Hydraulic control system of middle waste silo gate based on load feedback

Abstract

The present invention relates to the technical field of gate control, and in particular to a load feedback-based hydraulic control system for a middle slag bin gate, comprising: an execution unit, comprising at least two hydraulic cylinders symmetrically arranged on both sides of the gate; a control unit, for acquiring material characteristic parameters in the middle slag bin and force parameters of each hydraulic cylinder in real time, generating reference control parameters based on the material characteristic parameters, and correcting and compensating the reference control parameters according to the force parameters to obtain corrected control parameters; a hydraulic power unit, for dynamically controlling the hydraulic oil flow direction, flow rate and pressure of each hydraulic cylinder according to the corrected control parameters; and it can realize adaptive adjustment of the gate hydraulic system according to changes in the load in the bin.

Description

Technical Field

[0001] The present invention relates to the technical field of gate control, and in particular to a hydraulic control system for a middle slag bin gate based on load feedback. Background Art

[0002] In industrial applications involving material storage and handling, such as coal mines and other mining operations, the intermediate waste silo, a crucial facility for storing medium-sized coal and gangue, requires precise control of its gates for efficient material discharge and stable production operations. Hydraulic control systems, with their powerful power output and excellent control performance, are widely used to drive and control intermediate waste silo gates.

[0003] Existing hydraulic control systems for medium-sized gangue silo gates often adopt a simple open-loop control method, which lacks real-time feedback on material properties and load changes. For example, in actual production, the particle sizes of medium-sized coal and gangue vary, and different particle sizes will lead to great differences in the fluidity and accumulation of materials in the silo. Materials with larger particle sizes may form larger gaps and have relatively better fluidity; while materials with smaller particle sizes are prone to accumulation and have poor fluidity. Changes in material properties will directly affect the resistance and pressure encountered when the gate is opened. Since the existing control system cannot perceive these changes in real time, it is difficult to accurately control the opening of the gate, and thus cannot accurately control the discharge flow of the material.

[0004] At the same time, the hydraulic cylinder will be affected by various complex forces during operation. In addition to axial thrust, it will also be affected by lateral torque. The existence of lateral torque will cause deviations in the stroke of the hydraulic cylinder, thereby affecting the accuracy of gate opening control. Existing control systems usually only focus on axial thrust and ignore the influence of lateral torque on the cylinder stroke. It is impossible to effectively compensate and correct this influence, resulting in inaccurate gate opening control. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides a middle gangue silo gate hydraulic control system based on load feedback, which can realize adaptive adjustment of the gate hydraulic system according to the load changes in the silo.

[0006] The present invention provides a load feedback-based hydraulic control system for a middle slag bin gate, comprising:

[0007] The execution unit comprises at least two hydraulic cylinders symmetrically arranged on both sides of the gate;

[0008] A control unit is used to obtain material characteristic parameters in the middle gangue bin and force parameters of each hydraulic cylinder in real time, generate reference control parameters based on the material characteristic parameters, and correct and compensate the reference control parameters according to the force parameters to obtain corrected control parameters;

[0009] The hydraulic power unit is used to dynamically control the flow direction, flow rate and pressure of the hydraulic oil in each hydraulic cylinder according to the modified control parameters.

[0010] Furthermore, the control unit includes:

[0011] Material property perception module, used to obtain material property parameters in the middle waste bin in real time;

[0012] Cylinder data acquisition module, used to obtain the force parameters of each hydraulic cylinder in real time;

[0013] A reference confirmation module determines the gate opening based on the material characteristic parameters, and uses this to map and obtain reference control parameters corresponding to each of the hydraulic cylinders;

[0014] The parameter compensation module considers the influence of the force parameters of each hydraulic cylinder on the stroke of the hydraulic cylinder, obtains the correction factor corresponding to each hydraulic cylinder, and uses this to perform parameter correction on the reference control parameter to obtain the corrected control parameter.

[0015] Furthermore, the material characteristic parameters include at least one of a particle size parameter, a material stacking height, and a material impact force distribution parameter.

[0016] Furthermore, the material property perception module includes:

[0017] The laser particle size analyzer installed at the discharge port of the silo obtains the particle size parameters of the material in real time;

[0018] The piezoelectric contact sensor installed on the gate sealing surface detects the material impact force distribution parameters;

[0019] The ultrasonic level meter is installed at a preset height position in the silo to monitor the stacking height of the materials in the silo in real time.

[0020] Furthermore, the force parameters include at least the axial thrust and lateral torque of the hydraulic cylinder piston rod.

