A multi-stage material distribution control system and method for isolating grouting coal gangue

Abstract

The present invention discloses a multi-stage material distribution control system and method for isolated grouting of coal gangue in the field of mine material transportation technology, comprising: receiving a gangue flow signal at the ball mill inlet; comparing the gangue flow signal at the ball mill inlet with a preset threshold; in response to the gangue flow signal at the ball mill inlet exceeding the preset threshold, calculating a guide plate angle correction value based on the gangue flow signal at the ball mill inlet using a fuzzy PID algorithm; transmitting the guide plate angle correction value to a hydraulic actuator to perform angle correction on the adjustable guide plate, and then re-receiving the gangue flow signal at the ball mill inlet and comparing it with the preset threshold. The present invention uses a hydraulically adjustable guide plate to link with a PLC intelligent control system to monitor the ball mill feed rate in real time and dynamically adjust the distribution angle, thereby improving the proportioning accuracy and avoiding problems such as imbalanced material grading and reduced mill efficiency.

Description

Technical Field

[0001] The invention relates to a multi-stage material distribution control system and method for isolating grouting coal gangue, belonging to the technical field of mine material transportation. Background Art

[0002] The large gangue with a particle size of 13 to 200 mm produced by the coal preparation plant enters the gangue bin and is sent to the crushing station through a feeder and a belt conveyor for two-stage crushing. The first stage crushing uses a double-toothed roller crusher to crush it to 50 mm, and the second stage crushing uses a reversible hammer crusher to crush it to 10 mm. It is then conveyed by a belt to the pulping workshop scraper for material separation and then conveyed to two wet overflow ball mills for grinding the crushed gangue. After the gangue slurry overflows from the ball mill, it enters the subsequent filling and pumping link, and is pressurized by the grouting pump to the grouting borehole and injected into the separation space to realize the gangue disposal.

[0003] The existing scraper in the pulping workshop is limited by its rigid structure and cannot dynamically adjust the material distribution ratio of the two mill inlets. There is a technical bottleneck of insufficient material distribution accuracy, which leads to unbalanced material grading and reduced mill efficiency. Summary of the Invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a multi-stage material distribution control system and method for isolated grouting of coal gangue. By linking the hydraulically adjustable material guide plate with the PLC intelligent control system, the ball mill feed volume is monitored in real time and the distribution angle is dynamically adjusted, thereby improving the proportioning accuracy and avoiding the problems of material grading imbalance and reduced mill efficiency.

[0005] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0006] In a first aspect, the present invention provides a multi-stage material distribution control method for isolated grouting of coal gangue, comprising:

[0007] Receive the gangue flow signal at the ball mill inlet;

[0008] Compare the gangue flow signal at the ball mill inlet with the preset threshold;

[0009] In response to a gangue flow signal at a ball mill inlet exceeding a preset threshold, a guide plate angle correction amount is calculated based on the gangue flow signal at the ball mill inlet by using a fuzzy PID algorithm;

[0010] After the guide plate angle correction value is transmitted to the hydraulic actuator to correct the angle of the adjustable guide plate, the gangue flow signal at the ball mill inlet is received again and compared with the preset threshold value;

[0011] In response to the gangue flow signal at the ball mill inlet not exceeding the preset threshold, the guide plate angle is not corrected; otherwise, the guide plate angle is corrected again through the fuzzy PID algorithm.

[0012] Furthermore, the calculation formula of the guide plate angle correction amount is:

[0013]

[0014] Where: is the guide plate angle correction; is the current angle of the guide plate; is the dynamic proportional coefficient; is the relative deviation of material distribution; is the dynamic integral coefficient; The upper limit of the integral time; is the system response time constant; is the hydraulic-mechanical coupling compensation angle; is the rate of change of deviation.

[0015] Furthermore, the calculation formula of the hydraulic-mechanical coupling compensation angle is:

[0016]

[0017] Where: is the hydraulic-mechanical coupling compensation angle; The real-time pressure of the hydraulic cylinder; is the rated working pressure; is the actuator speed gain; is the pressure attenuation coefficient, is the duration of abnormal pressure; The current angle of the guide plate.

