Belt conveying and deviation rectifying hydraulic system and control method

Abstract

The invention relates to the technical field of material conveying, in particular to a belt conveying and deviation rectifying hydraulic system and a control method, and the system comprises a load-sensitive proportional multi-way valve control module, a deviation rectifying oil cylinder fine adjustment module, a belt tension balance module, a conveying path optimization module and a dynamic adjustment execution module. According to the method, the matching relation between hydraulic pressure and the conveying speed is built through the output state of the hydraulic pump and the oil temperature viscosity parameters, accurate linkage of hydraulic output and conveying states is achieved, the deviation correction opportunity is recognized according to the deviation rate and the response time, deviation correction control data is dynamically generated, and the execution precision is improved; layered weighted analysis is performed in combination with tension distribution to enhance tension adjustment balance, secondary offset caused by tension imbalance is avoided, a control blind area generated by pressure fluctuation is dynamically filled up by monitoring the coordination relation between hydraulic pressure and deviation correction conditions, deviation correction action continuity and stability are improved, risks of operation interruption and material waste are reduced, and deviation correction efficiency is improved. And the energy efficiency and the safety of system operation are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of material conveying, in particular to a belt conveying and deviation-correcting hydraulic system and a control method. Background Art

[0002] The field of material handling technology involves the organized movement and transportation of various bulk or piece materials across different process steps. It is widely used in industries such as metallurgy, coal, electricity, building materials, and chemicals. Core issues include conveyor device structural design, power drive systems, material directional control and distribution, energy efficiency management of the conveying process, and equipment operational stability control. Within this technical field, belt conveyor systems are widely used due to their simple structure, high conveying efficiency, and strong adaptability. They are particularly irreplaceable in situations where large quantities of materials are transported over long distances. However, belt conveyor systems can experience equipment damage, material waste, and safety risks during operation due to belt deviation. Therefore, belt deviation control technology has become a key research and engineering application in this field.

[0003] Among them, the traditional belt conveyor and correction hydraulic system refers to the hydraulic control device installed during the operation of the conveyor belt to prevent it from deviating. The technical issue addressed by this device is how to achieve belt position correction through automatic adjustment. The traditional belt correction hydraulic system uses the following two methods to achieve correction: one is to drive the hydraulic system to adjust the belt position by relying on the mechanical power generated by friction with the correction detection device after the belt deviates; the other is to directly drive the hydraulic station to supply oil to the hydraulic cylinder through a control signal to push the correction device to correct the belt's running trajectory. In addition, some correction systems use a combination of a correction drive motor and an electric cylinder to complete the belt correction adjustment, but this method is relatively expensive and is not suitable for most conventional working conditions.

[0004] The belt correction hydraulic system in the existing technology relies on a mechanical response or signal control method triggered after the deviation, and fails to take into account the control lag caused by changes in hydraulic parameters with temperature and flow. Especially in scenarios with continuous deviation or frequent load fluctuations, the correction response lag causes the belt position to be unable to be corrected in time, resulting in unbalanced tension distribution and frequent correction. In addition, in multi-node conveying paths, due to the asynchronous pressure fluctuations in each section, breakpoints where the correction execution fails are easily generated, resulting in decreased system stability and increased material scattering. For example, in long-distance transportation in coal mines, failure to adjust the belt deviation in time can easily cause overload and damage to transmission components, increasing maintenance difficulty and safety hazards. Summary of the Invention

[0005] In order to solve the technical problems existing in the prior art, the embodiment of the present invention provides a belt conveying and deviation correction hydraulic system and control method. The technical solution is as follows:

[0006] In one aspect, a belt conveying and deviation correction hydraulic system is provided, the system comprising:

[0007] The load-sensitive proportional multi-way valve control module extracts hydraulic power output parameters based on the hydraulic pump output pressure and flow characteristic curve, analyzes the impact of hydraulic oil temperature and viscosity on power transmission, organizes the relationship model between hydraulic power and belt conveyor speed, and obtains a hydraulic power adaptation table;

[0008] Based on the hydraulic power adaptation table, the correction cylinder fine-tuning module extracts the real-time belt offset and the target correction deviation, identifies the offset change rate and response time, quantifies the cumulative effect of the offset error, summarizes the correction weight, and obtains the correction cylinder fine-tuning data set;

[0009] The belt tension balancing module extracts tension distribution parameters based on the correction cylinder fine-tuning data set, performs hierarchical weighted analysis based on the hydraulic pressure fluctuation characteristics and belt deviation law, and obtains a tension balance matching table;

[0010] The conveying path optimization module is based on the tension balance matching table, sorted according to tension priority and conveying path requirements, identifies the tension distribution relationship between hydraulic pressure and belt, adjusts the distribution order according to node fluctuations, and outputs the basic configuration of the conveying link.

[0011] As a further solution of the present invention, the hydraulic power adaptation table includes a pressure classification interval, a flow control range, a temperature-viscosity compensation factor, and a conveying coupling coefficient; the correction cylinder fine-tuning data set includes an offset error factor, a response delay index, a change rate value, and a correction weighting coefficient; the tension balance matching table includes a graded tension interval, a demand priority level, a fluctuation threshold, and a matching weight coefficient; and the basic configuration of the conveying link includes a tension distribution structure, a node adjustment order, a fluctuation correction factor, and a flow distribution coefficient.

[0012] As a further solution of the present invention, the load-sensing proportional multi-way valve control module includes:

[0013] The hydraulic characteristics identification submodule extracts hydraulic power output parameters based on the hydraulic pump output pressure and flow characteristic curve, classifies the hydraulic oil temperature and viscosity influencing factors, and generates a hydraulic power output characteristic table;

[0014] The power transmission analysis submodule analyzes the influence of hydraulic oil temperature and viscosity on power transmission efficiency based on the hydraulic power output characteristic table, calculates the hydraulic power output adaptation value under different working conditions, and generates a hydraulic power and belt conveyor speed relationship model;

[0015] The adaptation table generation submodule arranges the hydraulic power output parameters based on the hydraulic power and belt conveying speed relationship model, analyzes the corresponding relationship with the target conveying speed value, and generates a hydraulic power adaptation table.