[0021] Furthermore, a multi-dimensional force sensor is installed at the end of the piston rod of the hydraulic cylinder and is connected to the gate. The multi-dimensional force sensor is used to collect axial thrust and lateral torque.

[0022] Furthermore, a buffer structure is connected between the multi-dimensional force sensor and the gate, which is used to play a buffering role when the gate is subjected to instantaneous impact.

[0023] Furthermore, the buffer structure adopts a multi-layer laminated magnetorheological elastomer.

[0024] Furthermore, the stiffness of the multi-layer laminated magnetorheological elastomer changes with lateral torque and satisfies: Where G represents the dynamic stiffness value, G0 is the reference stiffness value, which is determined by calibration experiments under no-load conditions; M is the real-time equivalent mass parameter, which represents the coupling effect between the material impact force and the lateral torque of the cylinder; M crit It is the critical mass threshold, which is set according to the gate structure strength and the rated load of the hydraulic components.

[0025] Furthermore, the hydraulic power unit comprises:

[0026] a variable hydraulic pump, configured to dynamically adjust output flow and pressure according to the modified control parameters;

[0027] A solenoid valve group, comprising a plurality of solenoid valves, each solenoid valve corresponding to a hydraulic cylinder, for controlling the flow direction, flow rate and pressure of the hydraulic oil according to the modified control parameters, and distributing the hydraulic oil to each hydraulic cylinder;

[0028] The oil tank is used to store hydraulic oil and provide oil reserve for the hydraulic system.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] The physical layout of the symmetrical hydraulic cylinders and the control unit's lateral torque compensation algorithm form a closed spatial mechanical loop. When changes in material particle size cause asymmetric accumulation, the system monitors the force differences between the two cylinders in real time and dynamically adjusts the hydraulic output ratio to offset the lateral torque simultaneously at the mechanical structure and control algorithm levels. For example, when the lateral torque of the right cylinder increases due to accumulation of small particles, the system not only increases the right axial thrust to compensate for the resistance, but also reduces the left thrust to balance the torque difference, thereby maintaining the gate opening while eliminating mechanical deformation errors.

[0031] The control unit acquires material characteristic parameters in real time and can determine the appropriate gate opening reference value based on the material fluidity differences. At the same time, it performs compensation corrections based on the force parameters of the hydraulic cylinder, allowing the hydraulic cylinder of the actuator unit to accurately match the material resistance and pressure when opening the gate. The hydraulic power unit precisely regulates the hydraulic oil based on the corrected control parameters to ensure that the gate opens stably and accurately to the appropriate opening, achieving precise material flow control, avoiding flow fluctuations caused by changes in material characteristics and uneven force on the cylinder, and providing a stable material supply for subsequent production links.

[0032] The various units of the system work together to achieve adaptive adjustment to load changes; the control unit continuously monitors material properties and changes in cylinder force, and dynamically adjusts control parameters; when encountering sudden changes in material particle size or abnormal cylinder force, the hydraulic power unit responds quickly and adjusts the flow direction, flow rate and pressure of the hydraulic oil to prevent the hydraulic cylinder from being subjected to excessive impact and unbalanced force, reducing wear and fatigue of mechanical components; compared with traditional systems, the probability of failures such as motor overload, gear wear, and seal damage is reduced, extending the service life of the entire hydraulic control system and the middle waste silo gate equipment, and reducing equipment maintenance costs and downtime. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 1 is a structural block diagram of a hydraulic control system for a middle slag bin gate based on load feedback in an embodiment. DETAILED DESCRIPTION

[0034] The present application is described below in conjunction with the accompanying drawings.

[0035] like Figure 1 As shown, the hydraulic control system of the middle slag bin gate based on load feedback of the present invention specifically includes the following modules;

[0036] The execution unit comprises at least two hydraulic cylinders symmetrically arranged on both sides of the gate;

[0037] A control unit is used to obtain material characteristic parameters in the middle gangue bin and force parameters of each hydraulic cylinder in real time, generate reference control parameters based on the material characteristic parameters, and correct and compensate the reference control parameters according to the force parameters to obtain corrected control parameters;

[0038] The hydraulic power unit is used to dynamically control the flow direction, flow rate and pressure of the hydraulic oil in each hydraulic cylinder according to the modified control parameters.

