Storage bin vibration control method and system, controller and computer readable storage medium

Abstract

The invention discloses a stock bin rapping control method and system and electronic equipment, and belongs to the technical field of feeding, and the method comprises the steps that each path of rapping motor is controlled to operate with respective target working duration; the maximum target working duration is used as the reference duration, and the working current of each path of rapping motor in the reference duration is obtained in real time; judging whether the working current of each path of rapping motor exceeds a preset abnormal threshold at the end of the reference duration, and if so, acquiring the abnormal working duration of the corresponding rapping motor in an abnormal state; whether the abnormal working duration and the number of the vibrating motors in the abnormal state meet preset adjustment conditions or not is judged, and if yes, the target interval time is adjusted; and each rapping motor is controlled to execute the rapping operation of the next rapping period according to the adjusted target interval time. The vibration parameters of the vibration motor can be dynamically adjusted according to the discharging state, real-time matching of the exciting force and the rheological characteristics of materials is achieved, and normal and efficient operation of the vibration motor is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of feeding, in particular, to a silo vibration control method, system, controller and computer readable storage medium. BACKGROUND

[0002] As a key equipment of industrial continuous production, the discharge stability of the silo directly affects the material supply continuity of the subsequent process flow.

[0003] At present, in order to overcome the problem of blockage caused by poor flowability and easy caking of the material in the silo, and ensure the continuity and efficiency of the production process, the silo generally uses a vibration motor as an auxiliary discharge device to realize the regulation and control of the material flow state by destroying the friction between the material and the silo wall and the cohesion of the material. In the traditional scheme, the vibration motor usually adopts a fixed vibration parameter control strategy, such as fixed vibration frequency and fixed running period, wherein the vibration parameter is usually designed based on the critical flowability requirement under the worst working condition.

[0004] However, such fixed parameter control method has the following obvious defects: on the one hand, the vibration motor is in high load working condition for a long time, which causes the working current of the motor to continuously maintain in the rated peak value area, accelerates the aging failure process of the motor winding insulation, and the high-density impact load is easy to induce mechanical fatigue damage of the silo body structure; on the other hand, when the material flowability is dynamically disturbed by environmental temperature and humidity, stacking density and other parameters (such as the increase of water content leading to the enhancement of adhesion), the fixed vibration parameter cannot realize the real-time matching of the excitation force and the material rheological property, and the over-excitation or under-excitation phenomenon is easy to occur. SUMMARY

[0005] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application provides a silo vibration control method, system and electronic device, which aims to dynamically adjust the vibration parameters of the vibration motor according to the discharging state, realize the real-time matching of the excitation force and the material rheological property, and ensure the normal and efficient operation of the vibration motor.

[0006] To achieve the above-mentioned purpose, the technical scheme adopted by the present application is as follows:

[0007] In a first aspect, the present application provides a silo vibration control method, which comprises:

[0008] controlling each vibration motor to operate for a respective target working time, wherein the target working time is the duration of one vibration cycle of the vibration motor operating at a target interval time;

[0009] taking the maximum target working time as a reference time, and real-time acquiring the working current of each vibration motor within the reference time;

[0010] determine whether the working current of each vibration motor exceeds a preset abnormal threshold at the end of the target working duration, and if so, obtain an abnormal working duration of the vibration motor in an abnormal state;

[0011] determine whether the abnormal working duration and the number of vibration motors in an abnormal state satisfy a preset adjustment condition, and if so, adjust the target interval time;

[0012] control each vibration motor to perform a vibration operation in a next vibration cycle according to the adjusted target interval time.

[0013] Further, the step of determining whether the working current of each vibration motor exceeds a preset abnormal threshold at the end of the target working duration, and if so, obtaining an abnormal working duration of the vibration motor in an abnormal state includes:

[0014] determining whether the working current of each vibration motor is not less than a maximum plugging current value at the end of the target working duration;

[0015] if so, obtaining a plugging working duration of the vibration motor in a plugging state;

[0016] determining whether the working current of each vibration motor is not greater than a minimum material shortage current value at the end of the target working duration;

[0017] if so, obtaining a material shortage working duration of the vibration motor in a material shortage state.

[0018] Further, the step of determining whether the abnormal working duration and the number of vibration motors in an abnormal state satisfy a preset adjustment condition, and if so, adjusting the target interval time includes:

[0019] determining whether the number of vibration motors in a plugging state is not less than a preset plugging motor number threshold, and whether the number of vibration motors corresponding to the plugging working duration not less than a preset plugging time threshold is not less than the preset plugging motor number threshold;

[0020] if so, determining whether the target interval time of the current vibration cycle is greater than a lower limit value of the target interval time;

[0021] if so, adjusting the target interval time by a preset negative step;

[0022] determining whether the number of vibration motors in a material shortage state is not less than a preset material shortage motor number threshold, and whether the number of vibration motors corresponding to the material shortage working duration not less than a preset material shortage time threshold is not less than the preset material shortage motor number threshold;

[0023] If yes, it is judged whether the target interval time of the current rapping cycle is less than the upper limit value of the target interval time.

