greater the force required for stirring and crushing, and the faster the speed during stirring. Therefore, the viscosity of the material is positively correlated with the stirring speed. This application determines the viscosity range of the material to be stirred by presetting different viscosities, and then selects the corresponding speed correction coefficient to correct the preset speed to obtain a corrected preset speed.

[0104] In some embodiments of the present application, the operating frequency of the stirring and crushing device is determined according to the corrected preset speed and the PWM value, including: obtaining the slip rate of the stirring and crushing device; determining the initial operating frequency of the stirring and crushing device according to the corrected preset speed and the slip rate; adjusting the initial operating frequency according to the PWM value to obtain the operating frequency of the stirring and crushing device.

[0105] In this embodiment, the final operating frequency of the stirring and crushing device is obtained, including: first, obtaining the actual slip rate of the stirring and crushing device, the slip rate is the difference ratio between the actual rotation speed and the target rotation speed. Then, using this slip rate and the corrected preset rotation speed, the initial operating frequency of the stirring and crushing device can be calculated. Finally, according to the preset PWM value, the initial operating frequency is fine-tuned to ensure that the stirring and crushing device operates in the best state. In this way, it can be ensured that the operating frequency of the stirring and crushing device not only meets the preset requirements, but also can adapt to the changes in the actual working environment, thereby improving the stability and efficiency of the equipment.

[0106] In some embodiments of the present application, the initial operating frequency of the stirring and crushing device is determined according to the modified preset speed and the slip rate, including: the initial operating frequency is determined according to the following formula:

[0107] F0=p×Nx / (1-s);

[0108] Among them, F0 represents the initial operating frequency, p represents the number of motor poles of the stirring and crushing device, and s represents the slip rate.

[0109] In this embodiment, the initial operating frequency is set. Specifically, the initial operating frequency is determined based on the following formula: F0=p×Nx / (1-s); in this formula, F0 represents the initial operating frequency, which is the reference frequency of the stirring and crushing device at startup. p represents the number of motor poles of the stirring and crushing device, and this parameter directly affects the operating characteristics of the motor. s represents the slip rate, which refers to the difference ratio between the actual motor speed and the synchronous speed, reflecting the speed change under the load condition of the motor. By accurately calculating and setting the initial operating frequency, it can be ensured that the stirring and crushing device can quickly reach the ideal working state at startup, thereby improving production efficiency and the service life of the equipment. Through careful adjustment and optimization, it is ensured that the stirring and crushing device can operate stably under various working conditions to achieve the best crushing effect.

[0110] In some embodiments of the present application, the initial operating frequency is adjusted according to the PWM value to obtain the operating frequency of the stirring and crushing device, including: the operating frequency is calculated according to the following formula:

[0111] F = F0 / PWM;

[0112] Wherein, F represents the operating frequency of the stirring and crushing device.

[0113] The present invention also discloses a speed control system for material stirring and crushing, which is used to apply the above-mentioned speed control method for material stirring and crushing, and comprises:

[0114] The acquisition module is used to obtain the characteristic data of the material to be mixed, as well as the actual rotation speed of the mixing and crushing device and the shear stress of the material.

[0115] The speed setting module is used to determine the preset speed of the stirring and crushing device according to the characteristic data.

[0116] The PWM value determination module is used to determine the speed difference between the actual speed and the preset speed, determine the PID value of the stirring and crushing device according to the speed difference, and determine the PWM value according to the PID value.

[0117] The rotation speed correction module is used to determine the viscosity of the material to be stirred according to the actual rotation speed and the shear stress of the material, and to correct the preset rotation speed according to the viscosity of the material to be stirred to obtain a corrected preset rotation speed.

[0118] The speed control module is used to determine the working frequency of the stirring and crushing device according to the modified preset speed and the PWM value, and control the stirring and crushing device according to the working frequency.