[0039] In this embodiment, the physical layout of the hydraulic cylinders symmetrically arranged on both sides of the gate is integrated with the lateral torque compensation algorithm in the control unit to construct a unique spatial mechanical closed loop; in actual production, the difference in particle size between medium coal and gangue will cause asymmetric accumulation of materials in the bin; at this time, the system, with its highly sensitive monitoring mechanism, can capture the subtle differences in the lateral torques acting on the cylinders on both sides in real time; once it detects that the lateral torque of the right cylinder increases due to the accumulation of small particles, the control unit will quickly make an intelligent response; not only will it accurately increase the axial thrust of the right cylinder to effectively compensate for the additional resistance and ensure that the gate can be opened smoothly, but it will also simultaneously reduce the thrust of the left cylinder, thereby cleverly balancing the torque difference on both sides; through this synchronous adjustment at both the mechanical structure and control algorithm levels, the system can maintain a stable gate opening while maximally eliminating the mechanical deformation error caused by the lateral torque, thereby ensuring the long-term stable and precise operation of the gate;

[0040] The control unit can obtain material characteristic parameters including particle size parameters and material impact force distribution parameters in real time, based on which it can judge the fluidity differences of the materials; based on this, the system can determine the most appropriate gate opening reference value; at the same time, the control unit also closely monitors the force parameters of each hydraulic cylinder, such as the axial thrust and lateral torque of the piston rod, and dynamically compensates and corrects the reference control parameters; in the execution unit, the hydraulic cylinder opens the gate according to the control parameters corrected by dynamic compensation, which can accurately match the resistance and pressure generated by the material in different states; the hydraulic power unit accurately regulates the flow direction, flow rate and pressure of the hydraulic oil according to the corrected control parameters, ensuring that the gate can be opened stably and accurately to the appropriate opening, realizing precise control of the material discharge flow, effectively avoiding flow fluctuations caused by changes in material characteristics and uneven force on the cylinder, and providing a stable and reliable material supply for subsequent production links;

[0041] The various units of the system of the present invention are highly coordinated to achieve efficient adaptive adjustment to load changes; the control unit continuously monitors the dynamic changes of material properties and cylinder force, and adjusts the control parameters quickly and accurately based on these real-time feedback; once encountering a sudden change in material particle size or an abnormal situation in the cylinder force, the hydraulic power unit can respond in a very short time and adjust the various parameters of the hydraulic oil in time, so that the hydraulic cylinder can always maintain stable operation under complex working conditions, avoid excessive impact and unbalanced force, thereby significantly reducing the wear and fatigue of mechanical components; compared with the traditional hydraulic control system of the middle waste silo gate, the probability of common faults such as motor overload, gear wear, and seal damage is reduced, effectively extending the service life of the entire hydraulic control system and the middle waste silo gate equipment, not only reducing the maintenance cost of the equipment, reducing the manpower and material consumption caused by frequent maintenance, but also greatly shortening the downtime of the equipment and improving production efficiency.

[0042] In some embodiments of the present invention, the control unit specifically includes the following modules:

[0043] A material characteristic sensing module is used to obtain material characteristic parameters in the intermediate gangue bin in real time; the material characteristic parameters include at least one of a particle size parameter, a material stacking height, and a material impact force distribution parameter;

[0044] The oil cylinder data acquisition module is used to obtain the force parameters of each hydraulic oil cylinder in real time; the force parameters include at least the axial thrust and lateral torque of the hydraulic oil cylinder piston rod;

[0045] A reference confirmation module determines the gate opening based on the material characteristic parameters, and uses this to map and obtain reference control parameters corresponding to each of the hydraulic cylinders;

[0046] The parameter compensation module considers the influence of the force parameters of each hydraulic cylinder on the stroke of the hydraulic cylinder, obtains the correction factor corresponding to each hydraulic cylinder, and uses this to perform parameter correction on the reference control parameter to obtain the corrected control parameter.

[0047] The material property sensing module determines the physical properties of medium coal and gangue, including particle size, stacking height, and impact force distribution, which determine the resistance characteristics and material flowability when the gate is opened. Traditional control systems lack real-time sensing capabilities, often resulting in blockages caused by insufficient opening for large-particle materials, or overflow caused by excessive opening for small-particle materials. For example, small-particle materials have a high stacking density of approximately 1.8 tons per cubic meter, requiring an opening force that is over 40% higher than that of large-particle materials, approximately 1.2 tons per cubic meter. Without targeted adjustments, this can easily lead to cylinder overload or flow loss.

[0048] To solve the above problems, the material characteristics perception module collects data through multi-dimensional sensor deployment. Specifically:

[0049] A laser particle size analyzer is installed at the discharge port of the silo. The principle of laser scattering is used to analyze the angle and intensity distribution of the scattered light, calculate the size and distribution of the material particles, and obtain the particle size parameters in real time. Ultrasonic level meters are installed at different heights of the silo. By transmitting and receiving ultrasonic waves, the distance from the material surface to the sensor is calculated based on the sound wave propagation time, and then the material accumulation height is obtained. A piezoelectric contact sensor is installed on the sealing surface of the gate. When the material impacts the gate, the sensor converts the impact force into an electrical signal. After amplification, filtering and analog-to-digital conversion, the material impact force distribution parameters are obtained.