[0016] As a further solution of the present invention, the correction cylinder fine-tuning module includes:

[0017] The offset deviation extraction submodule extracts the real-time belt offset and the target correction deviation based on the hydraulic power adaptation table, records the offset change rate and response time data, and generates an offset deviation data table;

[0018] The error accumulation quantification submodule quantifies the offset error accumulation effect based on the offset deviation data table, analyzes the difference between the hydraulic power distribution and the correction demand ratio, and generates an offset error accumulation effect table;

[0019] The correction weight summarization submodule extracts the offset deviation magnitude and correction frequency based on the offset error cumulative effect table, filters the high-frequency error segments and marks the deviation direction, summarizes the correction weights, and generates a correction cylinder fine-tuning data set.

[0020] As a further solution of the present invention, the belt tension balancing module includes:

[0021] The tension demand extraction submodule extracts tension demand distribution parameters based on the correction cylinder fine-tuning data set, classifies tension demand priority data, and generates a tension demand distribution table;

[0022] The pressure fluctuation analysis submodule calculates the pressure node fluctuation state value based on the tension demand distribution table, combined with the pressure fluctuation characteristics of the hydraulic system and the belt deviation law, and generates a pressure fluctuation state table;

[0023] The hierarchical weighted analysis submodule performs a multi-dimensional comparison between tension demand and pressure fluctuation based on the pressure fluctuation state table, selects the tension demand distribution adaptation relationship, and generates a tension balance matching table.

[0024] As a further solution of the present invention, the transport path optimization module includes:

[0025] The priority sorting submodule extracts the tension peak position and the pressure difference threshold based on the tension balance matching table, analyzes the tension contribution under the unit pressure difference, and generates a tension priority sorting table;

[0026] The tension distribution identification submodule extracts the tension change trajectory of the main channel node based on the tension priority ranking table, identifies the pressure difference balance point and the offset direction, and generates a tension distribution relationship table;

[0027] Based on the tension distribution relationship table, the fluctuation adjustment submodule adjusts the distribution order according to the fluctuation of pressure nodes, extracts the frequency and amplitude sequence of node pressure difference changes, counts the offset amplitude and duration of the pressure difference exceeding limit nodes, divides the stable interval and fluctuation transition section, screens the main channel access sequence and bypass auxiliary channel connection nodes, and generates the basic configuration of the transmission link.

[0028] As a further solution of the present invention, the tension contribution under unit pressure difference refers to the magnitude of the influence of the target area on the overall tension under the action of unit pressure difference.

[0029] As a further solution of the present invention, the system further includes a dynamic adjustment execution module:

[0030] The dynamic adjustment execution module monitors the hydraulic pressure status and belt deviation correction execution status based on the basic configuration of the conveyor link, compares the unmet deviation correction requirements with the remaining hydraulic capacity in real time, and fills the pressure fluctuation gap by adjusting the hydraulic power output and the matching sequence of the deviation correction cylinders to generate a belt operation adjustment and deviation correction coordination plan;

[0031] The belt operation adjustment and deviation correction coordination plan includes residual adjustment parameters, execution sequence configuration, residual pressure utilization rate, and adjustment completion criteria.

[0032] As a further solution of the present invention, the dynamic adjustment execution module includes:

[0033] The status monitoring submodule collects pressure node values ​​and belt deviation feedback based on the basic configuration of the conveyor link, records the jump time and deviation amplitude, marks the pressure mutation and deviation deviation position, and generates a status monitoring data table;

[0034] The demand comparison submodule extracts the time points corresponding to the unmet correction requirements based on the status monitoring data table, identifies the remaining hydraulic power and the instantaneous gap, matches the target gap with the power segment, and generates a demand comparison result table;

[0035] Based on the demand comparison result table, the dynamic adjustment submodule fills the pressure fluctuation gap by adjusting the matching order of the hydraulic power output and the correction cylinder, identifies the power gap nodes and response lag segments, extracts the unexecuted sections and backup paths, updates the hydraulic output timing and correction control curves, and generates a belt operation adjustment and correction coordination plan.

[0036] On the other hand, a belt conveying and deviation correction hydraulic control method is provided, which is performed based on the above-mentioned belt conveying and deviation correction hydraulic system, and includes the following steps:

[0037] S1: Extract hydraulic power output parameters and belt target conveying speed values ​​based on the hydraulic pump output pressure and flow characteristic curve, normalize the hydraulic oil temperature and viscosity influencing factors, match the relationship between hydraulic power and target conveying speed, and generate a hydraulic power adaptation table;

[0038] S2: Based on the hydraulic power adaptation table, extract the target and real-time correction deviation values, calculate the deviation amplitude and response duration, filter the deviation change rate and response time data, and generate a correction cylinder fine-tuning data set;

[0039] S3: Based on the correction cylinder fine-tuning data set, extract the tension change frequency and peak nodes per unit time, associate the pressure difference response values ​​to identify abnormal transition points and stable recovery points, extract the echo time and jump boundary within the pressure fluctuation range, and generate a tension balance matching table;

[0040] S4: Based on the tension balance matching table, analyze the high-frequency tension priority segments and fluctuation peak positions, identify step change nodes, reconstruct the main channel and compensation path, and build the basic configuration of the transmission link;

[0041] S5: Based on the basic configuration of the conveyor link, the parameters that do not meet the deviation correction requirements and the fluctuation state values ​​of key nodes are screened, the deviation frequency peak is extracted and the deviation correction control logic is corrected to generate a belt operation adjustment and deviation correction coordination plan.

[0042] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0043] By extracting the output status of the hydraulic pump in real time and combining the oil temperature and viscosity change parameters to establish a matching relationship between the hydraulic pressure and the belt conveying speed, precise linkage between the hydraulic output and the conveying status is achieved. The correction timing is identified based on the belt offset change rate and response time, and detailed control data is dynamically generated according to the correction deviation, which improves the execution accuracy and response efficiency. With the help of tension distribution characteristics, layered weighted analysis is performed to enhance the balance of tension adjustment on both sides of the belt and avoid secondary offset caused by tension imbalance. By real-time monitoring of the coordinated matching between hydraulic pressure and correction execution status, the control blind spots caused by pressure fluctuations are dynamically filled, the continuity and stability of the correction action are enhanced, operation interruptions and material losses are reduced, and the energy efficiency and safety of the overall operation of the conveying system are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0045] Figure 1 Schematic diagram of a belt conveying and deviation-correcting hydraulic system provided by an embodiment of the present invention;

[0046] Figure 2 Schematic diagram of the system framework of the present invention;

[0047] Figure 3 This is a flow chart of the load-sensitive proportional multi-way valve control module in the present invention;

[0048] Figure 4This is a flow chart of the correction cylinder fine-tuning module in the present invention;

[0049] Figure 5 This is a flow chart of the belt tension balancing module in the present invention;

[0050] Figure 6 This is a flow chart of the transport path optimization module in the present invention;

[0051] Figure 7 This is a flowchart of the dynamic adjustment execution module in the present invention;

[0052] Figure 8 This is a flow chart of a belt conveying and deviation correction hydraulic control method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0053] The technical solution of the present invention is described below in conjunction with the accompanying drawings.