[0119] In this embodiment, the acquisition module monitors the material properties and the operating status of the stirring and crushing device in real time, and the speed setting module can set a suitable preset speed according to the material property data, thereby ensuring the efficiency of the stirring and crushing process. The PWM value determination module can calculate the accurate PID value according to the difference between the actual speed and the preset speed, and determine the PWM value accordingly, so as to achieve accurate control of the speed of the stirring and crushing device. The speed correction module can adjust the preset speed in real time according to the actual speed and the shear stress of the material, adapt to the viscosity changes of different materials, and ensure the consistency of the stirring and crushing effect. The speed control module determines the working frequency according to the corrected preset speed and PWM value, which can effectively control the operation of the stirring and crushing device and optimize the crushing quality of the material. Since the system can dynamically adjust the speed according to the material properties and the actual operating conditions, unnecessary energy waste is avoided, thereby achieving the effect of energy saving and consumption reduction; accurate speed control reduces the wear and overload risk of the equipment, and helps to extend the service life of the stirring and crushing device. The entire system design takes into account the convenience of operation, allowing users to quickly set and adjust the speed according to the material characteristics and improve work efficiency.

[0120] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

[0121] The system provided in the above embodiment is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the modules or steps in the embodiments of the present invention can be decomposed or combined. For example, the modules in the above embodiment can be combined into one module, or further divided into multiple sub-modules to complete all or part of the functions described above. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing the modules or steps, and are not regarded as improper limitations of the present invention.

[0122] Those skilled in the art should be able to appreciate that the modules and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, computer software or a combination of the two, and the programs corresponding to the software modules and method steps can be placed in random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs or any other form of storage medium known in the technical field. In order to clearly illustrate the interchangeability of electronic hardware and software, the composition and steps of each example have been generally described in the above description according to the function. Whether these functions are performed in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

Claims

1. A method for controlling the rotation speed of materials during stirring and crushing, characterized in that: include: Acquire characteristic data of the material to be mixed, and determine a preset rotation speed of the mixing and crushing device according to the characteristic data; Obtain the actual rotation speed of the stirring and crushing device and the shear stress of the material; Determine a speed difference between the actual speed and the preset speed, determine a PID value of a stirring and crushing device according to the speed difference, and determine a PWM value according to the PID value; Determining the viscosity of the material to be stirred according to the actual rotation speed and the shear stress of the material, and correcting the preset rotation speed according to the viscosity of the material to be stirred to obtain a corrected preset rotation speed; The operating frequency of the stirring and crushing device is determined according to the modified preset rotation speed and the PWM value, and the stirring and crushing device is controlled according to the operating frequency.

2. The method for controlling the rotation speed of materials for stirring and crushing according to claim 1, characterized in that: Determining a preset rotation speed of the stirring and crushing device according to the characteristic data includes: The characteristic data include: humidity, hardness and particle size of the material to be mixed; Preprocessing the characteristic data, wherein the preprocessing includes standardization processing, outlier processing and missing value processing; Determine the required crushing energy of the material to be mixed based on the pre-processed characteristic data; Determining a preset rotation speed of the stirring and crushing device according to the required crushing energy; Wherein, the required crushing energy is determined according to the following formula: E = a × M + b × H + c × G; E represents the required crushing energy, a represents the influence coefficient of humidity, M represents the humidity of the material to be mixed, b represents the influence coefficient of hardness, H represents the hardness of the material to be mixed, c represents the influence coefficient of particle size, and G represents the particle size of the material to be mixed; The preset speed is determined according to the following formula: N0=k0×E; N0 represents the preset speed, and k0 represents the proportional constant.

3. The method for controlling the rotation speed of materials during stirring and crushing according to claim 2, characterized in that: Determining the PID value of the stirring and crushing device according to the speed difference includes: Calculate the proportional term P value, the integral term I value and the differential term D value according to the speed difference; Determine the PID value of the stirring and crushing device according to the proportional term P value, the integral term I value and the differential term D value; Wherein, the proportional term P value is calculated according to the following formula: P = Kp × e(t); The integral term I value is calculated according to the following formula: The differential term D value is calculated according to the following formula: The PID value is calculated according to the following formula: PID=P+I+D; Kp represents the proportional coefficient, e(t) represents the speed difference, Ki represents the integral coefficient, and Kd represents the differential coefficient.