[0050] Through the deployment of the above-mentioned multi-dimensional sensors, changes in material properties can be accurately grasped in real time, allowing the system to adjust the control strategy according to the actual situation of the material. For example, when it is detected that the particle size is getting smaller and the material stacking height is increasing, the driving force of the hydraulic cylinder is increased in advance to ensure that the gate opens normally, thereby improving the system's adaptability to complex material working conditions and ensuring smooth and stable material discharge.

[0051] For the cylinder data acquisition module, the hydraulic cylinder is the direct actuator for driving the gate, and its force condition directly reflects the load condition of the gate when it is working; only focusing on the axial thrust cannot fully understand the working status of the cylinder, and the lateral torque will affect the cylinder stroke accuracy, and ultimately affect the gate opening control; by installing a multi-dimensional force sensor between the end of the hydraulic cylinder piston rod and the gate, the multi-dimensional force sensor uses strain gauges and other sensing technologies to convert the strain caused by the axial thrust and lateral torque into electrical signals; these weak electrical signals are amplified, filtered, and processed through signal conditioning circuits, and then converted into digital signals and transmitted to subsequent control modules.

[0052] For the benchmark confirmation module, the material characteristics determine the initial conditions and appropriate opening of the gate; only by determining the appropriate gate opening according to the material characteristics and thereby obtaining the benchmark control parameters of the hydraulic cylinder can the system ensure that it provides reasonable drive for the gate in the initial stage and avoids abnormal material discharge caused by blind control; by establishing a mapping relationship database between material characteristic parameters and gate opening; after the material characteristic perception module obtains the material characteristic parameters, the benchmark confirmation module queries from the database or calculates the corresponding gate opening through a preset algorithm; based on the gate opening, combined with the mechanical structure parameters and working characteristics of the hydraulic cylinder, the benchmark control parameters of each hydraulic cylinder are calculated, such as the initial opening of the solenoid valve, the initial flow rate and pressure setting value of the hydraulic oil, etc.; provide a reasonable initial basis for system control, making the gate opening more scientific and accurate; for example, determine the appropriate gate opening according to the material particle size and stacking height to avoid excessive or too small opening causing excessive material discharge or blockage, thereby improving the efficiency and stability of material discharge.

[0053] Regarding the parameter compensation module, in actual operation, the force conditions of the hydraulic cylinder are complex and changeable. The force parameters will affect the cylinder stroke, and thus affect the gate opening accuracy. Relying solely on the benchmark control parameters cannot meet the precise control requirements, and the parameters need to be corrected and compensated according to the actual force. For each hydraulic cylinder, the influence on the cylinder stroke is calculated based on its force parameters (axial thrust and lateral torque), combined with the mechanical model and kinematic model of the cylinder. The influence is converted into a correction factor through a preset algorithm. The correction factor is used to adjust the benchmark control parameters obtained by the benchmark confirmation module, such as adjusting the opening of the solenoid valve, changing the flow and pressure of the hydraulic oil, etc., to obtain the corrected control parameters. Through the above settings, the impact of the cylinder force change on the stroke is effectively compensated, and the gate opening control accuracy is improved. For example, when it is detected that the lateral torque causes the cylinder stroke to deviate, the hydraulic oil supply is adjusted in time by correcting the control parameters to ensure that the gate can be accurately opened to the set opening, thereby improving the control accuracy of the material discharge flow.

[0054] More specifically, based on the coupling relationship between the mechanical characteristics of the hydraulic cylinder and the material load, the following control parameter correction model is designed:

[0055] Calculate the influence of axial thrust on the cylinder stroke. The piston rod produces elastic deformation under the action of axial thrust. The calculation formula is as follows: ;in, Indicates the stroke deviation caused by axial thrust; Indicates the measured value of axial thrust collected by the multi-dimensional force sensor; Indicates the effective working length of the piston rod, which is determined according to the mechanical design parameters of the cylinder; Indicates the elastic modulus of the piston rod material; Indicates the cross-sectional area of ​​the piston rod.

[0056] Calculate the influence of the lateral moment on the cylinder stroke. The piston rod is bent and deformed by the lateral moment. The calculation formula is as follows: ;in, Indicates the stroke deviation caused by lateral moment; Represents the measured value of the lateral moment collected by the multi-dimensional force sensor; represents the piston rod section moment of inertia, , d is the piston rod diameter; Indicates the elastic modulus of the piston rod material; Indicates the effective working length of the piston rod.