[0024] If yes, the target interval time is adjusted by a preset positive step.

[0025] Further, the silo rapping control method further comprises the following steps:

[0026] The first rapping cycle number of the target interval time not greater than the lower limit value of the target interval time and the second rapping cycle number of the target interval time not less than the upper limit value of the target interval time are recorded;

[0027] It is judged whether the first rapping cycle number is not less than a clogging alarm preset threshold value;

[0028] If yes, a clogging alarm device is controlled to perform a corresponding action;

[0029] It is judged whether the second rapping cycle number is not less than a lack of material alarm preset threshold value;

[0030] If yes, a lack of material alarm device is controlled to perform a corresponding action.

[0031] Further, the silo rapping control method further comprises the following steps:

[0032] The change of the working current of each rapping motor in a normal state within the reference duration is obtained, and it is judged whether the change satisfies a preset change condition;

[0033] If yes, the target working duration of the corresponding rapping motor is adjusted;

[0034] The corresponding rapping motor is controlled to perform a rapping operation of the next rapping cycle according to the adjusted target working duration.

[0035] Further, the step of obtaining the change of the working current of each rapping motor in a normal state within the reference duration, and judging whether the change satisfies a preset change condition, if yes, adjusting the target working duration of the corresponding rapping motor comprises:

[0036] It is judged whether the working current of each rapping motor within the reference duration is between the lack of material minimum current value and the clogging maximum current value;

[0037] If yes, a change difference value of the working current within a preset interval time is calculated;

[0038] It is judged whether the change difference value is not less than a preset difference value;

[0039] If yes, the target working duration of the corresponding rapping motor is adjusted according to a preset formula.

[0040] Further, the silo rapping control method further comprises the following steps:

[0041] determining whether the working current meets a motor trigger protection condition;

[0042] If not, determining whether the working current of each rapping motor within the reference duration is between the minimum material shortage current value and the maximum material blockage current value;

[0043] If yes, controlling the corresponding rapping motor to stop.

[0044] In a second aspect, the present application further provides a silo rapping control system, comprising:

[0045] a first control unit configured to control each rapping motor to operate for a respective target working duration, wherein the target working duration is the duration of one rapping cycle of the rapping motor operating at a target interval time;

[0046] a obtaining unit configured to obtain the working current of each rapping motor within a reference duration which is the maximum target working duration in real time;

[0047] a first judgment processing unit configured to determine whether the working current of each rapping motor at the end of the target working duration exceeds a preset abnormal threshold, and if yes, to obtain an abnormal working duration of the corresponding rapping motor in an abnormal state;

[0048] a second judgment processing unit configured to determine whether the abnormal working duration and the number of rapping motors in the abnormal state meet a preset adjustment condition, and if yes, to adjust the target interval time;

[0049] a second control unit configured to control each rapping motor to perform a rapping operation of a next rapping cycle according to the adjusted target interval time.

[0050] In a third aspect, the present application further provides a controller, comprising a memory and a processor, wherein the memory stores program instructions, and the processor executes the program instructions to perform the steps in the foregoing method.

[0051] In a fourth aspect, the present application further provides a computer readable storage medium, wherein the computer readable storage medium stores computer program instructions, and the computer program instructions are executed by a processor to perform the steps in the foregoing method.

[0052] The present application has the beneficial effects: the present application realizes self-adaptive matching of material flow characteristics by monitoring the working current of the vibrating motor in real time and dynamically adjusting the vibrating interval time, compared with the traditional fixed parameter control mode, the system can automatically adjust the vibrating frequency, effectively avoids the phenomenon of over-vibration or under-vibration, this dynamic adjustment mechanism makes the vibrating motor always work at the best working condition point, which not only ensures the smoothness of discharging, but also avoids energy waste. In addition, by analyzing the change trend of the working current, the target working time is accurately calculated and adjusted by using the formula method, this fine control strategy can respond in time according to the slight change of the material flowability, which realizes the minimization of energy consumption while ensuring the discharging effect.

[0053] In addition to the purposes, features and advantages described above, the present application has other purposes, features and advantages. The present application will be further described below with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0054] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application, illustrate the preferred embodiments of the application and assist in the explanation of the application. In the drawings:

[0055] Figure 1 The flow chart of the silo vibrating control method provided for the first embodiment of the present application is shown in the figure.

[0056] Figure 2 The structure block diagram of the silo vibrating control system in the fourth embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0057] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the related drawings. The drawings show several embodiments of the present application. However, the present application can be realized in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0058] It should be noted that when an element is referred to as being "fixedly attached" to another element, it can be directly on the other element or there can be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements can be present. The terms "vertical", "horizontal", "left", "right", and the like as used herein are for purposes of explanation only and are not intended to be limiting.