[0018] Furthermore, the calculation formula of the dynamic proportional coefficient is:

[0019]

[0020] Where: is the dynamic proportional coefficient; is the basic proportional coefficient; is the relative deviation of material distribution; is the rated deviation threshold; is the dynamic correction value of the fuzzy proportional coefficient; is a 7-dimensional membership function; is the output of fuzzy rules; is the normalized deviation, is the rate of change of deviation; is the maximum allowable deviation threshold; For the change time.

[0021] Furthermore, the relative deviation calculation formula of the material distribution is:

[0022]

[0023] Where: is the relative deviation of material distribution; is the absolute deviation of material distribution; is the actual material quantity; The theoretical material quantity.

[0024] Furthermore, the guide plate angle correction is converted into a hydraulic cylinder displacement instruction, and then the proportional servo valve of the hydraulic actuator is driven by a PWM signal. The conversion expression is:

[0025]

[0026] Where: is the displacement instruction of the hydraulic cylinder; is the guide plate angle correction; is the current angle of the guide plate; is the transmission ratio coefficient.

[0027] In the second aspect, the present invention provides a multi-stage material distribution control system for isolating grouting coal gangue, which is used to implement the above-mentioned multi-stage material distribution control method for isolating grouting coal gangue, including a distribution chute arranged below the head of the belt conveyor from the crushing station to the ball mill workshop, an adjustable material guide plate is provided in the middle of the distribution chute, and the adjustable material guide plate is controlled by a hydraulic actuator through a PLC system to adjust the angle, the two discharge pipe openings below the distribution chute are respectively matched with the first feed port of the ball mill and the distribution belt conveyor, the tail end of the distribution belt conveyor is connected to the second feed port of the ball mill through the head chute, a magnetic separator is provided on the top of the feed port of the distribution chute, and a flow sensor is provided on the inner wall of the discharge pipe of the distribution chute.

[0028] Furthermore, the distribution chute is provided with an arc-shaped baffle near the bottom of the distribution belt conveyor.

[0029] Furthermore, a high-frequency vibrator is provided on the outer wall of the discharge pipe of the distribution chute.

[0030] Furthermore, an alumina ceramic layer is sprayed on the inner wall of the distribution chute.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. In this solution, an adjustable guide plate is installed in the middle of the material distribution chute below the head of the belt conveyor from the crushing station to the ball mill. Through the linkage between the hydraulically adjustable guide plate and the PLC intelligent control system, the ball mill feed volume is monitored in real time and the material distribution angle is dynamically adjusted, thereby improving the proportioning accuracy and avoiding problems such as material gradation imbalance and reduced mill efficiency.

[0033] Second, this solution innovatively adopts a combined design of a curved baffle and a high-frequency vibrator, combined with an elastic rubber self-cleaning scraper, to shorten the cleaning cycle of sticky gangue, reduce downtime, and save annual operation and maintenance costs.

[0034] Third, this solution incorporates a magnetic separator at the feed inlet to intercept metal debris and reduce the amount of foreign matter that enters the belt system. The belt conveyor system utilizes a steel-wire, tear-resistant rubber belt as the primary conveyor. It is suitable for handling high-humidity, debris-laden waste rock and supports continuously variable speeds to accommodate varying production capacity requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0036] Figure 1 A schematic structural diagram of a multi-stage material distribution control system for isolated grouting of coal gangue provided in the first embodiment of the present invention;

[0037] Figure 2 This is a flow chart of a multi-stage material distribution control method for isolated grouting coal gangue provided in the second embodiment of the present invention.

[0038] In the figure: 1. Belt conveyor from the crushing station to the ball mill; 2. Magnetic separator; 3. Hydraulic actuator; 4. Adjustable material guide plate; 5. High-frequency vibrator; 6. Flow sensor; 7. Material distribution chute; 8. Arc-shaped baffle; 9. Material distribution belt conveyor; 10. Head chute. DETAILED DESCRIPTION

[0039] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other.

[0040] The following detailed description is an exemplary description and is intended to provide further detailed description of the present invention. Unless otherwise indicated, all technical terms used in the present invention have the same meaning as those generally understood by those skilled in the art to which the present invention belongs. The terms used in the present invention are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention.