[0057] Taking into account the influence of axial thrust and lateral torque on the cylinder stroke, the calculation formula of the correction factor is: ;in, Indicates the correction factor, which is used to adjust the solenoid valve control parameters; Indicates the target stroke output by the reference confirmation module.

[0058] Based on the calculated correction factors, the reference control parameters are corrected. Taking the adjustment of the solenoid valve opening as an example, the adjusted solenoid valve opening is: , Indicates the opening degree of the reference solenoid valve;

[0059] The flow correction formula for hydraulic oil is: , Indicates the base flow rate;

[0060] The pressure correction formula for hydraulic oil is: ;in, Indicates the base pressure, Indicates the friction resistance compensation pressure, is the friction coefficient of the seal, is the cylinder piston area, The system response time.

[0061] Through the above calculation formula, the influence on the cylinder stroke can be calculated based on the force parameters such as the axial thrust and lateral torque of the hydraulic cylinder, combined with the mechanical and kinematic models of the cylinder, and converted into a correction factor to reasonably adjust the benchmark control parameters, thereby improving the gate opening control accuracy and meeting the actual application needs of the hydraulic control system of the middle waste silo gate.

[0062] As a preferred embodiment of the present invention, in the actual working scenario of the middle slag bin, the gate will be frequently impacted by materials, especially when the materials fall rapidly or large pieces of materials are discharged in a concentrated manner, the instantaneous impact force is relatively large; the multi-dimensional force sensor is mainly used to accurately collect the axial thrust and lateral torque of the hydraulic cylinder piston rod to achieve precise control of the gate opening; however, the instantaneous impact may cause the multi-dimensional force sensor to bear excessive force, resulting in a decrease in the sensor's measurement accuracy, or even damage the sensor, thereby affecting the precise control of the gate by the entire control system; therefore, a buffer structure is provided between the multi-dimensional force sensor and the gate, which can effectively reduce the impact of instantaneous impact on the sensor and ensure its stable and reliable operation.

[0063] Specifically, the buffer structure can take various forms, such as rubber buffer pads, spring buffer devices or hydraulic buffers; taking rubber buffer pads as an example, a rubber material with high elasticity, high strength and good wear resistance is selected to make the buffer pad; the rubber buffer pad is installed at the connection between the multi-dimensional force sensor and the gate to ensure that the buffer pad can fit tightly between the sensor and the gate so that the impact force can be evenly transmitted to the buffer pad; if a spring buffer device is used, a spring with a suitable elastic coefficient needs to be selected based on the maximum possible impact force and the load-bearing capacity of the multi-dimensional force sensor; the spring is installed in a special bracket, which is respectively connected to the multi-dimensional force sensor and the gate, and the elastic deformation of the spring is used to absorb the impact force; the hydraulic buffer consumes the impact energy through the flow of internal hydraulic oil. The hydraulic buffer is correctly installed on the connection path and its compatibility with the system is ensured.

[0064] Through the above settings, the instantaneous impact energy received by the gate can be effectively absorbed, the direct effect of the impact force on the multi-dimensional force sensor can be reduced, the measurement error of the sensor due to overload can be avoided, the accuracy of the axial thrust and lateral torque measurement data can be guaranteed, and reliable parameters can be provided for the control unit, thereby achieving more accurate gate opening control; at the same time, the damage to the sensor caused by instantaneous impact can be reduced, the risk of sensor damage due to impact can be reduced, the service life of the multi-dimensional force sensor can be extended, the replacement frequency of the sensor can be reduced, and the equipment maintenance cost can be reduced.

[0065] As a preferred embodiment of the present invention, when the middle gangue silo gate is working, the material impact force and the lateral torque of the cylinder are dynamically changing; the stiffness of the traditional buffer structure is fixed, and it is difficult to achieve a good buffering effect under different working conditions; and the mechanical properties of the magnetorheological elastomer can be changed rapidly and reversibly under the action of the magnetic field; a multi-layer laminated magnetorheological elastomer is used as the buffer structure, and the stiffness can be adjusted in real time according to changes in working conditions such as lateral torque. When the gate is subjected to a smaller impact, it is buffered with lower stiffness to ensure buffering sensitivity; when it is subjected to a larger impact, the stiffness is increased rapidly to effectively absorb the impact energy, better protect the multi-dimensional force sensor and the gate system, and adapt to complex and changing working environments.