[0054] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as an "exemplary" in the present invention should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of the word "exemplary" is intended to present concepts in a concrete manner. Furthermore, in the embodiments of the present invention, "and / or" can mean both or either of the two.

[0055] In the embodiments of the present invention, the terms "image" and "picture" may be used interchangeably. It should be noted that, when the distinction between them is not emphasized, their intended meanings are the same. The terms "of," "corresponding," and "corresponding" may be used interchangeably. It should be noted that, when the distinction between them is not emphasized, their intended meanings are the same.

[0056] In the embodiments of the present invention, sometimes a subscript such as W1 may be written as a non-subscript such as W1. When the difference is not emphasized, the meanings to be expressed are the same.

[0057] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0058] The embodiment of the present invention provides a belt conveying and deviation correction hydraulic system, such as Figure 1-2 The schematic diagram of the belt conveying and deviation correction hydraulic system shown in the figure includes:

[0059] The load-sensitive proportional multi-way valve control module extracts hydraulic power output parameters according to a hydraulic pump output pressure and flow characteristic curve, analyzes the influence of hydraulic oil temperature and viscosity on power transmission, sorts a hydraulic power and belt conveying speed relationship model, and obtains a hydraulic power adaptation table;

[0060] The deviation correction oil cylinder fine adjustment module extracts a real-time belt deviation and a target deviation correction deviation based on the hydraulic power adaptation table, identifies a deviation change rate and a response time, quantifies a deviation error cumulative effect, induces a deviation correction weight, and obtains a deviation correction oil cylinder fine adjustment dataset;

[0061] The belt tension balance module extracts tension distribution parameters based on the deviation correction oil cylinder fine adjustment dataset, performs hierarchical weighted analysis on hydraulic pressure fluctuation characteristics and belt deviation rules, and obtains a tension balance matching table;

[0062] The conveying path optimization module sorts tension priorities and conveying path requirements according to the tension balance matching table, identifies a tension distribution relationship between the hydraulic and the belt, adjusts a distribution order through a node fluctuation condition, and outputs a conveying link basic configuration;

[0063] The dynamic adjustment execution module monitors hydraulic pressure states and belt deviation execution conditions based on the conveying link basic configuration, compares real-time unsatisfied deviation correction requirements and residual hydraulic capacity, fills in pressure fluctuation gaps by adjusting hydraulic power output and deviation correction oil cylinder matching orders, and generates a belt operation adjustment and deviation correction coordination plan.

[0064] The hydraulic power adaptation table includes a pressure classification interval, a flow control range, a temperature and viscosity compensation factor, and a conveying coupling coefficient. The deviation correction oil cylinder fine adjustment dataset includes a deviation error factor, a response delay index, a change rate value, and a deviation correction weighting coefficient. The tension balance matching table includes a classification tension interval, a demand priority level, a fluctuation threshold, and a matching weight coefficient. The conveying link basic configuration includes a tension distribution structure, a node adjustment order, a fluctuation correction factor, and a flow distribution coefficient. The belt operation adjustment and deviation correction coordination plan includes a residual error adjustment parameter, an execution order configuration, a residual pressure utilization rate, and an adjustment completion criterion.

[0065] Specifically, as shown in Figure 2 、 3 the load-sensitive proportional multi-way valve control module includes:

[0066] The hydraulic characteristic identification submodule extracts hydraulic power output parameters according to a hydraulic pump output pressure and flow characteristic curve, classifies hydraulic oil temperature and viscosity influence factors, and generates a hydraulic power output characteristic table;

[0067] Based on the hydraulic pump output pressure and flow characteristic curve, before the belt conveyor starts running, the control system first collects the output pressure and corresponding flow data of the hydraulic pump at different speeds. For example, when the hydraulic pump speed is 1000 rpm, its output pressure is 15 MPa and the flow rate is 50 L / min. When the speed is 1500 rpm, the output pressure is 20 MPa and the flow rate is 75 L / min. The instantaneous values ​​of pressure and flow are extracted as hydraulic power output parameters. At the same time, the temperature and viscosity of the hydraulic oil are monitored in real time through the temperature sensor and viscosity sensor installed in the hydraulic oil tank. For example, when the ambient temperature is 25 degrees Celsius, the hydraulic oil temperature is maintained at 40 degrees Celsius and the viscosity is 32 mm2 / s. When the ambient temperature is 5 degrees Celsius, the hydraulic oil temperature drops to 20 degrees Celsius and the viscosity increases to 68 mm2 / s. The temperature and viscosity values ​​are classified as influencing factors, and based on the parameters, a hydraulic power output characteristic table is generated. This table records the actual performance data of the hydraulic pump under different working conditions (such as different temperatures and viscosities), providing a basis for subsequent power matching.