[0041] Example 1:

[0042] This embodiment provides a multi-stage material distribution control system for isolated grouting of coal gangue. Aiming at the whole process of gangue crushing-slurry making-grouting in the separation grouting workshop, it constructs an intelligent material distribution system of "particle size adaptation-dynamic material distribution-anti-impurity and energy saving". Through the adjustable material guide plate, anti-impurity module and self-cleaning design, it solves the problems of uneven material distribution and easy failure of traditional scraper, and achieves the technical effect of improving material distribution accuracy and reducing maintenance costs. It is suitable for complex working conditions such as mine crushing and separation grouting. Figure 1 As shown, it includes three modules: material distribution structure optimization, anti-wet sticking self-cleaning, and anti-impurity and energy-saving design. The specific technical solutions are as follows:

[0043] 1. Material distribution adjustment system

[0044] 1) Position and Function: The adjustable guide plate 4 is installed in the middle of the material distribution chute 7 below the head of the belt conveyor 1 from the crushing station to the ball mill.

[0045] 2) Driving mechanism: The adjustable guide plate 4 uses a hydraulic actuator 3 (stroke accuracy ±0.5mm) for dynamic angle adjustment, achieving stepless adjustment of the guide plate angle from 0° to ±35°, and dynamically distributing the feed amount between the two ball mills.

[0046] 3) Control Logic: The PLC system receives signals from the flow sensor 6 at the ball mill inlet (with an accuracy of ±1%), calculates the relative deviation of the material distribution in real time, and ultimately sends the guide plate angle correction value to the hydraulic actuator 3 to ensure a ±5% ratio accuracy (the error of existing technology is >10%). The formula for calculating the relative deviation of the material distribution is:

[0047]

[0048] Where: The relative deviation of material distribution is used to evaluate the ratio of deviation to theoretical value, so as to facilitate the horizontal comparison of material distribution accuracy under different working conditions. It is the absolute deviation of the material distribution, which is suitable for quantifying the material deviation value of a single time or single point in the material distribution process; is the actual material quantity; The theoretical material quantity.

[0049] It should be noted that this solution innovatively proposes a "three-dimensional perception-fuzzy decision-making-dynamic compensation" collaborative control architecture, achieving intelligent regulation through the following core algorithms:

[0050] ①Fuzzy PID parameter dynamic correction formula

[0051]

[0052] Where: is the dynamic proportional coefficient; is the basic proportional coefficient; is the relative deviation of material distribution; is the rated deviation threshold; is the dynamic correction value of the fuzzy proportional coefficient; is a 7-dimensional membership function; is the normalized deviation, is the rate of change of deviation; is the maximum allowable deviation threshold; is the output of fuzzy rules, For the change time.

[0053] ②Hydraulic-mechanical coupling compensation formula

[0054]

[0055] Where: is the hydraulic-mechanical coupling compensation angle; The real-time pressure of the hydraulic cylinder; is the rated working pressure; is the actuator speed gain; is the pressure attenuation coefficient, is the duration of abnormal pressure; The current angle of the guide plate is detected by the photoelectric encoder installed on the guide plate.

[0056] ③ Dynamic angle comprehensive correction formula

[0057]

[0058] Where: is the guide plate angle correction; is the current angle of the guide plate; is the dynamic proportional coefficient; is the relative deviation of material distribution; is the dynamic integral coefficient; The upper limit of the integral time; is the system response time constant; Compensation angle for the hydraulic-mechanical coupling.

[0059] Application example in a coal mine pulping workshop:

[0060] 1. Data acquisition layer: Flow sensor 6 sends data to PLC every 50ms. The hydraulic pressure transmitter collects the value at a frequency of 1kHz. , photoelectric encoder real-time feedback .

[0061] 2. Fuzzy decision-making layer:

[0062] Step 1: Calculate the normalized deviation = / 15%( =15%);

[0063] Step 2: Call the fuzzy rule library generate ;

[0064] Step 3: According to Calculating pressure compensation terms ;

[0065] Step 4: Combine the three items to generate .

[0066] 3.Execution control layer: Converted into hydraulic cylinder displacement command, and then drive the proportional servo valve of hydraulic actuator 3 through PWM signal (response time ≤ 5ms). The conversion expression is:

[0067]

[0068] Where: is the displacement instruction of the hydraulic cylinder; is the transmission ratio coefficient.