[0059] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0060] Example 1

[0061] See also Figure 1 , which shows a silo vibration control method in a first embodiment of the present invention, and includes steps S100 to S500:

[0062] Step S100, controlling each rapping motor to operate at its own target operating time, wherein the target operating time is the duration of the rapping motor operating a rapping cycle according to the target interval time;

[0063] In this step, for example, the target working time can be set to values ​​such as 2 seconds, 3 seconds, or 4 seconds, and the target interval time can be set to values ​​such as 5 minutes, 6 minutes, or 7 minutes.

[0064] Step S200, taking the maximum target working time as the reference time, obtaining the working current of each rapping motor within the reference time in real time;

[0065] In this step, the operating current can be collected in real time by a current sensor, such as a current transformer. In addition, since the blanking conditions of each blanking area of ​​the silo are different, the working time of the rapping motor in each blanking area may be different, some are long and some are short, and generally the target interval time of the rapping motor is much longer than the target working time. By taking the maximum target working time as the reference time, it can be ensured that each rapping motor has completed the rapping operation in the current rapping cycle within the reference time.

[0066] Step S300, determining whether the operating current of each rapping motor exceeds a preset abnormal threshold value at the end of the target operating time, and if so, obtaining the abnormal operating time during which the corresponding rapping motor remains in an abnormal state;

[0067] In this step, when each vibration motor has completed its target working time, the working current of each vibration motor is obtained through the current sensor. When the working current at this time exceeds the preset abnormal threshold, it indicates that the silo may be in a blocked state or may be in a short of material state.

[0068] It should be noted that the rapping motor is generally empty in single machine debugging, at this time the working current of the rapping motor is minimum (denoted as I0), the discharge speed of the bin is considered to be infinite, with the increase of the material in the bin, in order to ensure a certain discharge speed, the working current of the rapping motor gradually increases. At the same time, in order to ensure the continuity of production, the minimum current value (denoted as I1) of the rapping motor in the state of lack of material in the bin should be greater than I0. When the bin is full and stored for a period of time, the material in the bin is easy to be rammed or consolidated due to the influence of gravity and moisture, etc. When it is used again, the discharge amount of the bin in the first few working periods of the rapping motor may be very small or almost no discharge, in this process, the discharge speed of the bin is considered to be zero, and the working current of the rapping motor runs at maximum (denoted as I max ) at this time. At the same time, in order to ensure the continuity of production, the maximum current value (denoted as I2) of the rapping motor in the state of blockage of the bin should be less than I max .

[0069] In addition, since during the operation of each rapping motor, the rapping motor may first appear abnormal state and then change to normal state, which will affect the judgment of the bin in the state of blockage, lack of material or normal state, therefore, the abnormal working time of the corresponding rapping motor maintaining abnormal state is also obtained to avoid the interference of instantaneous abnormality.

[0070] Specifically, step S300 specifically includes steps S310-S320:

[0071] Step S310, judging whether the working current of each rapping motor is not less than the maximum current value I2 of blockage at the end of the target working time, if yes, the blockage working time of the corresponding rapping motor maintaining the blockage state is obtained.

[0072] In this step, when the working current of the rapping motor is greater than or equal to the maximum current value I2 of blockage at the end of its corresponding target working time, it indicates that the bin may be in the state of blockage, at this time, the blockage working time of the corresponding rapping motor maintaining the blockage state is recorded.

[0073] Step S320, judging whether the working current of each rapping motor is not greater than the minimum current value I1 of lack of material at the end of the target working time, if yes, the lack of material working time of the corresponding rapping motor maintaining the lack of material state is obtained.

[0074] In this step, when the working current of the rapping motor is less than or equal to the minimum current value I1 of lack of material at the end of its corresponding target working time, it indicates that the bin may be in the state of lack of material, at this time, the lack of material working time of the corresponding rapping motor maintaining the lack of material state is recorded.

[0075] Step S400, determine whether the abnormal working time and the number of vibrating rammers in abnormal state meet the preset adjustment condition, if yes, adjust the target interval time;

[0076] Specifically, step S400 specifically includes:

[0077] Determine whether the number of vibrating rammers in the blocked state is not less than the preset threshold of the number of blocked rammers, and whether the number of vibrating rammers corresponding to the blocked working time not less than the preset threshold of the blocked time is not less than the preset threshold of the number of blocked rammers;

[0078] If the number of vibrating rammers in the blocked state is greater than or equal to the preset threshold of the number of blocked rammers, and the number of vibrating rammers corresponding to the blocked working time greater than or equal to the preset threshold of the blocked time is greater than or equal to the preset threshold of the number of blocked rammers, it means that the silo may be blocked, the vibrating rammer frequency needs to be increased, so the target interval time of the vibrating rammer needs to be reduced, for example, the target interval time is reduced by 5 minutes.