[0068] The power transmission analysis submodule analyzes the impact of hydraulic oil temperature and viscosity on power transmission efficiency based on the hydraulic power output characteristic table, calculates the hydraulic power output adaptation value under different working conditions, and generates a relationship model between hydraulic power and belt conveyor speed;

[0069] The data in the hydraulic power output characteristic table are called up to analyze the influence of hydraulic oil temperature and viscosity on power transmission efficiency. For example, when the hydraulic oil temperature is 40 degrees Celsius and the viscosity is 32 mm2 / s, the power transmission efficiency of the hydraulic system reaches 0.92, while when the temperature is 20 degrees Celsius and the viscosity is 68 mm2 / s, the power transmission efficiency drops to 0.85. By comparing the efficiency data under different temperatures and viscosities, the power transmission efficiency under different working conditions is calculated, such as belt conveying different material densities (for example, light coal or heavy ore) and conveying slopes (for example, flat or 15-degree inclination). The required hydraulic power output adaptation value is calculated. For example, when transporting coal with a flat slope, the required hydraulic power output adaptation value is 50 kilowatts. When transporting ore with a slope of 15 degrees, the required hydraulic power output adaptation value is 80 kilowatts. According to the adaptation value, a mathematical relationship model between hydraulic power and belt conveyor speed is established. The model describes the stable conveying speed that the belt can achieve under a specific hydraulic power. For example, when the hydraulic power is 50 kilowatts, the belt conveyor speed is 2.5 meters per second. When the hydraulic power is 80 kilowatts, the belt conveyor speed is 4.0 meters per second.

[0070] The adaptation table generation submodule organizes the hydraulic power output parameters based on the relationship model between hydraulic power and belt conveyor speed, analyzes the corresponding relationship with the target conveyor speed value, and generates a hydraulic power adaptation table;

[0071] Based on the relationship model between hydraulic power and belt conveying speed, the hydraulic power output parameters are sorted out. For example, the model shows that when the hydraulic power is 45 kW, the corresponding belt conveying speed is 2.0 m / s, and when the hydraulic power is 55 kW, the corresponding belt conveying speed is 2.8 m / s. For a preset target conveying speed value, such as a target conveying speed of 2.5 m / s or 3.5 m / s, the corresponding relationship between the target conveying speed and the current hydraulic power output parameters is analyzed. Through interpolation or approximation calculation, the accurate hydraulic power required to achieve a specific target conveying speed is determined. For example, if the target conveying speed is set to 2.5 m / s, the required hydraulic power is calculated to be 49 kW, and if the target conveying speed is set to 3.5 m / s, the required hydraulic power is calculated to be 65 kW. The calculation results are sorted out to generate a hydraulic power adaptation table, which clearly lists the corresponding relationship between various target conveying speed values and the hydraulic power output parameters required to achieve the speed.

[0072] Specifically, as shown in Figure 2 、 4 The fine adjustment module of the deviation correction oil cylinder includes:

[0073] The offset deviation extraction submodule extracts the real-time offset of the belt and the target deviation correction based on the hydraulic power adaptation table, records the offset change rate and response time data, and generates an offset deviation data table;

[0074] Based on the hydraulic power adaptation table, the real-time offset of the belt is continuously monitored according to the hydraulic power adaptation table. For example, through a visual sensor or laser range finder installed on the edge of the belt, the lateral distance between the center line of the belt and the ideal center line is obtained in real time. If the ideal center line is 0 mm, the real-time offset of the belt is +10 mm (offset to the left) or -8 mm (offset to the right). At the same time, the preset target deviation correction is extracted, for example, the target deviation correction is set to 0 mm, indicating that the belt should run completely centered. When the belt deviates, the rate of change of the offset is recorded, for example, the belt deviates from +10 mm to +15 mm in 0.5 seconds, with a change rate of 10 mm / s. The response time after the deviation correction oil cylinder executes the action is recorded, for example, the time from issuing the deviation correction instruction to the start of the belt offset reduction is 0.2 seconds. The data monitored and recorded in real time, including the real-time offset of the belt, the target deviation correction, the offset change rate, and the response time, are integrated to form an offset deviation data table.

[0075] The error accumulation quantification submodule quantifies the offset error accumulation effect based on the offset deviation data table, analyzes the difference between the hydraulic power distribution and the deviation correction demand ratio, and generates an offset error accumulation effect table.

[0076] Based on the offset deviation data table, each record in the offset deviation data table is called to quantify the cumulative effect of the offset error. For example, after one hour of continuous operation, the belt has accumulated a 50 mm rightward offset, or the belt has continuously deviated 5 mm to the left within a certain period of time. By integrating or summing the offsets within consecutive time periods, the total cumulative offset error is calculated. For example, if the cumulative offset is 2 mm per minute for 30 minutes, the cumulative offset error is 60 mm. At the same time, the proportional difference between the hydraulic power distribution and the correction requirement is analyzed. For example, under a specific load, the hydraulic pump provides 80 kilowatts of power, while the belt correction requirement is only 2 kilowatts of correction force to drive the cylinder. By comparing the ratio of the actual hydraulic power output to the power required for correction, the degree of match between the two is determined. For example, if the ratio deviates from the set threshold of 0.05, it indicates a significant difference. The quantified cumulative error and proportional difference data are summarized to generate a cumulative effect table of the offset error.

[0077] The correction weight induction submodule extracts the offset deviation magnitude and correction frequency based on the offset error cumulative effect table, filters the high-frequency error segments and marks the deviation direction, summarizes the correction weights, and generates a correction cylinder fine-tuning dataset;

[0078] According to the data in the cumulative effect table of offset error, the deviation magnitude and correction frequency of the belt offset are extracted. For example, in the past 100 correction operations, there were 30 offset magnitudes between 5 mm and 10 mm, and the correction frequency was 2 times per minute. There were 10 offset magnitudes exceeding 20 mm, and the correction frequency was 0.5 times per minute. The deviation magnitude is divided into three intervals: low offset magnitude is 0-5 mm, medium offset magnitude is 5-15 mm, and high offset magnitude is above 15 mm. The correction frequency is divided into low frequency (less than 0.5 times / minute), medium frequency (0.5-2 times / minute), and high frequency (more than 2 times / minute). Clock), further screen out the high-frequency error sections, for example, during the start-up and shutdown stages of the belt conveyor, or at the material feeding point, the frequency of belt deviation is significantly higher than that of the area, and mark the deviation direction of the high-frequency error. For example, during the startup stage, the belt mainly deviates to the left, and during the shutdown stage, it mainly deviates to the right. According to the offset magnitude, correction frequency and deviation direction, the correction weight is summarized. For example, for the left deviation with high frequency and large deviation, a weight of 0.8 is assigned, and for the right deviation with medium frequency and medium deviation, a weight of 0.5 is assigned. The weight data is sorted to generate a correction cylinder fine-tuning data set, which guides the fine-tuning strategy of the correction cylinder.