[0069] 4. Safety Monitoring Mechanism: When | | When the limit is exceeded for 3 consecutive seconds, the expert intervention mode is activated; pressure compensation item When the threshold is exceeded, the gradient decay protection is triggered.

[0070] This solution achieves the following technical effects:

[0071] Multi-physics coupling control: Integrates closed-loop feedback of material flow, mechanical angle, and hydraulic pressure to break through the limitations of traditional single-variable control architecture;

[0072] Intelligent parameter tuning: The fuzzy rule base enables online self-optimization of PID parameters, eliminating the response lag caused by manual parameter adjustment;

[0073] Nonlinear disturbance rejection: hydraulic compensation term Dynamically offset the impact of pressure fluctuations, and adaptively adjust the integral term to avoid saturation of the control quantity;

[0074] Improved system robustness: The expert rule base provides a multi-fault tolerance mechanism, and encoder feedback data enables mechanical backlash compensation.

[0075] Full lifecycle adaptation: The self-learning module tracks device aging parameter drift and supports remote rule base updates and policy optimization.

[0076] 2. Anti-stick and self-cleaning system

[0077] 1) Structural Design: A curved baffle 8 (radius of curvature R = 800 mm) is installed at the bottom of the distribution chute 7 to reduce gangue retention; the inner wall of the distribution chute 7 is sprayed with an alumina ceramic layer (thickness ≥ 3 mm, hardness ≥ HRA85), with a service life of ≥ 12 months (traditional carbon steel parts have a service life of ≤ 3 months).

[0078] 2) High-frequency vibrator 5: Installed on the outer wall of the distribution chute 7, it integrates an adjustable frequency vibration module (10-50Hz) and dynamically adjusts the vibration intensity according to the moisture content of the gangue (15-25%) to prevent sticking and agglomeration of the material.

[0079] 3) Elastic rubber self-cleaning scraper (installed at the head of the feed belt conveyor 9 to scrape sticky materials from the feed belt conveyor 9 into the head chute 10): The scraper has a built-in pressure sensor (the pressure sensor is installed on the elastic rubber self-cleaning scraper and is designed as an integrated structure with the rubber self-cleaning scraper, with a measuring range of 0-50kN). It monitors the scraping resistance in real time and automatically adjusts the contact pressure between the scraper and the belt (error ≤ 5N). It should be noted that the relationship between scraping resistance and contact pressure is:

[0080] F = μ·N, where F is the scraping resistance (unit: N); μ is the coefficient of friction between the material and the scraper (depending on material properties such as material hardness and scraper material); and N is the contact pressure (unit: N, which can be controlled by adjusting the scraper's pressure on the material or its own weight). This formula applies to uniform scraping conditions, where the force must equal the frictional resistance (i.e., the scraping resistance).

[0081] 4) Timed material cleaning: The powerful scraping mode is triggered every 30 minutes to remove residual wet material and avoid manual cleaning (originally required ≥ 2 hours).

[0082] 3. Anti-impurity and conveying system

[0083] 1) Magnetic separator 2: Installed at the front end of the feed inlet of the distribution chute 7, it uses permanent magnets (magnetic induction intensity ≥ 0.8T) to intercept metal debris (iron wire, anchor rods, etc.), increasing the metal impurity interception rate to over 95%. Chain wear debris is recycled through a magnetic recovery device.

[0084] 2) Steel Wire Cord Tear-Resistant Rubber Belt: Structural Parameters: The conveyor belt adopts steel wire core (tensile strength ≥2500N / mm²) + wear-resistant rubber layer (thickness ≥8mm), impact strength ≥15MPa, suitable for conveying mixed gangue.

[0085] 3) Variable speed drive: The conveying system supports continuously variable speeds of 0.5-2.5m / s, adapting to production capacity requirements of 50-300t / h and reducing no-load energy consumption.

[0086] 4. Installation and Debugging

[0087] 1) Belt conveyor installation: The belt width should be 800-1200mm (suitable for production capacity 50-300t / h), the inclination angle should be ≤15°, and the center line error between the conveyor head and the ball mill inlet should be ≤2mm.

[0088] 2) Guide plate calibration: The initial angle is set to 90°. The PLC system uses a fuzzy PID algorithm to control the guide plate position and calibrate the feed rate of the two mills. After debugging, the error is ≤3%.