[0079] Determine whether the number of vibrating rammers in the lack of material state is not less than the preset threshold of the number of lack of material rammers, and whether the number of vibrating rammers corresponding to the lack of material working time not less than the preset threshold of the lack of material time is not less than the preset threshold of the number of lack of material rammers;

[0080] If the number of vibrating rammers in the lack of material state is greater than or equal to the preset threshold of the number of lack of material rammers, and the number of vibrating rammers corresponding to the lack of material working time greater than or equal to the preset threshold of the lack of material time is greater than or equal to the preset threshold of the number of lack of material rammers, it means that the silo may be lack of material, the vibrating rammer frequency needs to be reduced, so the target interval time of the vibrating rammer needs to be increased, for example, the target interval time is increased by 5 minutes.

[0081] In specific implementation, the value range of the target working interval (i.e. TT) can be set as [5, 120] minutes, an array T1[n] is used to store the values of the target working time of n (n is a positive integer greater than or equal to 1) vibrating rammers, the initial value is set as T, the unit is second, for example, the value range of T is [2, 30], an array and are used to store the state of the working current of n vibrating rammers during the running period of the respective target working time being less than or equal to the lack of material minimum current value I1 and greater than or equal to the blocked maximum current value I2, wherein 1 indicates that the limit has been exceeded, and 0 indicates that the limit has not been exceeded; Tc[n] is used to store the duration of the current of n vibrating rammers being in a certain state (blocked, lack of material or normal) for a certain time, the unit is millisecond, the number of vibrating rammers in the lack of material state (value is 1) is recorded as K1, and the preset threshold of the number of lack of material rammers is recorded as K 10 , generally K 10The value range of K1 is [1, n], K2 is the statistical value of the number of motors in the blocked state (value 1) in the n-way rapping motor, and K is the preset threshold value of the number of blocked motors 20 Generally, K 20 The value range of T is [T / 2, T], T is the set value of the duration of the rapping motor in the blocked state (value 1) 10 Generally, T 10 The value range of T is [T / 2, T], T is the set value of the duration of the rapping motor in the blocked state (value 1) 20 Generally, T 20 The value range of T is [T / 2, T].

[0082] Step S500, control each way rapping motor to execute the next rapping operation of the rapping period according to the adjusted target interval time.

[0083] In order to further illustrate the principle of the embodiment, exemplarily, taking the silo with 4 rapping motors as an example, that is, n = 4, the initial value of each array is: array T1[4] = {T, T, T, T}, array Array Array Tc[4] = {0, 0, 0, 0}. Among them, it is assumed that the 2nd rapping motor and the 4th rapping motor run T1[1] and T1[3] respectively in the current rapping period, if the working current of each is less than I1 during the work, then array And array The value of the corresponding storage address is 1, that is, array Array Otherwise, array And array The value of the corresponding storage address is 0, that is, array Array When the working time of all rapping motors ends (that is, the working of the rapping motor corresponding to the maximum value in T1[n] is completed), if the upper limit value of the target working interval TT is 120 min, array Array Array Tc[4] = {0, 3000, 0, 3100}, T 10 = 2500 ms, K 10 = 2, from array It can be known Therefore, K1 = 2 = K 10 , Tc[1] = 3000 > T 10 = 2500, Tc[3] = 3100 > T 10 = 2500, so T 10The sum of the number of the shaking motors is 2 and is equal to K 10 = 2, it can be inferred that the material bin has the possibility of material shortage, and the shaking frequency needs to be reduced, so a certain amplitude processing is added to the target working interval TT.

[0084] The reasoning when the material is blocked is similar to that when the material is short, which will not be illustrated here.

[0085] In summary, the material bin shaking control method in the above-mentioned embodiments of the present application realizes self-adaptive matching of the material flow characteristics by monitoring the working current of the shaking motor in real time and dynamically adjusting the shaking interval time. Compared with the traditional fixed parameter control mode, the system can automatically adjust the shaking frequency, effectively avoiding the phenomenon of overexcitation or underexcitation. This dynamic adjustment mechanism makes the shaking motor always work at the best working point, which not only ensures the smoothness of the material discharge, but also avoids energy waste.

[0086] Embodiment two

[0087] The present embodiment also proposes a material bin shaking control method, which is different from the material bin shaking control method in embodiment one in that:

[0088] When the target interval time of the current shaking period is less than or equal to the lower limit value of the target interval time, the material bin shaking control method further includes the following steps:

[0089] Record the first shaking period number of the target interval time not greater than the lower limit value of the target interval time, and judge whether the first shaking period number is not less than the material shortage alarm preset threshold value;

[0090] If the first shaking period number is greater than or equal to the material shortage alarm preset threshold value, control the material blocking alarm device to perform a corresponding action, for example, issue an alarm sound.