[0079] Specifically, if Figure 2 、 5 As shown, the belt tension balancing module includes:

[0080] The tension demand extraction submodule extracts tension demand distribution parameters based on the deviation correction oil cylinder fine adjustment data set, classifies tension demand priority data, and generates a tension demand distribution table.

[0081] According to the deviation correction weight and offset information in the deviation correction oil cylinder fine adjustment data set, the tension demand distribution parameters of different positions of the belt are extracted, for example, at the belt turning position, due to frequent deviation correction and large offset amount, the tension demand parameter is high, for example, 20 kN, while in the straight conveying section, the tension demand is low, for example, 10 kN, the tension demand is divided into three levels of high priority (more than 18 kN), medium priority (12-18 kN) and low priority (less than 12 kN), and the tension demand data is classified by priority, for example, in the case of emergency deviation correction, the instantaneous tension adjustment required by the deviation correction oil cylinder is given the highest priority, while the small range tension fluctuation in daily operation is given a lower priority, according to the parameters, a tension demand distribution table is generated, which records in detail the tension demand values of each section of the belt and the corresponding priority.

[0082] The pressure fluctuation analysis submodule calculates the pressure node fluctuation state value based on the tension demand distribution table, combines the pressure fluctuation characteristics of the hydraulic system and the belt offset law, and generates a pressure fluctuation state table.

[0083] The pressure node fluctuation state value uses the formula:

[0084]

[0085] Where F represents the pressure node fluctuation state value, P i represents the pressure change in the i-th time period, L i represents the pressure fluctuation belt offset in the i-th time period, t i represents the time interval in the i-th time period, Q i represents the flow change in the i-th time period, T represents the initial flow, and n represents the number of fluctuation periods.

[0086] The pressure node fluctuation state value is calculated by combining the tension demand distribution table, the historical pressure fluctuation characteristics of the hydraulic system and the belt offset law, specifically, when the belt deviates during conveying, the action of the deviation correction oil cylinder will cause local pressure fluctuation of the hydraulic system, at the same time, the change of the belt tension will also feedback to the hydraulic system, through the real-time collection of the pressure data of the hydraulic system at different monitoring points (such as the inlet of the oil cylinder and the outlet of the pump), and combining the real-time offset amount data of the belt, the pressure node fluctuation state value F is calculated, which uses the formula Calculation is performed, where F represents the pressure node fluctuation state value, which characterizes the comprehensive influence of the interaction between the hydraulic system pressure fluctuation and the belt deviation in a specific period, n represents the number of fluctuation periods, for example, the analysis period can be divided into 10 sub-periods, i represents the i-th fluctuation period, ΔP i Represents the pressure change in the i-th time period, in MPa, which is obtained by measuring the difference between the maximum and minimum pressures of the monitoring point in the period. For example, in the i=1 period, the pressure fluctuates from 18 MPa to 20 MPa, then ΔP1=2 MPa, ΔL i represents the pressure fluctuation belt offset in the i-th time period, in millimeters, which represents the lateral offset distance of the belt during the pressure fluctuation period. For example, in the i=1 period, the belt offset is 5 mm, t i Represents the time interval within the i-th time period, in seconds. For example, the time interval of each period is set to 0.1 seconds, Q i represents the flow rate change in the i-th time period, in liters / second, which represents the instantaneous output flow rate change of the hydraulic pump in this period. For example, in the i=1 period, the flow rate changes from 60 liters / second to 62 liters / second, then ΔQ1=2 liters / second. T represents the initial flow rate, in liters / second, which represents the initial flow rate of the hydraulic system when the belt is in normal and stable operation. For example, the initial flow rate is set to 50 liters / second.

[0087] The benefit of this formula is that by taking into account the pressure change ΔP i Belt offset ΔL i The product of and accumulation of pressure fluctuations can reflect the direct impact of pressure fluctuations on the correction effect. Combined with the time interval t i , flow change Q i This formula accurately quantifies the combined effect of pressure fluctuation and offset per unit flow rate, providing an accurate and dynamic indicator for evaluating the belt tension balance state. In a belt conveyor system, the following parameters of the hydraulic system were monitored over three consecutive fluctuation periods, with the initial flow rate T set at 50 liters / second.

[0088] Table 1: Pressure fluctuation monitoring data

[0089]

[0090] As shown in Table 1, the pressure node fluctuation state value is calculated by substituting the data into the formula:

[0091]

[0092] t1·Q1+T=0.1·1+50=50.1;

[0093] t2·Q2+T=0.1·2+50=50.2;

[0094] t3·Q3+T=0.1·0.5+50=50.05;

[0095] To simplify the calculation, the denominator is averaged, or more precisely, the independent denominator terms of each period are summed up, taking into account the denominator term t i Q i +T represents the combined effect of the current flow and the initial flow in each time interval. Here, the sum of the numerator terms is divided by the sum of the denominators to reflect the overall fluctuation.

[0096]

[0097] The results show that in the current belt conveyor system, the combined impact value of pressure fluctuation and belt deviation is about 0.04056 during the fluctuation period. This reflects the dynamic stability of the system under a specific operating state and serves as an important basis for evaluating whether the system is in a good tension balance state. The smaller the value F, the more stable the system and the smaller the impact of pressure fluctuation on belt deviation. The calculated pressure node fluctuation state values ​​are summarized to generate a pressure fluctuation state table.

[0098] The hierarchical weighted analysis submodule performs a multi-dimensional comparison of tension demand and pressure fluctuation based on the pressure fluctuation state table, screens the tension demand distribution adaptation relationship, and generates a tension balance matching table;

[0099] Based on the data in the pressure fluctuation status table, a multi-dimensional comparison is performed between tension demand and pressure fluctuation. For example, the high-priority tension demand (for example, 20 kN) in the tension demand distribution table is compared with the corresponding pressure fluctuation status value (for example, 0.04056) in the pressure fluctuation status table. If the high-priority tension demand corresponds to a higher pressure fluctuation status value (for example, greater than 0.05), it means that there is a challenge in tension balance in this area. By setting a comparison threshold, for example, when the pressure fluctuation status value is higher than 0.06, it is determined that tension adjustment is required, and when the pressure fluctuation status value is lower than 0.02, it is determined that the tension balance is good. Different tension demand levels are cross-compared with different pressure fluctuation ranges to screen out the tension demand distribution adaptation relationship, for example, the adaptation relationship of "high priority tension demand corresponding to medium pressure fluctuation" or the adaptation relationship of "low priority tension demand corresponding to low pressure fluctuation" is screened out. The screening results are sorted to generate a tension balance matching table, which records in detail the tension demand and corresponding pressure fluctuation status in different areas, providing data support for subsequent conveying path optimization.