4. The method for controlling the rotation speed of materials for stirring and crushing according to claim 3, characterized in that: Determining a PWM value according to the PID value includes: Determine the duty cycle of the motor of the stirring and crushing device according to the PID value; A PWM value is determined according to the duty cycle.

5. The method for controlling the rotation speed of materials for stirring and crushing according to claim 4, characterized in that: Determining the viscosity of the material to be stirred according to the actual rotation speed and the shear stress of the material includes: Determine the radius of the stirring and crushing device, and determine the material shear rate according to the actual rotation speed and radius; The ratio between the shear stress of the material and the shear rate of the material is determined, and the ratio is set as the viscosity of the material to be stirred.

6. The method for controlling the rotation speed of materials for stirring and crushing according to claim 5, characterized in that: The preset speed is corrected according to the viscosity of the material to be stirred to obtain a corrected preset speed, including: Presetting a first preset viscosity and a second preset viscosity, wherein the first preset viscosity is smaller than the second preset viscosity; According to the relationship between the viscosity of the material to be stirred and the first preset viscosity and the second preset viscosity, a speed correction coefficient is selected to correct the preset speed to obtain a corrected preset speed; If the viscosity of the material to be stirred is less than the first preset viscosity, the first correction speed correction coefficient x1 is selected to correct the preset speed to obtain a corrected preset speed Nx=N0*x1; If the viscosity of the material to be stirred is greater than or equal to the first preset viscosity, and the viscosity of the material to be stirred is less than the second preset viscosity, then the second correction speed correction coefficient x2 is selected to correct the preset speed to obtain a corrected preset speed Nx=N0*x2; If the viscosity of the material to be mixed is greater than or equal to the second preset viscosity, the third corrected speed correction coefficient x3 is selected to correct the preset speed to obtain a corrected preset speed Nx=N0*x3; wherein 1.0<x1<x2<x3<1.

4.

7. The method for controlling the rotation speed of materials for stirring and crushing according to claim 6, characterized in that: Determining the operating frequency of the stirring and crushing device according to the modified preset speed and the PWM value includes: Obtaining the slip rate of the stirring and crushing device; Determine the initial operating frequency of the stirring and crushing device according to the modified preset speed and slip rate; The initial operating frequency is adjusted according to the PWM value to obtain the operating frequency of the stirring and crushing device.

8. The method for controlling the rotation speed of materials for stirring and crushing according to claim 7, characterized in that: Determining the initial operating frequency of the stirring and crushing device according to the modified preset speed and slip rate includes: The initial operating frequency is determined according to the following formula: F0=p×Nx / (1-s); Among them, F0 represents the initial operating frequency, p represents the number of motor poles of the stirring and crushing device, and s represents the slip rate.

9. The method for controlling the rotation speed of materials for stirring and crushing according to claim 8, characterized in that: The initial operating frequency is adjusted according to the PWM value to obtain the operating frequency of the stirring and crushing device, including: The operating frequency is calculated according to the following formula: F = F0 / PWM; Wherein, F represents the operating frequency of the stirring and crushing device.

10. A material stirring and crushing speed control system, used for applying the material stirring and crushing speed control method according to any one of claims 1 to 9, characterized in that: include: An acquisition module is used to acquire characteristic data of the material to be mixed, as well as the actual rotation speed of the mixing and crushing device and the shear stress of the material; A speed setting module, used to determine a preset speed of the stirring and crushing device according to the characteristic data; A PWM value determination module, used to determine a speed difference between the actual speed and the preset speed, determine a PID value of the stirring and crushing device according to the speed difference, and determine a PWM value according to the PID value; A speed correction module, used for determining the viscosity of the material to be stirred according to the actual speed and the shear stress of the material, and correcting the preset speed according to the viscosity of the material to be stirred to obtain a corrected preset speed; The speed control module is used to determine the working frequency of the stirring and crushing device according to the modified preset speed and the PWM value, and control the stirring and crushing device according to the working frequency.

Images