[0091] When the target interval time of the current shaking period is greater than or equal to the upper limit value of the target interval time, the material bin shaking control method further includes the following steps:

[0092] Record the second shaking period number of the target interval time greater than or equal to the upper limit value of the target interval time;

[0093] Judge whether the second shaking period number is not less than the material shortage alarm preset threshold value;

[0094] If the second shaking period number is greater than or equal to the material shortage alarm preset threshold value, control the material blocking alarm device to perform a corresponding action, for example, issue an alarm sound.

[0095] In this step, controlling the material blocking alarm device to perform a corresponding action and controlling the material blocking alarm device to perform a corresponding action can provide an early intervention opportunity for the operator, prevent the problem from getting worse, and reduce the risk of unplanned downtime.

[0096] To further illustrate the principle of this embodiment, for example, the preset threshold value of the material shortage alarm is K 11 , generally K 11 The value range is [1, 5], and the preset threshold value of the blockage alarm is K 22 , generally K 22 The value range is [1, 5], and the second rapping cycle number is recorded The initial value is 0, and the first rapping cycle number is recorded The initial value of K is 0. 11 =3, when the target working interval TT increases by a certain amount to be greater than or equal to 120 minutes, and the upper limit of the target working interval TT is 120 minutes, then The value is increased by one, that is After the next rapping cycle, if the status is similar, then The value is increased by one, and so on. When the material shortage alarm device is controlled, the corresponding action is executed until the fault is reset. The reasoning for material blockage is similar to that for material shortage, so no further examples will be given here.

[0097] In summary, the silo vibration control method in the above embodiment of the present invention realizes adaptive matching of the rheological characteristics of the material by real-time monitoring of the working current of the vibration motor and dynamically adjusting the vibration interval time. Compared with the traditional fixed parameter control method, the system can automatically adjust the vibration frequency, effectively avoiding over-excitation or under-excitation. This dynamic adjustment mechanism enables the vibration motor to always work at the optimal operating point, which not only ensures the smoothness of material discharge, but also avoids energy waste. In addition, by distinguishing between the blockage state and the shortage state, intelligent diagnosis of the silo working condition is realized. When the abnormal state lasts for a certain period of time and the number of motors involved reaches a threshold, the system will control the shortage alarm device to perform the corresponding action or control the blockage alarm device to perform the corresponding action, which can provide operators with early intervention opportunities, prevent the problem from worsening, and reduce the risk of unplanned downtime.

[0098] Example 3

[0099] This embodiment also proposes a silo vibration control method. The difference between the silo vibration control method in this embodiment and the silo vibration control method in Example 1 is that:

[0100] After step S500, the following steps are also included:

[0101] Obtain the change of the working current of each rapping motor in a normal state within the reference time length, and determine whether the change meets the preset change conditions;

[0102] If so, adjust the target working time of the corresponding rapping motor;

[0103] control the corresponding rapping motor to perform the rapping operation of the next rapping period according to the adjusted target working time length.

[0104] Specifically, the change of the working current of each rapping motor in the normal state within the reference time length is obtained, and it is determined whether the change meets the preset change condition. If yes, the step of adjusting the target working time length of the corresponding rapping motor comprises:

[0105] determining whether the working current of each rapping motor within the reference time length is between the minimum current value in the lack of material and the maximum current value in the blockage of material;

[0106] If yes, the change difference value of the working current within the preset interval time is calculated, for example, the change difference value Δi of the working current within Δt time (for example, 0.05s-0.5s) is calculated;

[0107] determining whether the change difference value is not less than the preset difference value;

[0108] If yes, the target working time length of the corresponding rapping motor is adjusted according to formula (1);

[0109]

[0110] Wherein, t is the target working time length of the rapping motor, I e is the rated working current of the rapping motor, I0 is the working current of the rapping motor when the silo is in the empty state, I is the working current of the rapping motor in the normal state, T is the working period of the rapping motor under the rated working current I e , and k and b are both coefficients.

[0111] Before determining whether the working current of each rapping motor within the reference time length is between the minimum current value in the lack of material and the maximum current value in the blockage of material, the following steps are further included:

[0112] determining whether the working current meets the motor trigger protection condition, so that when the working current meets the motor trigger protection condition, all the rapping motors can be controlled to stop, or the rapping motor with failure can be controlled to stop, or the rapping motor meeting the protection requirement can be controlled to stop, for example, the motor with greater relevance to the rapping motor with failure. When the working current does not meet the motor trigger protection condition, the operation of determining whether the working current of each rapping motor within the reference time length is between the minimum current value I1 in the lack of material and the maximum current value I2 in the blockage of material is performed.