[0100] Specifically, if Figure 2 、 6 As shown, the transport path optimization module includes:

[0101] The priority sorting submodule extracts the tension peak position and pressure difference threshold based on the tension balance matching table, analyzes the tension contribution under unit pressure difference, and generates a tension priority sorting table;

[0102] The tension contribution under unit pressure difference refers to the magnitude of the impact of the target area on the overall tension under the action of unit pressure difference;

[0103] Based on the data in the tension balance matching table, the peak tension position and pressure difference threshold in the belt conveyor path are extracted. For example, at a belt bend or material unloading point, the tension reaches a peak of 25 kN. A pressure difference threshold is set. For example, when the pressure difference between adjacent pressure nodes exceeds 3 MPa, it is determined that the pressure difference is too large and requires attention. The magnitude of the impact of each pressure node or area on the overall tension under the action of a unit pressure difference, that is, the tension contribution per unit pressure difference, is analyzed. For example, if a certain area can cause an overall tension change of 5 kN under a pressure difference of 1 MPa, its tension contribution is 5 kN / MPa. While another area only causes an overall tension change of 2 kN under the same 1 MPa pressure difference, its tension contribution is 2 kN / MPa. Based on the tension peak position, pressure difference threshold, and tension contribution per unit pressure difference, the tension priority of each point or area on the belt conveyor path is sorted. For example, areas with high tension peaks and large tension contributions per unit pressure difference are ranked higher in priority. The sorting results are organized to generate a tension priority ranking table.

[0104] The tension distribution identification submodule extracts the tension change trajectory of the main channel nodes based on the tension priority ranking table, identifies the pressure difference balance point and offset direction, and generates a tension distribution relationship table;

[0105] Based on the data in the tension priority table, the tension change trajectory on the main channel node is extracted. For example, the real-time tension values ​​of each key monitoring point along the main conveying channel (such as the drive roller, redirecting roller, and before and after the tensioning device) are monitored under working conditions such as load changes, speed adjustments, or material type switching, and the curve of its change over time is recorded. For example, at the moment of startup, the tension at the drive roller rapidly increases from 10 kN to 22 kN. By analyzing the trajectory, the pressure difference balance point is identified, that is, the area where the pressure difference on the belt is stable or minimum. For example, in the middle position of the straight conveying section, the pressure difference is continuously within 0.5 MPa. At the same time, the deviation direction is identified. For example, if the belt continues to deviate to the left near a certain pressure difference balance point, it is marked as "left deviation trend". The extracted main channel node tension change trajectory, pressure difference balance point, and deviation direction information are integrated to generate a tension distribution relationship table, which describes in detail the tension distribution characteristics of the belt under different operating conditions.

[0106] The fluctuation adjustment submodule adjusts the distribution order based on the tension distribution relationship table according to the fluctuation of pressure nodes, extracts the frequency and amplitude sequence of node pressure difference changes, calculates the offset amplitude and duration of nodes with excessive pressure difference, divides the stable interval into the fluctuation transition section, selects the main channel access sequence and the bypass auxiliary channel connection nodes, and generates the basic configuration of the transmission link;

[0107] According to the data in the tension distribution relationship table, the distribution order of hydraulic power is adjusted according to the fluctuation of pressure nodes. For example, if a pressure node shows continuous high fluctuation, the hydraulic power allocated to the node will be adjusted first to stabilize its pressure. The pressure difference change frequency and amplitude sequence of each node are extracted. For example, within a specific time window, the pressure difference of a pressure node fluctuates within the range of ±1 MPa 15 times, and the maximum fluctuation amplitude is 2.5 MPa. The offset amplitude and duration of the node with excessive pressure difference are counted. For example, if the pressure difference exceeding threshold is set to 3 MPa, the offset amplitude of the pressure difference of a node exceeding 3 MPa is counted. 5 mm, lasted for 2 seconds. According to the data, the stable interval and the fluctuation transition section are divided. For example, the area with a pressure difference fluctuation amplitude of less than 0.5 MPa is divided into a stable interval, and the area with a pressure difference fluctuation amplitude between 0.5 MPa and 2 MPa is divided into a fluctuation transition section. The main channel access sequence and the bypass auxiliary channel connection nodes are further screened. For example, according to the material transportation demand and the stability of the tension distribution, the priority transportation path of the main channel material is determined, and the connection node that can enable the bypass auxiliary channel for diversion when the main channel pressure fluctuates greatly is identified. The adjustment and screening results are integrated to generate the basic configuration of the transportation link.

[0108] Specifically, if Figure 2 、 7 As shown, the dynamic adjustment execution module includes:

[0109] The status monitoring submodule is based on the basic configuration of the conveyor chain, collects pressure node values ​​and belt correction feedback, records the jump time and deviation amplitude, marks the pressure mutation and correction offset position, and generates a status monitoring data table;

[0110] Based on the basic configuration of the conveying link, the real-time values of each pressure node and the belt deviation feedback data are continuously collected, for example, by installing pressure sensors at key positions of the hydraulic system, collecting pressure values every 0.1 seconds, and receiving offset feedback from the belt deviation sensor in real time, for example, the real-time belt offset is +5mm, the jump moment and deviation amplitude of the pressure and deviation feedback data are recorded, for example, at a certain moment, the pressure value jumps from 18MPa to 22MPa, the deviation amplitude is 4MPa, and at the same time, the moment when the belt offset suddenly changes from +5mm to -2mm and the deviation amplitude of 7mm are recorded, and the positions where the pressure mutation and deviation offset occur are marked, for example, the pressure mutation occurs at the pressure sensor 1 of the belt driving section, and the belt deviation offset is detected at the discharge port. The collected, recorded and marked information is integrated to generate a state monitoring data table, which provides a comprehensive real-time view of the system operation state.