[0089] 5. Operation Process

[0090] 1) Dynamic material distribution stage:

[0091] The flow sensor 6 monitors the ball mill feed rate in real time → the PLC calculates the material distribution deviation → the hydraulic actuator 3 adjusts the angle of the adjustable guide plate 4 → feedback is sent to the control terminal.

[0092] 2) Self-cleaning and maintenance:

[0093] Perform strong scraper cleaning every 30 minutes to remove residual wet material; replace the wear-resistant ceramic coating every 12 months; and conduct a comprehensive inspection every 2 years.

[0094] The present invention proposes a multi-stage material distribution control device for isolated grouting of coal gangue and a dynamic process intelligent control method. Through the "dynamic material distribution - intelligent clearing and blocking - anti-impurity and consumption reduction" three-in-one technical system, it systematically overcomes the three major industry problems of uneven material distribution of traditional scrapers, wet sticky shutdown, and metal jamming, and achieves a comprehensive improvement in material distribution accuracy, equipment reliability, energy efficiency and environmental protection indicators. It provides an efficient, low-carbon, low-cost intelligent solution for the gangue separation grouting process, improves the overall economic benefits, and realizes efficient and low-carbon operation of gangue disposal, which has significant industry promotion value.

[0095] Example 2:

[0096] A multi-stage material distribution control method for isolated grouting of coal gangue is implemented based on the multi-stage material distribution control system for isolated grouting of coal gangue described in Example 1, comprising:

[0097] S1: The gangue after secondary crushing is transported to the material distribution system through the crushing station belt conveyor;

[0098] S2: A magnetic separator is installed above the head of the belt conveyor from the crushing station to the ball mill to intercept metal debris;

[0099] S3: A sensor is installed under the head of the belt conveyor from the crushing station to the ball mill to monitor the flow of gangue entering the material chute in real time;

[0100] S4: Adjustable guide plate: Installed in the middle of the material distribution chute below the head of the belt conveyor from the crushing station to the ball mill workshop, the angle of the guide plate is adjusted (0°~±35°) through the hydraulic actuator to dynamically distribute the feed volume between the two machines;

[0101] S5: A curved baffle is installed at the bottom of the material distribution chute, and a high-frequency vibrator (adjustable frequency range 10-50Hz) is used to prevent material sticking. The head is equipped with an elastic rubber self-cleaning scraper, which monitors the scraping resistance in real time through a pressure sensor and automatically adjusts the scraper fit;

[0102] S6: Belt conveyor system: It uses a steel wire core tear-resistant rubber belt as the main conveying body, which is suitable for high-humidity and impurity-containing waste rock materials. The belt width is selected from 800-1200mm according to production capacity requirements, and the belt speed is adjustable from 0.5-2.5m / s. The initial angle of the guide plate is set to 90°. Through on-site calibration, the error of the feed amount of the two mills is ≤3%.

[0103] It is understood from common technical knowledge that the present invention may be implemented by other embodiments that do not depart from its spirit or essential features. Therefore, the embodiments disclosed above are, in all respects, merely illustrative and not exclusive. All modifications within the scope of the present invention or equivalent to the scope of the present invention are intended to be encompassed by the present invention.

[0104] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0105] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0106] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0107] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0108] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. A multi-stage material distribution control method for isolated grouting of coal gangue, characterized in that: Executed by the PLC system, including: Receive the gangue flow signal at the ball mill inlet; Compare the gangue flow signal at the ball mill inlet with the preset threshold; In response to a gangue flow signal at a ball mill inlet exceeding a preset threshold, a guide plate angle correction amount is calculated based on the gangue flow signal at the ball mill inlet by using a fuzzy PID algorithm; After the guide plate angle correction value is transmitted to the hydraulic actuator to correct the angle of the adjustable guide plate, the gangue flow signal at the ball mill inlet is received again and compared with the preset threshold value; In response to the gangue flow signal at the ball mill inlet not exceeding the preset threshold, the guide plate angle is not corrected. Otherwise, the guide plate angle is corrected again using the fuzzy PID algorithm. The calculation formula of the guide plate angle correction is: Where: is the guide plate angle correction; is the current angle of the guide plate; is the dynamic proportional coefficient; is the relative deviation of material distribution; is the dynamic integral coefficient; The upper limit of the integral time; is the system response time constant; is the hydraulic-mechanical coupling compensation angle; is the rate of change of deviation; The calculation formula of the hydraulic-mechanical coupling compensation angle is: Where: is the hydraulic-mechanical coupling compensation angle; The real-time pressure of the hydraulic cylinder; is the rated working pressure; is the actuator speed gain; is the pressure attenuation coefficient, Abnormal duration of pressure; The current angle of the guide plate.