[0113] Wherein, the solving process of the coefficients k and b is as follows:

[0114] Firstly, the functional relationship between the working current of the rapping motor and the discharging speed of the silo is established according to formula (2);

[0115]

[0116] wherein, V is the discharging speed of the silo, I is the working current of the rapping motor when it is in normal state, I0 is the working current of the rapping motor when the silo is in empty state, k and b are both coefficients to be solved;

[0117] Then, based on the discharging amount of the silo under the rated operating parameters of the rapping motor and formula (2), the functional relationship between the working current and the working time of the rapping motor is determined;

[0118] Specifically, in order to ensure uniform discharging in each direction of the silo, the discharging amount W during the working period of each rapping motor needs to be kept consistent, wherein W is calculated according to formula (3);

[0119]

[0120] wherein, W is the discharging amount of the silo, I is the working current of the rapping motor when it is in normal state, and q is the amount of material per unit length on the discharging area during the working period of the rapping motor.

[0121] In formula (3), considering that the rapping motor is usually arranged at the lower part of the silo (generally above the low material level), when the silo appears low material level, the control system will immediately supplement the material, so q on the discharging area in each direction of the silo is basically consistent, and the working period of the rapping motor at the rated current I e is T, in seconds (usually 2s-10s);

[0122] Since the discharging amount W of each rapping motor on the discharging area during each target working time is the same, and q is also the same, the target working time t required for the rapping motor to maintain the working current I is calculated according to formula (2) and formula (3);

[0123] Specifically, the formula (4) of the equal amount relationship is obtained:

[0124]

[0125] Further, formula (1) is obtained according to formula (4):

[0126]

[0127] Considering the material and structure safety of the bin body and the material condition in the bin, when the working current of the rapping motor is in the range of [I1, I2], the target working time t is in the range of [t1, t2]. Generally, the minimum value t1 of the target working time t is in the range of 0.4-0.9 times of the working period T, and the maximum value t2 of the target working time t is in the range of 1.1-2.0 times of the working period T. Considering the actual running condition and protection factor of the rapping motor, the minimum value of the minimum current I1 of the rapping motor is generally 1.1-1.3 times of the current I0 or 0.4-0.8 times of the rated current I e , and the maximum value of the maximum current I2 of the rapping motor when the bin is in the blocked state is in the range of 1.2-1.8 times of the rated current I e , so the values of the coefficients k and b are determined according to the value range of the working current and the target working time of the rapping motor.

[0128] When the target working time to be updated is calculated by using the formula (1), the following steps can be used:

[0129] Since the current amplitude of the working current of the rapping motor changes more than the preset difference value and lasts for a period of time Δt (generally 0.05-0.5 s), the periodic updating operation is triggered. At this time, the working time of the rapping motor can be equally divided into m (m is a natural number, and m>2) parts with Δt as the unit. Assuming that the discharging speeds in each equal part are V1', V2' to V m ', the average speed is calculated according to the formula (5);

[0130]

[0131] Considering the material characteristics and the power of the rapping motor, in order to prevent the adjacent working current change difference Δi from causing a large change Δv of the discharging speed and introducing a large error, the preset difference value is generally 0.01-0.15 times of the rated current I e .

[0132] Through the formula (1), the discharging speeds v0, v1 and v2 of the bin corresponding to the currents I e , I1 and I2 of the rapping motor can be calculated respectively. In the running process of the rapping motor, assuming that the rapping motor has been running for t3 time (t3 is x times of Δt, and x is a natural number), and the working current of the rapping motor is I3, the discharging amount of the bin in the t3 time is W1, the remaining discharging amount of the bin is W2, and the current I4 is needed to run for t4 time, then the total discharging amount W0=W1+W2.

[0133] Wherein, the total discharging amount W0 can be generally estimated according to the size, height, material amount, material characteristics, discharging amount of the silo under the rated current of the vibrating motor, and other factors. Specifically, a simple calculation model W0=q*v0*t can be established according to the main influencing factors of the total discharging amount, wherein t is the target working time of the vibrating motor maintaining the discharging speed v0.

[0134] Further, formula (6) can be obtained:

[0135]

[0136] In formula (6), when x=1,

[0137]

[0138] When x=2,

[0139]

[0140] By analogy, the target working time of the vibrating motor (denoted as t ′ ) can be updated every working time of the vibrating motor Δt, and t ′ =t3+t4.

[0141] Further, the calculation formula (7) of the target working time t ′ can be obtained.

[0142]

[0143] In summary, the silo vibrating control method in the above embodiments of the present application realizes self-adaptive matching of the material flow characteristics by real-time monitoring of the working current of the vibrating motor and dynamically adjusting the vibrating interval time. Compared with the traditional fixed parameter control mode, the system can automatically adjust the vibrating frequency, effectively avoiding the phenomenon of over-vibration or under-vibration. This dynamic adjustment mechanism makes the vibrating motor always work at the best working condition point, which not only ensures the smoothness of discharging, but also avoids energy waste. In addition, by analyzing the working current change trend, the target working time is accurately calculated and adjusted by using a formula method. This fine control strategy can respond in time according to the slight changes of the material flowability, which realizes the minimization of energy consumption while ensuring the discharging effect.