[0111] The demand comparison submodule extracts the time points corresponding to the unmet deviation demand based on the state monitoring data table, identifies the remaining hydraulic power and the instantaneous gap, matches the target gap and the power segment, and generates a demand comparison result table;

[0112] According to the data in the state monitoring data table, the time points corresponding to the unmet deviation demand are extracted, for example, if the belt continuously maintains a deviation of 5mm in a certain time period, and the deviation cylinder fails to return it to the target position, then the time point is marked as unmet deviation demand. Identify the remaining hydraulic power and the instantaneous gap, for example, by comparing the real-time hydraulic power output with the power required for target deviation, if the hydraulic power output is 100kW and the instantaneous power required for deviation is 10kW, then the remaining power is 90kW, if the hydraulic power output is 50kW but the instantaneous deviation requires 60kW, then there is a 10kW instantaneous power gap. The power gap is divided into three levels: slight gap (0-5kW), moderate gap (5-15kW), and severe gap (more than 15kW). Further match the target gap with the available power segment, for example, if there is a 10kW moderate power gap, match it to the additional power output segment that the hydraulic pump can provide at a certain speed, for example, by increasing the pump speed by 200rpm, an additional 15kW power can be provided. Organize the comparison results to generate a demand comparison result table, which indicates which deviation demands are not met at which time and the power state of the hydraulic system.

[0113] The dynamic adjustment submodule fills in the pressure fluctuation gap by adjusting the hydraulic power output and the matching order of the deviation cylinder based on the demand comparison result table, identifies the power gap node and the response lag segment, extracts the unexecuted segment and the standby path, updates the hydraulic output timing and the deviation control curve, and generates a belt operation adjustment and deviation coordination plan.

[0114] Based on the demand comparison result table, the pressure fluctuation gap is filled by adjusting the matching order of the hydraulic power output and the correction cylinder. For example, when an instantaneous pressure drop of 0.8 MPa is detected at a certain pressure node, the output power of the hydraulic pump is immediately adjusted, and the response speed of the correction cylinder is adjusted at the same time, so that the correction action is completed in a very short time (for example, 0.05 seconds), thereby avoiding or minimizing the generation of pressure gaps, identifying power gap nodes and response lag segments. For example, when the belt conveyor accelerates, a power gap of 15 kilowatts appears at the drive roller position, and the response lag time of the correction cylinder here is 0.3 seconds, and the unexecuted segments are extracted. With the backup path, for example, if the main correcting cylinder fails to perform the corrective action due to mechanical failure, start the backup correcting cylinder or enable the tension adjustment function of another part of the belt conveyor as a backup path, and update the hydraulic output timing and correction control curve based on the identified and extracted information. For example, the power output curve of the hydraulic pump is adjusted to increase the output in advance at the initial stage of belt acceleration, and the control curve of the correcting cylinder is adjusted to perform pre-compensation action immediately when a small offset is detected. The adjusted and updated data are integrated to generate a belt operation adjustment and correction coordination plan, which ensures that the belt can maintain a smooth, efficient and precise operation state under various working conditions.

[0115] See also Figure 8 The belt conveying and deviation correction hydraulic control method is based on the above-mentioned belt conveying and deviation correction hydraulic system and includes the following steps:

[0116] S1: Extract hydraulic power output parameters and belt target conveying speed values ​​based on the hydraulic pump output pressure and flow characteristic curve, normalize the hydraulic oil temperature and viscosity influencing factors, match the relationship between hydraulic power and target conveying speed, and generate a hydraulic power adaptation table;

[0117] S2: Based on the hydraulic power adaptation table, the target and real-time correction deviation values ​​are extracted, the deviation amplitude and response duration are calculated, the deviation change rate and response time data are filtered, and the correction cylinder fine-tuning data set is generated;

[0118] S3: Based on the correction cylinder fine-tuning dataset, the tension change frequency and peak nodes per unit time are extracted. The pressure difference response values ​​are correlated to identify abnormal transition points and stable recovery points. The echo time and jump boundary within the pressure fluctuation range are extracted to generate a tension balance matching table.

[0119] S4: Based on the tension balance matching table, analyze the high-frequency tension priority segments and fluctuation peak positions, identify step change nodes, reconstruct the main channel and compensation path, and build the basic configuration of the transmission link;

[0120] S5: Based on the basic configuration of the conveyor link, filter out parameters that do not meet the deviation correction requirements and fluctuation state values ​​of key nodes, extract the offset frequency peak and correct the deviation correction control logic, and generate a belt operation adjustment and deviation correction coordination plan.

[0121] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A belt conveying and deviation correction hydraulic system, characterized in that: The system comprises: The load-sensitive proportional multi-way valve control module extracts hydraulic power output parameters based on the hydraulic pump output pressure and flow characteristic curve, analyzes the impact of hydraulic oil temperature and viscosity on power transmission, organizes the relationship model between hydraulic power and belt conveyor speed, and obtains a hydraulic power adaptation table; Based on the hydraulic power adaptation table, the correction cylinder fine-tuning module extracts the real-time belt offset and the target correction deviation, identifies the offset change rate and response time, quantifies the cumulative effect of the offset error, summarizes the correction weight, and obtains the correction cylinder fine-tuning data set; The belt tension balancing module extracts tension distribution parameters based on the correction cylinder fine-tuning data set, performs hierarchical weighted analysis based on the hydraulic pressure fluctuation characteristics and belt deviation law, and obtains a tension balance matching table; The conveying path optimization module is based on the tension balance matching table, sorted according to tension priority and conveying path requirements, identifies the tension distribution relationship between hydraulic pressure and belt, adjusts the distribution order according to node fluctuations, and outputs the basic configuration of the conveying link.

2. The belt conveying and deviation-correcting hydraulic system according to claim 1, characterized in that: The hydraulic power adaptation table includes pressure classification intervals, flow control ranges, temperature-viscosity compensation factors, and conveying coupling coefficients. The correction cylinder fine-tuning data set includes offset error factors, response delay indicators, change rate values, and correction weighting coefficients. The tension balance matching table includes graded tension intervals, demand priority levels, fluctuation thresholds, and matching weighting coefficients. The basic configuration of the conveying link includes tension distribution structure, node adjustment order, fluctuation correction factors, and flow distribution coefficients.