[0066] Specifically, multiple layers of magnetorheological elastomer sheets are stacked in a certain manner, and electrodes or permanent magnets can be set between each layer to apply a magnetic field; the electrodes can control the current through an external circuit, thereby changing the magnetic field strength; the permanent magnets can form a variable magnetic field area through a specific arrangement; for example, alternating permanent magnets are used with magnetorheological elastomer sheets sandwiched in between, and the magnetic field acting on the elastomer is changed by adjusting the spacing or polarity of the permanent magnets; the multi-layer laminated magnetorheological elastomer is installed between the multi-dimensional force sensor and the gate to ensure a firm connection and uniform force; at the same time, the magnetic field control circuit is integrated with the control system, so that the control unit can automatically adjust the magnetic field applied to the magnetorheological elastomer according to parameters such as the lateral torque monitored in real time, thereby realizing real-time adjustment of the stiffness.

[0067] More specifically, the stiffness of the multi-layer laminated magnetorheological elastomer changes with lateral torque and satisfies: Where G represents the dynamic stiffness value, G0 is the reference stiffness value, which is determined by calibration experiments under no-load conditions; M is the real-time equivalent mass parameter, which represents the coupling effect between the material impact force and the lateral torque of the cylinder; M crit is the critical mass threshold, which is set according to the gate structure strength and the rated load of the hydraulic component. As the lateral torque changes, the stiffness of the magnetorheological elastomer will change accordingly. The specific process is as follows:

[0068] When the lateral moment is small, The value of is small, at this time the stiffness of the magnetorheological elastomer is close to the reference stiffness value, which means that under normal or small external forces, the buffer structure maintains a relatively low stiffness, the system can operate more flexibly, and the normal workflow will not be restricted due to excessive stiffness; with the increase of the lateral torque, The value of gradually increases; According to the formula, the stiffness of the magnetorheological elastomer will be In this process, the magnetic particles inside the magnetorheological elastomer will be rearranged under the action of the magnetic field (which can be generated by an externally controlled excitation coil, and the magnitude of the magnetic field is related to the lateral torque), so that the mechanical properties of the elastic matrix are changed, thereby increasing the stiffness, which can effectively resist the increased lateral torque, play a role in buffering and dissipating energy, and protect equipment such as gates from damage due to excessive impact forces.

[0069] In this embodiment, the stiffness can be precisely adjusted according to a specific formula based on the real-time change of the lateral torque, so that the buffer structure can adapt to the external force requirements under different working conditions, and can provide appropriate buffering effects under various complex dynamic load conditions, thereby improving the adaptability and reliability of the system; the change in the mechanical properties of the magnetorheological elastomer is achieved through rapid adjustment of the external magnetic field, and the multi-layer laminated structure further optimizes the response characteristics; when the lateral torque changes, the arrangement of the internal magnetic particles can be quickly adjusted, thereby quickly changing the stiffness, and responding to the external force in a very short time, effectively suppressing the rapid increase of the impact force, and protecting the equipment; from a stiffness value close to the baseline stiffness value to a stiffness value significantly increased due to the increase in lateral torque, the multi-layer laminated magnetorheological elastomer can cover The wide stiffness range of the cover enables it to cope with a variety of different working conditions from light load to heavy load. No matter whether it is a small material impact or a large material impact, a good buffering effect can be achieved by adjusting the stiffness. Compared with the single-structure magnetorheological elastomer, the multi-layer laminated structure has better mechanical stability and durability. The layers support and constrain each other, reducing the risk of deformation and damage due to long-term use or large loads, extending the service life of the buffer structure, and reducing maintenance costs. The current and other parameters of the excitation coil are precisely adjusted through an external control system, thereby controlling the size of the generated magnetic field, achieving precise control of the stiffness of the magnetorheological elastomer, and can be flexibly adjusted according to different working conditions and system settings, thereby improving the intelligence and automation level of the system.

[0070] In some embodiments of the present invention, the hydraulic power unit comprises:

[0071] a variable hydraulic pump, configured to dynamically adjust output flow and pressure according to the modified control parameters;

[0072] A solenoid valve group, comprising a plurality of solenoid valves, each solenoid valve corresponding to a hydraulic cylinder, for controlling the flow direction, flow rate and pressure of the hydraulic oil according to the modified control parameters, and distributing the hydraulic oil to each hydraulic cylinder;

[0073] The oil tank is used to store hydraulic oil and provide oil reserve for the hydraulic system.

[0074] Specifically, in the hydraulic control system for the middle gangue silo gate, due to the constant changes in material properties (such as particle size and stacking height) and the dynamic changes in load during the gate opening process, the hydraulic system needs to be able to adjust the output flow and pressure in real time to accurately match the needs under different working conditions. Traditional fixed-displacement pumps have fixed output flow and pressure and cannot meet these dynamic requirements. However, variable hydraulic pumps can flexibly adjust the output according to the actual needs of the system, ensuring efficient and stable operation of the system.