[0144] Example Four

[0145] Please refer to Figure 2 , which shows the silo vibrating control system proposed in the third embodiment of the present application, which comprises:

[0146] The first control unit is configured to control each of the vibration motors to operate for a target operation time, wherein the target operation time is a duration of a vibration cycle in which the vibration motor operates according to the target interval time.

[0147] The acquisition unit is configured to acquire, in real time, the operating current of each of the vibration motors within a reference time, wherein the reference time is the maximum target operation time.

[0148] The first judgment processing unit is configured to judge whether the operating current of each of the vibration motors exceeds a preset abnormal threshold at the end of the target operation time, and if so, to acquire an abnormal operation time in which the corresponding vibration motor remains in an abnormal state.

[0149] The second judgment processing unit is configured to judge whether the abnormal operation time and the number of the vibration motors in the abnormal state satisfy a preset adjustment condition, and if so, to adjust the target interval time.

[0150] The second control unit is configured to control each of the vibration motors to perform a vibration operation of a next vibration cycle according to the adjusted target interval time.

[0151] The functions or operation steps realized when the above modules are executed are substantially the same as those of the above method embodiments, and thus will not be described here again.

[0152] Embodiment Five

[0153] In another aspect, the present application also provides a controller, which comprises a memory and a processor, wherein the memory stores program instructions, and the processor executes the program instructions to perform the steps of the method according to any one of the above embodiments.

[0154] It should be noted that if the number of all the vibration motors on a single silo does not exceed the maximum number of control loops of a single controller, a single controller can be used for control, and if the number of all the vibration motors on a single silo exceeds the maximum number of control loops of a single controller, a plurality of controllers can be used for cascade control through Ethernet or Profibus bus communication. If the number of all the vibration motors on a plurality of silos also does not exceed the maximum number of control loops of a single controller, a single controller can also be used for control, and if the number of all the vibration motors on a plurality of silos also exceeds the maximum number of control loops of a single controller, a plurality of controllers can also be used for cascade control through Ethernet, CAN bus or Profibus bus communication.

[0155] Embodiment Six

[0156] Another aspect of the present application provides a computer readable storage medium, wherein a computer program instruction is stored in the computer readable storage medium, and the computer program instruction, when executed by a processor, performs steps of the method according to any one of the above-mentioned embodiments.

[0157] The technical features of each of the above embodiments can be combined in any manner. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combinations of the technical features do not exist contradictions, it should be considered that they are within the scope of the present application.

[0158] Those skilled in the art can understand that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a list of executable instructions for implementing the logic function, which can be embodied in any computer readable storage medium for use by or in connection with an instruction execution system, apparatus or device, such as a computer-based system, a system including a processor or other system that can fetch the instructions from the instruction execution system, apparatus or device and execute the instructions, or in conjunction with these instruction execution systems, apparatus or devices. For the purpose of the present specification, the "computer readable storage medium" can be any device that can contain, store, communicate, propagate or transport the program for use by or in connection with the instruction execution system, apparatus or device, or in conjunction with these instruction execution systems, apparatus or devices.

[0159] More specific examples (a non-exhaustive list) of the computer readable storage medium include the following: an electrical connection having one or more wires (electrical devices), a portable computer diskette (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable storage medium can even be paper or other suitable medium on which the program is printed, as the program can be electronically obtained, for example, by optical scanning of the paper or other medium, followed by electronic conversion of the scanned data, and then editing, interpreting or otherwise processing the data as necessary, and then storing the data in a computer memory.

[0160] It should be understood that aspects of the application can be implemented in hardware, software, firmware or combinations thereof. In the embodiments described above, various steps or methods can be implemented, for example, in software or firmware that is stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, and in another embodiment, any of the following techniques can be used to implement the hardware used to implement the described functions: discrete logic circuitry having logic gates for implementing logic functions upon data signals, application specific integrated circuits having logic gates for implementing the logic functions on data signals, programmable gate arrays (PGA), field programmable gate arrays (FPGA), and the like.

[0161] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0162] The above-described embodiments only express several implementation manners of the present application, which are described in a more specific and detailed manner, but cannot be understood as a limitation on the patent scope of the present application. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, which are all within the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A silo vibration control method, characterized in that: The method for controlling at least one rapping motor provided in the silo comprises: Controlling each rapping motor to operate at its own target operating time, wherein the target operating time is the duration of the rapping motor operating a rapping cycle according to the target interval time; Taking the maximum target working time as the reference time, the working current of each rapping motor within the reference time is obtained in real time; Determine whether the operating current of each rapping motor exceeds a preset abnormal threshold at the end of the target operating time, and if so, obtain the abnormal operating time during which the corresponding rapping motor remains in an abnormal state; Determine whether the abnormal working time and the number of the rapping motors in the abnormal state meet a preset adjustment condition, and if so, adjust the target interval time; Control each rapping motor to perform the rapping operation of the next rapping cycle according to the adjusted target interval time.