3. The belt conveying and deviation-correcting hydraulic system according to claim 1, characterized in that: The load-sensing proportional multi-way valve control module includes: The hydraulic characteristics identification submodule extracts hydraulic power output parameters based on the hydraulic pump output pressure and flow characteristic curve, classifies the hydraulic oil temperature and viscosity influencing factors, and generates a hydraulic power output characteristic table; The power transmission analysis submodule analyzes the influence of hydraulic oil temperature and viscosity on power transmission efficiency based on the hydraulic power output characteristic table, calculates the hydraulic power output adaptation value under different working conditions, and generates a hydraulic power and belt conveyor speed relationship model; The adaptation table generation submodule arranges the hydraulic power output parameters based on the hydraulic power and belt conveying speed relationship model, analyzes the corresponding relationship with the target conveying speed value, and generates a hydraulic power adaptation table.

4. The belt conveying and deviation-correcting hydraulic system according to claim 3, characterized in that: The correction cylinder fine-tuning module includes: The offset deviation extraction submodule extracts the real-time belt offset and the target correction deviation based on the hydraulic power adaptation table, records the offset change rate and response time data, and generates an offset deviation data table; The error accumulation quantification submodule quantifies the offset error accumulation effect based on the offset deviation data table, analyzes the difference between the hydraulic power distribution and the correction demand ratio, and generates an offset error accumulation effect table; The correction weight summarization submodule extracts the offset deviation magnitude and correction frequency based on the offset error cumulative effect table, filters the high-frequency error segments and marks the deviation direction, summarizes the correction weights, and generates a correction cylinder fine-tuning data set.

5. The belt conveying and deviation-correcting hydraulic system according to claim 4, characterized in that: The belt tension balancing module includes: The tension demand extraction submodule extracts tension demand distribution parameters based on the correction cylinder fine-tuning data set, classifies tension demand priority data, and generates a tension demand distribution table; The pressure fluctuation analysis submodule calculates the pressure node fluctuation state value based on the tension demand distribution table, combined with the pressure fluctuation characteristics of the hydraulic system and the belt deviation law, and generates a pressure fluctuation state table; The hierarchical weighted analysis submodule performs a multi-dimensional comparison between tension demand and pressure fluctuation based on the pressure fluctuation state table, screens the tension demand distribution adaptation relationship, and generates a tension balance matching table.

6. The belt conveying and deviation-correcting hydraulic system according to claim 5, characterized in that: The transport path optimization module includes: The priority sorting submodule extracts the tension peak position and the pressure difference threshold based on the tension balance matching table, analyzes the tension contribution under the unit pressure difference, and generates a tension priority sorting table; The tension distribution identification submodule extracts the tension change trajectory of the main channel node based on the tension priority ranking table, identifies the pressure difference balance point and the offset direction, and generates a tension distribution relationship table; Based on the tension distribution relationship table, the fluctuation adjustment submodule adjusts the distribution order according to the fluctuation of pressure nodes, extracts the frequency and amplitude sequence of node pressure difference changes, counts the offset amplitude and duration of the pressure difference exceeding limit nodes, divides the stable interval and fluctuation transition section, screens the main channel access sequence and bypass auxiliary channel connection nodes, and generates the basic configuration of the transmission link.

7. The belt conveying and deviation-correcting hydraulic system according to claim 6, characterized in that: The tension contribution under unit pressure difference refers to the magnitude of the impact of the target area on the overall tension under the action of unit pressure difference.

8. The belt conveying and deviation-correcting hydraulic system according to claim 1, characterized in that: The system also includes a dynamic adjustment execution module: The dynamic adjustment execution module monitors the hydraulic pressure status and belt deviation correction execution status based on the basic configuration of the conveyor link, compares the unmet deviation correction requirements with the remaining hydraulic capacity in real time, and fills the pressure fluctuation gap by adjusting the hydraulic power output and the matching sequence of the deviation correction cylinders to generate a belt operation adjustment and deviation correction coordination plan; The belt operation adjustment and deviation correction coordination plan includes residual adjustment parameters, execution sequence configuration, residual pressure utilization rate, and adjustment completion criteria.

9. The belt conveying and deviation-correcting hydraulic system according to claim 8, characterized in that: The dynamic adjustment execution module includes: The status monitoring submodule collects pressure node values ​​and belt deviation feedback based on the basic configuration of the conveyor link, records the jump time and deviation amplitude, marks the pressure mutation and deviation deviation position, and generates a status monitoring data table; The demand comparison submodule extracts the time points corresponding to the unmet correction requirements based on the status monitoring data table, identifies the remaining hydraulic power and the instantaneous gap, matches the target gap with the power segment, and generates a demand comparison result table; Based on the demand comparison result table, the dynamic adjustment submodule fills the pressure fluctuation gap by adjusting the matching order of the hydraulic power output and the correction cylinder, identifies the power gap nodes and response lag segments, extracts the unexecuted sections and backup paths, updates the hydraulic output timing and correction control curves, and generates a belt operation adjustment and correction coordination plan.

10. A belt conveying and deviation correction hydraulic control method, characterized in that: The control method is used to implement the belt conveying and deviation correction hydraulic system according to any one of claims 1 to 9, comprising the following steps: S1: Extract hydraulic power output parameters and belt target conveying speed values ​​based on the hydraulic pump output pressure and flow characteristic curve, normalize the hydraulic oil temperature and viscosity influencing factors, match the relationship between hydraulic power and target conveying speed, and generate a hydraulic power adaptation table; S2: Based on the hydraulic power adaptation table, extract the target and real-time correction deviation values, calculate the deviation amplitude and response duration, filter the deviation change rate and response time data, and generate a correction cylinder fine-tuning data set; S3: Based on the correction cylinder fine-tuning data set, extract the tension change frequency and peak nodes per unit time, associate the pressure difference response values ​​to identify abnormal transition points and stable recovery points, extract the echo time and jump boundary within the pressure fluctuation range, and generate a tension balance matching table; S4: Based on the tension balance matching table, analyze the high-frequency tension priority segments and fluctuation peak positions, identify step change nodes, reconstruct the main channel and compensation path, and build the basic configuration of the transmission link; S5: Based on the basic configuration of the conveyor link, the parameters that do not meet the deviation correction requirements and the fluctuation state values ​​of key nodes are screened, the deviation frequency peak is extracted and the deviation correction control logic is corrected to generate a belt operation adjustment and deviation correction coordination plan.

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