2. The multi-stage material distribution control method for isolation grouting of coal gangue according to claim 1 is characterized in that: The calculation formula of the dynamic proportional coefficient is: Where: is the dynamic proportional coefficient; is the basic proportional coefficient; is the relative deviation of material distribution; is the rated deviation threshold; is the dynamic correction value of the fuzzy proportional coefficient; is a 7-dimensional membership function; is the output of fuzzy rules; is the normalized deviation, is the rate of change of deviation; is the maximum allowable deviation threshold; For the change time.

3. The multi-stage material distribution control method for isolation grouting of coal gangue according to claim 1 is characterized in that: The calculation formula for the relative deviation of the material distribution is: Where: is the relative deviation of material distribution; is the absolute deviation of material distribution; is the actual amount of material distributed; The theoretical material quantity.

4. The multi-stage material distribution control method for isolation grouting of coal gangue according to claim 1 is characterized in that: The guide plate angle correction is converted into a hydraulic cylinder displacement instruction, and then the proportional servo valve of the hydraulic actuator is driven by a PWM signal. The conversion expression is: Where: is the displacement instruction of the hydraulic cylinder; is the guide plate angle correction; is the current angle of the guide plate; is the transmission ratio coefficient.

5. A multi-stage material distribution control system for isolated grouting of coal gangue, characterized by: The invention is used to implement the multi-stage material distribution control method for isolating grouting coal gangue as described in any one of claims 1 to 4, comprising a distribution chute (7) arranged below the head of the belt conveyor (1) from the crushing station to the ball mill workshop, wherein an adjustable material guide plate (4) is provided in the middle of the distribution chute (7), and the adjustable material guide plate (4) is controlled by a hydraulic actuator (3) through a PLC system to adjust the angle, and the two discharge pipe openings below the distribution chute (7) are matched with a ball mill inlet and a distribution belt conveyor (9) respectively. The tail end of the material distribution belt conveyor (9) is connected to the second inlet of the ball mill through the head chute (10), the top of the inlet of the material distribution chute (7) is provided with a magnetic separator (2), and the inner wall of the discharge pipe of the material distribution chute (7) is provided with a flow sensor (6); when the gangue flow signal at the inlet of the ball mill exceeds the preset threshold value, the PLC system calculates the guide plate angle correction value based on the gangue flow signal at the inlet of the ball mill through the fuzzy PID algorithm, and the calculation formula of the guide plate angle correction value is: Where: is the guide plate angle correction; is the current angle of the guide plate; is the dynamic proportional coefficient; is the relative deviation of material distribution; is the dynamic integral coefficient; The upper limit of the integral time; is the system response time constant; is the hydraulic-mechanical coupling compensation angle; is the rate of change of deviation; The calculation formula of the hydraulic-mechanical coupling compensation angle is: Where: is the hydraulic-mechanical coupling compensation angle; The real-time pressure of the hydraulic cylinder; is the rated working pressure; is the actuator speed gain; is the pressure attenuation coefficient, is the duration of abnormal pressure; The current angle of the guide plate.

6. The multi-stage material distribution control system for isolated grouting of coal gangue according to claim 5 is characterized in that: The distribution chute (7) is provided with an arc-shaped curved baffle (8) at the bottom close to the distribution belt conveyor (9).

7. The multi-stage material distribution control system for isolated grouting of coal gangue according to claim 5 is characterized in that: A high-frequency vibrator (5) is provided on the outer wall of the discharge pipe of the distribution chute (7).

8. The multi-stage material distribution control system for isolated grouting of coal gangue according to claim 5 is characterized in that: The inner wall of the distribution chute (7) is sprayed with an alumina ceramic layer.

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