2. The silo vibration control method according to claim 1, characterized in that: The step of judging whether the operating current of each rapping motor exceeds a preset abnormal threshold value at the end of the target operating time, and if so, obtaining the abnormal operating time during which the corresponding rapping motor maintains an abnormal state comprises: Determine whether the operating current of each rapping motor is not less than the maximum current value of the material blockage at the end of the target working time; If so, obtain the corresponding rapping motor's blocking working time; Determine whether the operating current of each rapping motor is not greater than the minimum current value of material shortage at the end of the target working time; If so, obtain the material shortage working time during which the corresponding rapping motor maintains the material shortage state.

3. The silo vibration control method according to claim 2, characterized in that: The step of determining whether the abnormal working duration and the number of the rapping motors in the abnormal state meet the preset adjustment conditions, and if so, adjusting the target interval time comprises: Determine whether the number of the rapping motors in the blocking state is not less than a preset threshold value for the number of blocking motors, and whether the number of the rapping motors corresponding to the blocking working time being not less than a preset threshold value for the blocking time is not less than a preset threshold value for the number of blocking motors; If so, determining whether the target interval time of the current rapping cycle is greater than the lower limit value of the target interval time; If so, adjust the target interval time according to a preset negative step length; Determine whether the number of the rapping motors in the short-material state is not less than a preset threshold value for the number of short-material motors, and whether the number of the rapping motors corresponding to the short-material working duration being not less than a preset threshold value for the short-material time is not less than the preset threshold value for the number of short-material motors; If so, determining whether the target interval time of the current rapping cycle is less than the upper limit value of the target interval time; If so, the target interval time is adjusted according to a preset positive step size.

4. The silo vibration control method according to claim 3, characterized in that: The silo vibration control method further comprises the following steps: Recording the first rapping cycle number in which the target interval time is not greater than the lower limit of the target interval time, and the second rapping cycle number in which the target interval time is not less than the upper limit of the target interval time; Determining whether the first rapping cycle number is not less than a preset threshold value for a material blockage alarm; If so, the material blocking alarm device is controlled to perform corresponding actions; Determining whether the second rapping cycle number is not less than a preset threshold value for a material shortage alarm; If so, the material shortage alarm device is controlled to perform corresponding actions.

5. The silo vibration control method according to claim 2, characterized in that: The silo vibration control method further comprises the following steps: Obtaining the change of the working current of each rapping motor in a normal state within the reference time length; Determining whether the change condition satisfies a preset change condition; If so, adjust the target working time of the corresponding rapping motor; Control the corresponding rapping motor to perform the rapping operation of the next rapping cycle according to the adjusted target working time.

6. The silo vibration control method according to claim 5, characterized in that: The step of obtaining a change in the working current of each rapping motor in a normal state within the reference duration, and judging whether the change meets a preset change condition, and if so, adjusting the target working duration of the corresponding rapping motor comprises: Determine whether the operating current of each rapping motor within the reference time is between the minimum current value of the material shortage and the maximum current value of the material blockage; If so, calculate the change difference of the working current within the preset interval; Determining whether the change difference is not less than a preset difference; If so, adjust the target operating time of the corresponding rapping motor according to the following formula; Wherein, t is the target working time of the rapping motor, I e is the rated working current of the rapping motor, I0 is the working current of the rapping motor when the silo is in an empty state, I is the working current of the rapping motor when it is in a normal state, and T is the working current of the rapping motor at the rated working current I e The working cycle under this condition is k and b are coefficients.

7. The silo vibration control method according to claim 6, characterized in that: The silo vibration control method further comprises the following steps: Determining whether the operating current meets the motor triggering protection condition; If not, determine whether the operating current of each rapping motor within the reference time is between the minimum current value of the material shortage and the maximum current value of the material blockage; If so, the corresponding vibration motor is controlled to stop.

8. A silo vibration control system, characterized in that: The silo vibration control system includes: A first control unit is used to control each rapping motor to operate at its own target working time, wherein the target working time is the duration of the rapping motor operating a rapping cycle according to the target interval time; An acquisition unit is used to obtain the operating current of each rapping motor within the reference time length in real time, using the maximum target working time length as a reference time length; A first judgment processing unit is used to judge whether the operating current of each rapping motor exceeds a preset abnormal threshold value at the end of the target operating time, and if so, obtain the abnormal operating time during which the corresponding rapping motor maintains an abnormal state; A second judgment processing unit is used to judge whether the abnormal working time and the number of the rapping motors in the abnormal state meet a preset adjustment condition, and if so, adjust the target interval time; The second control unit is used to control each rapping motor to perform the rapping operation of the next rapping cycle according to the adjusted target interval time.

9. A controller, characterized in that: The controller includes a memory and a processor, wherein program instructions are stored in the memory, and when the processor runs the program instructions, the steps of the method according to any one of claims 1 to 7 are executed.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the steps of the method according to any one of claims 1 to 7 are executed.

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