[0075] Select a suitable type of variable hydraulic pump, such as an axial piston variable pump, and adjust the pump's displacement by changing the swash plate angle; connect the control port of the variable hydraulic pump to the control unit, and the control unit sends a control signal to the variable hydraulic pump based on the modified control parameters to adjust the swash plate angle, thereby achieving dynamic adjustment of the output flow and pressure; for example, when it is detected that the material stacking height increases and a greater opening force is required, the control unit sends a signal to the variable hydraulic pump to increase the output pressure and flow; it can accurately adjust the output flow and pressure in real time according to the actual working conditions, avoiding energy waste; reduce output under light load conditions to reduce energy consumption; increase output under heavy load conditions to ensure smooth opening of the gate; at the same time, improve the system response speed and control accuracy, so that the gate can be opened to the appropriate opening more accurately to adapt to changes in material properties.

[0076] Furthermore, as the direct actuator for gate opening, the hydraulic cylinder requires different hydraulic oil flow directions, flow rates, and pressures for precise movement under different working conditions. By setting up a solenoid valve group, each solenoid valve corresponds to a hydraulic cylinder for independent control, which can meet the differentiated needs of each cylinder under complex working conditions and ensure the coordinated and precise movement of the gate as a whole.

[0077] Specifically, a corresponding number of solenoid valves are configured according to the number of hydraulic cylinders, and the solenoid valves are connected to the oil circuit interfaces of the hydraulic cylinders accordingly; the control end of the solenoid valve is connected to the control unit, and the control unit sends an electrical signal to each solenoid valve based on the modified control parameters; when the signal is input, the electromagnetic mechanism inside the solenoid valve is actuated to change the valve core position, thereby controlling the flow direction, flow rate and pressure of the hydraulic oil, and realizing precise control of the corresponding hydraulic cylinder; for example, when the right cylinder requires greater thrust due to material accumulation, the control unit controls the corresponding solenoid valve to increase the flow rate and pressure of the hydraulic oil flowing to the right cylinder; through the above settings, independent and precise control of each hydraulic cylinder is achieved, and the working status of each cylinder can be flexibly adjusted according to the actual working conditions to ensure that the gate can be opened and closed stably and accurately under various material conditions; the flexibility and adaptability of the system are improved, and the abnormal gate opening caused by uncoordinated cylinder action is effectively avoided, thereby ensuring the accuracy of material flow control.

[0078] At the same time, during the operation of the hydraulic system, the hydraulic oil will circulate continuously, participating in energy transfer and conversion; at the same time, if there are leakages or oil loss in the system, reserve oil is needed to supplement it and maintain the normal operation of the system; in addition, the oil tank also plays a role in heat dissipation and precipitation of impurities to ensure the stable performance of the hydraulic oil; according to the working pressure, flow rate and operating time of the hydraulic system and other parameters, the volume of the oil tank is reasonably designed to ensure that it can meet the oil reserve required for the normal operation of the system; a partition is set inside the oil tank to separate the oil suction area and the oil return area to promote the precipitation of impurities in the oil and the separation of air; an oil filling port, an air vent, etc. are set on the top of the oil tank. The oil filling port is used to add hydraulic oil, and the air vent ensures that the inside of the oil tank is connected to the outside atmosphere to maintain pressure balance.

[0079] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A hydraulic control system for a middle slag bin gate based on load feedback, characterized in that: include: The execution unit comprises at least two hydraulic cylinders symmetrically arranged on both sides of the gate; A control unit is used to obtain material characteristic parameters in the middle gangue bin and force parameters of each hydraulic cylinder in real time, generate reference control parameters based on the material characteristic parameters, and correct and compensate the reference control parameters according to the force parameters to obtain corrected control parameters; A hydraulic power unit, configured to dynamically control the flow direction, flow rate, and pressure of the hydraulic oil in each hydraulic cylinder according to the modified control parameters; The control unit comprises: A material characteristic sensing module is used to obtain material characteristic parameters in the intermediate gangue bin in real time; the material characteristic parameters include at least one of a particle size parameter, a material stacking height, and a material impact force distribution parameter; The oil cylinder data acquisition module is used to obtain the force parameters of each hydraulic oil cylinder in real time; the force parameters include at least the axial thrust and lateral torque of the hydraulic oil cylinder piston rod; The benchmark confirmation module determines the gate opening based on the material characteristic parameters, and uses this to map the corresponding benchmark control parameters of each hydraulic cylinder. A database of mapping relationships between the material characteristic parameters and the gate opening is established. After the material characteristic sensing module obtains the material characteristic parameters, the benchmark confirmation module queries the corresponding gate opening from the mapping database. Based on the gate opening, combined with the mechanical structure parameters and working characteristics of the hydraulic cylinder, the benchmark control parameters of each hydraulic cylinder are calculated. The parameter compensation module considers the influence of the force parameters on the stroke of each hydraulic cylinder, obtains the correction factor corresponding to each hydraulic cylinder, and uses this to perform parameter correction on the baseline control parameters to obtain the corrected control parameters; for each hydraulic cylinder, based on its force parameters, combined with the mechanical model and kinematic model of the cylinder, calculates the influence on the cylinder stroke; converts the influence into the correction factor through a preset algorithm; and uses the correction factor to adjust the baseline control parameters obtained by the baseline confirmation module to obtain the corrected control parameters; Calculate the effect of axial thrust on the cylinder stroke. The piston rod undergoes elastic deformation under the action of axial thrust. The calculation formula is as follows: ; in, Indicates the stroke deviation caused by axial thrust; Indicates the measured value of axial thrust; Indicates the effective working length of the piston rod, which is determined according to the mechanical design parameters of the cylinder; Indicates the elastic modulus of the piston rod material; Indicates the cross-sectional area of ​​the piston rod; Calculate the influence of the lateral moment on the cylinder stroke. The piston rod is bent and deformed by the lateral moment. The calculation formula is as follows: ; in, Indicates the stroke deviation caused by lateral moment; Indicates the measured value of lateral moment; represents the piston rod section moment of inertia, , d is the piston rod diameter; Indicates the elastic modulus of the piston rod material; Indicates the effective working length of the piston rod; Taking into account the influence of axial thrust and lateral torque on the cylinder stroke, the calculation formula of the correction factor is: ； in, Indicates the correction factor, which is used to adjust the solenoid valve control parameters; Indicates the target travel output by the benchmark confirmation module; Based on the calculated correction factors, the reference control parameters are corrected, and the adjusted solenoid valve opening is: , S0 represents the reference solenoid valve opening; The flow correction formula for hydraulic oil is: , Q0 represents the reference flow; the pressure correction formula for the hydraulic oil is: ; in, Indicates the base pressure, Indicates the friction resistance compensation pressure, is the friction coefficient of the seal, is the cylinder piston area, The system response time.

2. The hydraulic control system for the middle slag bin gate based on load feedback according to claim 1, characterized in that: The material property perception module includes: The laser particle size analyzer installed at the discharge port of the silo obtains the particle size parameters of the material in real time; The piezoelectric contact sensor installed on the gate sealing surface detects the material impact force distribution parameters; The ultrasonic level meter is installed at a preset height position in the silo to monitor the stacking height of the materials in the silo in real time.

3. The hydraulic control system for the middle slag bin gate based on load feedback according to claim 1, characterized in that: A multi-dimensional force sensor is installed at the end of the piston rod of the hydraulic cylinder and is connected to the gate. The multi-dimensional force sensor is used to collect axial thrust and lateral torque.

4. The hydraulic control system for the middle slag bin gate based on load feedback according to claim 3, characterized in that: A buffer structure is connected between the multi-dimensional force sensor and the gate, which is used to play a buffering role when the gate is subjected to an instantaneous impact.

5. The load feedback-based hydraulic control system for the middle slag bin gate according to claim 4, characterized in that: The buffer structure adopts a multi-layer laminated magnetorheological elastomer.

6. The load feedback-based hydraulic control system for the middle slag bin gate according to claim 5, characterized in that: The stiffness of the multi-layer laminated magnetorheological elastomer changes with lateral torque and satisfies: ; Where G represents the dynamic stiffness value, G0 is the reference stiffness value, which is determined by calibration experiments under no-load conditions; M is the real-time equivalent mass parameter, which represents the coupling effect between the material impact force and the lateral torque of the cylinder; M crit It is the critical mass threshold, which is set according to the gate structure strength and the rated load of the hydraulic components.

7. The hydraulic control system for the middle slag bin gate based on load feedback according to claim 1, characterized in that: The hydraulic power unit comprises: a variable hydraulic pump, configured to dynamically adjust output flow and pressure according to the modified control parameters; A solenoid valve group, comprising a plurality of solenoid valves, each solenoid valve corresponding to a hydraulic cylinder, for controlling the flow direction, flow rate and pressure of the hydraulic oil according to the modified control parameters, and distributing the hydraulic oil to each hydraulic cylinder; The oil tank is used to store hydraulic oil and provide oil reserve for the hydraulic system.

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